adds initial files

.flake8

+[flake8]
+show-source=True
+statistics=True
+per-file-ignores=*/__init__.py:F401
+ignore=E402,E501,W503,E203
+max-line-length = 120
+max-complexity = 30
+exclude=_*,.vscode,.git

.github/ISSUE_TEMPLATE/bug.md

+---
+name: Bug Report
+about: Submit a bug report
+title: "[Bug Report] Bug title"
+
+---
+
+If you are submitting a bug report, please fill in the following details and use the tag [bug].
+
+### Describe the bug
+
+A clear and concise description of what the bug is.
+
+### Steps to reproduce
+
+Please try to provide a minimal example to reproduce the bug. Error messages and stack traces are also helpful.
+
+<!-- Please post terminal logs, minimal example to reproduce, or command to run under three backticks (```) to allow code formatting.
+
+```
+Paste your error here
+```
+
+For more information on this, check: https://www.markdownguide.org/extended-syntax/#fenced-code-blocks
+
+-->
+
+### System Info
+
+Describe the characteristic of your environment:
+
+<!-- Please complete the following description. -->
+- Commit: [e.g. 8f3b9ca]
+- Isaac Sim Version: [e.g. 2022.2.0, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`]
+- OS: [e.g. Ubuntu 20.04]
+- GPU: [e.g. RTX 2060 Super]
+- CUDA: [e.g. 11.4]
+- GPU Driver: [e.g. 470.82.01, this can be seen by using `nvidia-smi` command.]
+
+### Additional context
+
+Add any other context about the problem here.
+
+### Checklist
+
+- [ ] I have checked that there is no similar issue in the repo (**required**)
+- [ ] I have checked that the issue is not in running Isaac Sim itself and is related to the repo

.github/ISSUE_TEMPLATE/proposal.md

+---
+name: Proposal
+about: Propose changes that are not fixes bugs
+title: "[Proposal] Proposal title"
+---
+
+
+### Proposal
+
+A clear and concise description of the proposal. In a few sentences, describe the feature and its core capabilities.
+
+### Motivation
+
+Please outline the motivation for the proposal. Summarize the core use cases and user problems and needs you are trying to solve.
+
+Is your feature request related to a problem? e.g.,"I'm always frustrated when [...]".
+
+If this is related to another GitHub issue, please link here too.
+
+### Pitch
+
+A clear and concise description of what you want to happen.
+
+### Alternatives
+
+A clear and concise description of any alternative solutions or features you've considered, if any.
+
+### Additional context
+
+Add any other context or screenshots about the feature request here.
+
+### Checklist
+
+- [ ] I have checked that there is no similar issue in the repo (**required**)

.github/ISSUE_TEMPLATE/question.md

+---
+name: Question
+about: Ask a question
+title: "[Question] Question title"
+---
+
+### Question
+
+Basic questions, related to robot learning, that are not bugs or feature requests will be closed without reply, because GitHub issues are not an appropriate venue for these.
+
+Advanced/nontrivial questions, especially in areas where documentation is lacking, are very much welcome.
+
+For questions that are related to running and understanding Isaac Sim, please post them at the official [Isaac Sim forums](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/isaac_sim_forums.html).

.github/LICENSE_HEADER.txt

+Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
+All rights reserved.
+
+SPDX-License-Identifier: BSD-3-Clause

