Everything emits infrared radiation, although some solid materials are not totally efficient emitters (their infrared emissivity is less than 1.0) and most gases are mostly transparent to infrared radiation.
But even though everything emits IR energy, we usually do not notice it because it is often weak, and we can't see infrared light like you can sunlight. It takes a very hot object for us to feel IR energy, such as a hot stove, a fire, or a brick wall heated by the sun.
Greenhouse gases in the atmosphere, especially water vapor, "trap" (absorb and emit) some of this infrared radiation, and keep the earth habitably warm. Clouds also produce their own greenhouse effect.

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