Exposes state_dependent_std parameter in rl_cfg for rsl_rl. (#4091)

# Description

Adds a new state_dependent_std param to the rsl_rl_config for IsaacLab.

---------

Signed-off-by: ooctipus <[email protected]>
Co-authored-by: ooctipus <[email protected]>

Author: ashwinvkNV

source/isaaclab_rl/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.4.4"
+version = "0.4.5"
 
 # Description
 title = "Isaac Lab RL"

source/isaaclab_rl/docs/CHANGELOG.rst

@@ -1,6 +1,17 @@
 Changelog
 ---------
 
+
+
+0.4.5 (2025-12-01)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added state_dependent_std rsl_rl param to RSL-RL wrapper.
+
+
 0.4.4 (2025-10-15)
 ~~~~~~~~~~~~~~~~~~
 

source/isaaclab_rl/isaaclab_rl/rsl_rl/rl_cfg.py

@@ -31,6 +31,9 @@ class RslRlPpoActorCriticCfg:
     noise_std_type: Literal["scalar", "log"] = "scalar"
     """The type of noise standard deviation for the policy. Default is scalar."""
 
+    state_dependent_std: bool = False
+    """Whether to use state-dependent standard deviation for the policy. Default is False."""
+
     actor_obs_normalization: bool = MISSING
     """Whether to normalize the observation for the actor network."""