.github/PULL_REQUEST_TEMPLATE.md

+# Description
+
+<!--
+Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines.
+
+Link: https://isaac-orbit.github.io/orbit/source/refs/contributing.html
+-->
+
+Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context.
+List any dependencies that are required for this change.
+
+Fixes # (issue)
+
+<!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request.
+This makes it easier for the community to keep track of what is being developed or added, and if a given feature
+is demanded by more than one party. -->
+
+## Type of change
+
+<!-- As you go through the list, delete the ones that are not applicable. -->
+
+- Bug fix (non-breaking change which fixes an issue)
+- New feature (non-breaking change which adds functionality)
+- Breaking change (fix or feature that would cause existing functionality to not work as expected)
+- This change requires a documentation update
+
+## Screenshots
+
+Please attach before and after screenshots of the change if applicable.
+
+<!--
+Example:
+
+| Before | After |
+| ------ | ----- |
+| _gif/png before_ | _gif/png after_ |
+
+To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections.
+-->
+
+## Checklist
+
+- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `pre-commit run --all-files` (see [here](https://pre-commit.com/#install) instructions to set it up)
+- [ ] I have made corresponding changes to the documentation
+- [ ] My changes generate no new warnings
+- [ ] I have added tests that prove my fix is effective or that my feature works
+- [ ] I have updated the changelog and the corresponding version in the extension's `setup.py` and `config/extension.toml` files
+
+<!--
+As you go through the checklist above, you can mark something as done by putting an x character in it
+
+For example,
+- [x] I have done this task
+- [ ] I have not done this task
+-->

.github/stale.yml

+# Configuration for probot-stale - https://github.com/probot/stale
+
+# Number of days of inactivity before an Issue or Pull Request becomes stale
+daysUntilStale: 60
+
+# Number of days of inactivity before an Issue or Pull Request with the stale label is closed.
+# Set to false to disable. If disabled, issues still need to be closed manually, but will remain marked as stale.
+daysUntilClose: 14
+
+# Only issues or pull requests with all of these labels are check if stale. Defaults to `[]` (disabled)
+onlyLabels:
+  - more-information-needed
+
+# Issues or Pull Requests with these labels will never be considered stale. Set to `[]` to disable
+exemptLabels:
+  - pinned
+  - security
+  - "[Status] Maybe Later"
+
+# Set to true to ignore issues in a project (defaults to false)
+exemptProjects: true
+
+# Set to true to ignore issues in a milestone (defaults to false)
+exemptMilestones: true
+
+# Set to true to ignore issues with an assignee (defaults to false)
+exemptAssignees: true
+
+# Label to use when marking as stale
+staleLabel: stale
+
+# Comment to post when marking as stale. Set to `false` to disable
+markComment: >
+  This issue has been automatically marked as stale because it has not had
+  recent activity. It will be closed if no further activity occurs. Thank you
+  for your contributions.
+
+# Comment to post when removing the stale label.
+# unmarkComment: >
+#   Your comment here.
+
+# Comment to post when closing a stale Issue or Pull Request.
+# closeComment: >
+#   Your comment here.
+
+# Limit the number of actions per hour, from 1-30. Default is 30
+limitPerRun: 30
+
+# Limit to only `issues` or `pulls`
+only: issues
+
+# Optionally, specify configuration settings that are specific to just 'issues' or 'pulls':
+# pulls:
+#   daysUntilStale: 30
+#   markComment: >
+#     This pull request has been automatically marked as stale because it has not had
+#     recent activity. It will be closed if no further activity occurs. Thank you
+#     for your contributions.
+
+# issues:
+#   exemptLabels:
+#     - confirmed

.github/workflows/docs.yaml

+name: Build & deploy docs
+
+on: [push]
+
+jobs:
+  build-docs:
+    name: Build and deploy documentation
+    runs-on: ubuntu-latest
+    if: github.repository == 'Isaac-Orbit/orbit' && github.ref == 'refs/heads/main'
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v2
+
+    - name: Setup python
+      uses: actions/setup-python@v2
+      with:
+        python-version: "3.8"
+        architecture: x64
+
+    - name: Install dev requirements
+      working-directory: ./docs
+      run: pip install -r requirements.txt
+
+    - name: Generate docs
+      working-directory: ./docs
+      run: make html
+
+    - name: Deploy to gh-pages
+      uses: peaceiris/actions-gh-pages@v3
+      with:
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        publish_dir: ./docs/_build/html

