Changelog
---------

0.6.1 (2023-07-16)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed the :meth:`omni.isaac.orbit.utils.math.quat_apply_yaw` to compute the yaw quaternion correctly.


Added
^^^^^^^

* Added functions to convert string and callable objects in :mod:`omni.isaac.orbit.utils.string`.


0.6.0 (2023-07-16)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added the argument :attr:`sort_keys` to the :meth:`omni.isaac.orbit.utils.io.yaml.dump_yaml` method to allow
  enabling/disabling of sorting of keys in the output yaml file.

Fixed
^^^^^

* Fixed the ordering of terms in :mod:`omni.isaac.orbit.core.utils.configclass` to be consistent in the order in which
  they are defined. Previously, the ordering was done alphabetically which made it inconsistent with the order in which
  the parameters were defined.

Changed
^^^^^^^

* Changed the default value of the argument :attr:`sort_keys` in the :meth:`omni.isaac.orbit.utils.io.yaml.dump_yaml`
  method to ``False``.
* Moved the old config classes in :mod:`omni.isaac.orbit.core.utils.configclass` to
  :mod:`omni.isaac.orbit.compat.utils.configclass` so that users can still run their old code where alphabetical
  ordering was used.


0.5.0 (2023-07-04)

Added
^^^^^

* Added a generalized :class:`omni.isaac.orbit.sensors.SensorBase` class that leverages the ideas of views to
  handle multiple sensors in a single class.
* Added the classes :class:`omni.isaac.orbit.sensors.RayCaster`, :class:`omni.isaac.orbit.sensors.ContactSensor`,
  and :class:`omni.isaac.orbit.sensors.Camera` that output a batched tensor of sensor data.

Changed
^^^^^^^

* Renamed the parameter ``sensor_tick`` to ``update_freq`` to make it more intuitive.
* Moved the old sensors in :mod:`omni.isaac.orbit.sensors` to :mod:`omni.isaac.orbit.compat.sensors`.
* Modified the standalone scripts to use the :mod:`omni.isaac.orbit.compat.sensors` module.


0.4.4 (2023-07-05)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed the :meth:`omni.isaac.orbit.terrains.trimesh.utils.make_plane` method to handle the case when the
  plane origin does not need to be centered.
* Added the :attr:`omni.isaac.orbit.terrains.TerrainGeneratorCfg.seed` to make generation of terrains reproducible.
  The default value is ``None`` which means that the seed is not set.

Changed
^^^^^^^

* Changed the saving of ``origins`` in :class:`omni.isaac.orbit.terrains.TerrainGenerator` class to be in CSV format
  instead of NPY format.


0.4.3 (2023-06-28)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added the :class:`omni.isaac.orbit.markers.PointInstancerMarker` class that wraps around
  `UsdGeom.PointInstancer <https://graphics.pixar.com/usd/dev/api/class_usd_geom_point_instancer.html>`_
  to directly work with torch and numpy arrays.

Changed
^^^^^^^

* Moved the old markers in :mod:`omni.isaac.orbit.markers` to :mod:`omni.isaac.orbit.compat.markers`.
* Modified the standalone scripts to use the :mod:`omni.isaac.orbit.compat.markers` module.


0.4.2 (2023-06-28)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added the sub-module :mod:`omni.isaac.orbit.terrains` to allow procedural generation of terrains and supporting
  importing of terrains from different sources (meshes, usd files or default ground plane).