.github/workflows/pre-commit.yaml

+name: Run linters using pre-commit
+
+on:
+  pull_request:
+  push:
+    branches: [main]
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - uses: actions/setup-python@v3
+    - uses: pre-commit/action@v3.0.0

.gitignore

+# C++
+**/cmake-build*/
+**/build*/
+**/*.so
+
+# Omniverse
+**/*.dmp
+**/.thumbs
+
+# Python
+.DS_Store
+**/*.egg-info/
+**/__pycache__/
+**/.pytest_cache/
+**/*.pyc
+**/*.pb
+
+# IDE
+**/.idea/
+**/.vscode/.**
+
+# Outputs
+**/output/*
+*.tmp
+
+# Isaac-Sim packman
+_isaac_sim
+_repo
+_build
+.lastformat
+
+# Internal
+# TODO: Remove this once we have a better way to handle internal files.
+source/extensions/omni.isaac.assets
+
+# RL-Games
+**/runs/*
+**/logs/*

.pre-commit-config.yaml

+repos:
+  - repo: https://github.com/python/black
+    rev: 22.10.0
+    hooks:
+      - id: black
+        args: ["--line-length", "120"]
+  - repo: https://github.com/pycqa/flake8
+    rev: 6.0.0
+    hooks:
+      - id: flake8
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: trailing-whitespace
+      - id: check-yaml
+      - id: check-merge-conflict
+      - id: check-case-conflict
+      - id: check-executables-have-shebangs
+      - id: check-toml
+      - id: end-of-file-fixer
+  - repo: https://github.com/pycqa/isort
+    rev: 5.10.1
+    hooks:
+      - id: isort
+        name: isort (python)
+        args: ["--profile", "black", "--filter-files"]
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.3.0
+    hooks:
+      - id: pyupgrade
+        args: ["--py37-plus"]
+  # FIXME: Figure out why this is getting stuck under VPN.
+  # - repo: https://github.com/RobertCraigie/pyright-python
+  #   rev: v1.1.282
+  #   hooks:
+  #   - id: pyright
+  # Note: We disable this by default since not all code is compatible with it.
+  # - repo: https://github.com/Lucas-C/pre-commit-hooks
+  #   rev: v1.3.1
+  #   hooks:
+  #     - id: insert-license
+  #       files: \.py$
+  #       args:
+  #         # - --remove-header    # Remove existing license headers. Useful when updating license.
+  #         - --license-filepath
+  #         - .github/LICENSE_HEADER.txt

.vscode/extensions.json

+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846
+	// for the documentation about the extensions.json format
+	"recommendations": [
+		"ms-vscode.cpptools",
+		"ms-python.python",
+        "ms-python.vscode-pylance",
+		"ban.spellright",
+		"ms-iot.vscode-ros",
+		"ExecutableBookProject.myst-highlight",
+	]
+}

.vscode/launch.json

+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Python: Current File",
+            "type": "python",
+            "request": "launch",
+            "program": "${file}",
+            "console": "integratedTerminal",
+            "env": {
+                "EXP_PATH": "${workspaceFolder}/_isaac_sim/apps",
+                "RESOURCE_NAME": "IsaacSim"
+            },
+            "python": "${workspaceFolder}/_isaac_sim/python.sh",
+            "envFile": "${workspaceFolder}/.vscode/.python.env",
+            "preLaunchTask": "setup_python_env"
+        },
+        {
+            "name": "Python: Attach (windows-x86_64/linux-x86_64)",
+            "type": "python",
+            "request": "attach",
+            "localRoot": "${workspaceFolder}",
+            "remoteRoot": "${workspaceFolder}",
+            "port": 3000,
+            "host": "localhost",
+            "subProcess": true,
+            "runtimeArgs": [
+                "--preserve-symlinks",
+                "--preserve-symlinks-main"
+            ]
+        }
+    ]
+}

.vscode/settings.json

+{
+    "files.associations": {
+        "*.tpp": "cpp",
+        "*.kit": "toml",
+        "*.rst": "restructuredtext",
+    },
+    "editor.rulers": [120],
+
+    // files to be ignored by the linter
+    "files.watcherExclude": {
+        "**/.git/objects/**": true,
+        "**/.git/subtree-cache/**": true,
+        "**/node_modules/**": true,
+        "**/_isaac_sim/**": true,
+        "**/_compiler/**": true
+    },
+    // Configuration for spelling checker
+    "spellright.language": [
+        "en-US-10-1."
+    ],
+    "spellright.documentTypes": [
+        "markdown",
+        "latex",
+        "plaintext",
+        "cpp",
+        "asciidoc",
+        "python",
+        "restructuredtext",
+    ],
+    "cSpell.words": [
+        "literalinclude",
+        "linenos",
+        "instanceable",
+        "isaacSim",
+        "jacobians",
+        "pointcloud",
+        "ridgeback",
+        "rllib",
+        "robomimic",
+        "teleoperation",
+        "xform",
+        "numpy",
+    ],
+    // This enables python language server. Seems to work slightly better than jedi:
+    "python.languageServer": "Pylance",
+    // We use "black" as a formatter:
+    "python.formatting.provider": "black",
+    "python.formatting.blackArgs": ["--line-length", "120"],
+    // Use flake8 for linting
+    "python.linting.pylintEnabled": false,
+    "python.linting.flake8Enabled": true,
+    "python.linting.flake8Args": [
+        "--max-line-length=120"
+    ],
+    // Use docstring gnerator
+    "autoDocstring.docstringFormat": "google",
+    "autoDocstring.guessTypes": true,
+    // Python environment path
+    "python.defaultInterpreterPath": "${workspaceFolder}/_isaac_sim/kit/python/bin/python3",
+    "python.envFile": "${workspaceFolder}/.vscode/.python.env",
+    // ROS distribution
+    "ros.distro": "noetic",
+    // Language specific settings
+    "[python]": {
+        "editor.tabSize": 4
+    },
+    "[restructuredtext]": {
+        "editor.tabSize": 2
+    }
+}

.vscode/tasks.json

+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "setup_python_env",
+            "type": "shell",
+            "linux": {
+                "command": "export CARB_APP_PATH=${workspaceFolder}/_isaac_sim/kit && export ISAAC_PATH=${workspaceFolder}/_isaac_sim && export EXP_PATH=${workspaceFolder}/_isaac_sim/apps && source ${workspaceFolder}/_isaac_sim/setup_python_env.sh && printenv >${workspaceFolder}/.vscode/.python.env"
+            }
+        },
+        {
+            "label": "run_formatter",
+            "type": "shell",
+            "linux": {
+                "command": "pre-commit run --all-files"
+            }
+        }
+    ]
+}

LICENSE

+Copyright (c) 2022, ETH Zurich
+Copyright (c) 2022, University of Toronto
+Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+   may be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