0.4.1 (2023-06-27)
~~~~~~~~~~~~~~~~~~

* Added the :class:`omni.isaac.orbit.app.AppLauncher` class to allow controlled instantiation of
  the `SimulationApp <https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html>`_
  and extension loading for remote deployment and ROS bridges.

Changed
^^^^^^^

* Modified all standalone scripts to use the :class:`omni.isaac.orbit.app.AppLauncher` class.


0.4.0 (2023-05-27)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added a helper class :class:`omni.isaac.orbit.asset_loader.UrdfLoader` that coverts a URDF file to instanceable USD
  file based on the input configuration object.


0.3.2 (2023-04-27)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Added safe-printing of functions while using the :meth:`omni.isaac.orbit.utils.dict.print_dict` function.


0.3.1 (2023-04-23)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added a modified version of ``lula_franka_gen.urdf`` which includes an end-effector frame.
* Added a standalone script ``play_rmpflow.py`` to show RMPFlow controller.

Fixed
^^^^^

* Fixed the splitting of commands in the :meth:`ActuatorGroup.compute` method. Earlier it was reshaping the
  commands to the shape ``(num_actuators, num_commands)`` which was causing the commands to be split incorrectly.
* Fixed the processing of actuator command in the :meth:`RobotBase._process_actuators_cfg` to deal with multiple
  command types when using "implicit" actuator group.

0.3.0 (2023-04-20)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Added the destructor to the keyboard devices to unsubscribe from carb.

Added
^^^^^

* Added the :class:`Se2Gamepad` and :class:`Se3Gamepad` for gamepad teleoperation support.


0.2.8 (2023-04-10)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed bugs in :meth:`axis_angle_from_quat` in the ``omni.isaac.orbit.core.utils.math`` to handle quaternion with negative w component.
* Fixed bugs in :meth:`subtract_frame_transforms` in the ``omni.isaac.orbit.core.utils.math`` by adding the missing final rotation.


0.2.7 (2023-04-07)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed repetition in applying mimic multiplier for "p_abs" in the :class:`GripperActuatorGroup` class.
* Fixed bugs in :meth:`reset_buffers` in the :class:`RobotBase` and :class:`LeggedRobot` classes.

0.2.6 (2023-03-16)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added the :class:`CollisionPropertiesCfg` to rigid/articulated object and robot base classes.
* Added the :class:`PhysicsMaterialCfg` to the :class:`SingleArm` class for tool sites.

Changed
^^^^^^^

* Changed the default control mode of the :obj:`PANDA_HAND_MIMIC_GROUP_CFG` to be from ``"v_abs"`` to ``"p_abs"``.
  Using velocity control for the mimic group can cause the hand to move in a jerky manner.


0.2.5 (2023-03-08)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed the indices used for the Jacobian and dynamics quantities in the :class:`MobileManipulator` class.


0.2.4 (2023-03-04)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added :meth:`apply_nested_physics_material` to the ``omni.isaac.orbit.core.utils.kit``.
* Added the :meth:`sample_cylinder` to sample points from a cylinder's surface.
* Added documentation about the issue in using instanceable asset as markers.

Fixed
^^^^^

* Simplified the physics material application in the rigid object and legged robot classes.

Removed
^^^^^^^

* Removed the ``geom_prim_rel_path`` argument in the :class:`RigidObjectCfg.MetaInfoCfg` class.


0.2.3 (2023-02-24)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed the end-effector body index used for getting the Jacobian in the :class:`SingleArm` and :class:`MobileManipulator` classes.


0.2.2 (2023-01-27)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed the :meth:`set_world_pose_ros` and :meth:`set_world_pose_from_view` in the :class:`Camera` class.

Deprecated
^^^^^^^^^^

* Removed the :meth:`set_world_pose_from_ypr` method from the :class:`Camera` class.


0.2.1 (2023-01-26)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed the :class:`Camera` class to support different fisheye projection types.


0.2.0 (2023-01-25)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added support for warp backend in camera utilities.
* Extended the ``play_camera.py`` with ``--gpu`` flag to use GPU replicator backend.

0.1.1 (2023-01-24)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed setting of physics material on the ground plane when using :meth:`omni.isaac.orbit.utils.kit.create_ground_plane` function.


0.1.0 (2023-01-17)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Initial release of the extension with experimental API.
* Available robot configurations:

  * **Quadrupeds:** Unitree A1, ANYmal B, ANYmal C
  * **Single-arm manipulators:** Franka Emika arm, UR5
  * **Mobile manipulators:** Clearpath Ridgeback with Franka Emika arm or UR5