-# orbit
-Nvidia Isaac Orbit Environment Suite
+![Example Tasks created with ORBIT](docs/source/_static/tasks.jpg)
+
+---
+
+# Omniverse Isaac Orbit
+
+[![IsaacSim](https://img.shields.io/badge/Isaac%20Sim-2022.2.0-orange.svg)](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html)
+[![Python](https://img.shields.io/badge/python-3.7-blue.svg)](https://docs.python.org/3/whatsnew/3.7.html)
+[![Linux platform](https://img.shields.io/badge/platform-linux--64-lightgrey.svg)](https://releases.ubuntu.com/20.04/)
+[![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit&logoColor=white)](https://pre-commit.com/)
+[![Docs status](https://img.shields.io/badge/docs-passing-brightgreen.svg)](https://isaac-orbit.github.io/orbit)
+[![License](https://img.shields.io/badge/license-BSD--3-yellow.svg)](https://opensource.org/licenses/BSD-3-Clause)
+
+<!-- TODO: Replace docs status with workflow badge? Link: https://github.com/isaac-orbit/orbit/actions/workflows/docs.yaml/badge.svg -->
+
+Isaac Orbit (or *orbit* in short) is a unified and modular framework for robot learning powered by [NVIDIA Isaac Sim](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html). It offers a modular design to easily and efficiently create robotic environments with photo-realistic scenes, and fast and accurate simulation.
+
+Please refer our [documentation page](https://isaac-orbit.github.io/orbit) to learn more about the installation steps, features and tutorials.
+
+## Acknowledgement
+
+NVIDIA Isaac Sim is available freely under [individual license](https://www.nvidia.com/en-us/omniverse/download/). For more information about its license terms, please check [here](https://docs.omniverse.nvidia.com/app_isaacsim/common/NVIDIA_Omniverse_License_Agreement.html#software-support-supplement).
+
+ORBIT framework is released under [BSD-3 License](LICENSE). The license files of its dependencies and assets are present in the [`docs/licenses`](docs/licenses) directory.
+
+## Citation
+
+If you use **`orbit`** in your work, please cite:
+
+```
+@misc{mittal2023orbit,
+	author = {Mayank Mittal and Calvin Yu and Qinxi Yu and Jingzhou Liu and Nikita Rudin and David 	Hoeller and Jia Lin Yuan and Pooria Poorsarvi Tehrani and Ritvik Singh and Yunrong Guo and Hammad Mazhar and Ajay Mandlekar and Buck Babich and Gavriel State and Marco Hutter and Animesh Garg},
+	title = {ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments},
+	year = {2023},
+	eprint = {arXiv:2301.04195},
+}
+```

VERSION

+0.1.0

docs/Makefile

+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/README.md

+# Building Documentation
+
+We use [Sphinx](https://www.sphinx-doc.org/en/master/) with the [Book Theme](https://sphinx-book-theme.readthedocs.io/en/stable/) for maintaining the documentation.
+
+> **Note:** To build the documentation, we recommend creating a virtual environment to avoid any conflicts with system installed dependencies.
+
+Execute the following instructions to build the documentation (assumed from the top of the repository):
+
+1. Install the dependencies for [Sphinx](https://www.sphinx-doc.org/en/master/):
+
+    ```bash
+    # enter the location where this readme exists
+    cd docs
+    # install dependencies
+    pip install -r requirements.txt
+    ```
+
+2. Generate the documentation file via:
+
+    ```bash
+    # make the html version
+    make html
+    ```
+
+3. The documentation is now available at `docs/_build/html/index.html`:
+
+    ```bash
+    # open on default browser
+    xdg-open _build/html/index.html
+    ```

docs/conf.py

+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+
+sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.orbit"))
+sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.orbit/omni/isaac/orbit"))
+sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.orbit_envs"))
+sys.path.insert(0, os.path.abspath("../source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs"))
+
+# -- Project information -----------------------------------------------------
+
+project = "orbit"
+copyright = "2022, NVIDIA, ETH Zurich and University of Toronto"
+author = "NVIDIA, ETH Zurich and University of Toronto"
+
+version = "0.1.0"
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    "sphinx.ext.autodoc",
+    "sphinx.ext.napoleon",
+    "sphinx.ext.mathjax",
+    "sphinx.ext.intersphinx",
+    "sphinx.ext.autosummary",
+    "sphinx.ext.githubpages",
+    "sphinx.ext.todo",
+    "sphinxcontrib.bibtex",
+    "myst_parser",
+    "autodocsumm",
+]
+
+# mathjax hacks
+mathjax3_config = {
+    "tex": {
+        "inlineMath": [["\\(", "\\)"]],
+        "displayMath": [["\\[", "\\]"]],
+    },
+}
+
+# supported file extensions for source files
+source_suffix = {
+    ".rst": "restructuredtext",
+    ".md": "markdown",
+}
+
+# put type hints inside the description instead of the signature (easier to read)
+autodoc_typehints = "description"
+autodoc_typehints_description_target = "documented"
+# document class *and* __init__ methods
+autoclass_content = "class"  #
+# separate class docstring from __init__ docstring
+autodoc_class_signature = "separated"
+# sort members by source order
+autodoc_member_order = "groupwise"
+# BibTeX configuration
+bibtex_bibfiles = ["source/_static/refs.bib"]
+# default autodoc settings
+autodoc_default_options = {
+    "autosummary": True,
+}
+
+# generate links to the documentation of objects in external projects
+intersphinx_mapping = {
+    "python": ("https://docs.python.org/3", None),
+    "numpy": ("http://docs.scipy.org/doc/numpy/", None),
+    "torch": ("https://pytorch.org/docs/stable/", None),
+}
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = []
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store", "README.md", "licenses/*"]
+
+# Mock out modules that are not available on RTD
+autodoc_mock_imports = [
+    "torch",
+    "numpy",
+    "scipy",
+    "carb",
+    "pxr",
+    "omni.kit",
+    "omni.usd",
+    "omni.client",
+    "pxr.PhysxSchema",
+    "pxr.PhysicsSchemaTools",
+    "omni.replicator",
+    "omni.isaac.core",
+    "omni.isaac.kit",
+    "omni.isaac.cloner",
+    "gym",
+    "stable_baselines3",
+    "rsl_rl",
+    "rl_games",
+    "ray",
+    "h5py",
+    "hid",
+    "prettytable",
+]
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+import sphinx_book_theme
+
+html_theme_path = [sphinx_book_theme.get_html_theme_path()]
+html_theme = "sphinx_book_theme"
+html_logo = "source/_static/nv-logo.png"
+html_favicon = "source/_static/favicon.ico"
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ["source/_static"]
+html_css_files = ["css/nvidia.css"]
+
+html_theme_options = {
+    "collapse_navigation": True,
+    "repository_url": "https://github.com/NVIDIA-Omniverse/Orbit",
+    "use_repository_button": True,
+    "use_issues_button": True,
+    "use_edit_page_button": True,
+    "show_toc_level": 2,
+    "use_sidenotes": True,
+    "announcement": "⚠️This is a pre-release version of Orbit. Please report any issues on <a href='https://github.com/NVIDIA-Omniverse/orbit/issues'>GitHub</a>.",
+}
+
+html_show_copyright = True
+html_show_sphinx = False

docs/index.rst

+Overview
+========
+
+**Isaac Orbit** (or *orbit* in short) is a unified and modular framework, built on top of `NVIDIA
+Omniverse <https://docs.omniverse.nvidia.com/>`__ and `Isaac
+Sim <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html>`__,
+for robot learning. It offers a modular design to easily and efficiently
+create robot learning environments with photo-realistic scenes, and fast
+and efficient simulation.
+
+.. figure:: source/_static/tasks.jpg
+   :width: 100%
+   :alt: Example tasks created using orbit
+
+
+If you use ``orbit`` in your work, please cite the `paper <https://arxiv.org/abs/2301.04195>`_
+using the following BibTeX entry:
+
+.. code-block:: bibtex
+
+   @misc{mittal2023orbit,
+      author = {Mayank Mittal and Calvin Yu and Qinxi Yu and Jingzhou Liu and Nikita Rudin and David Hoeller and Jia Lin Yuan and Pooria Poorsarvi Tehrani and Ritvik Singh and Yunrong Guo and Hammad Mazhar and Ajay Mandlekar and Buck Babich and Gavriel State and Marco Hutter and Animesh Garg},
+      title = {ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments},
+      year = {2023},
+      eprint = {arXiv:2301.04195},
+   }
+
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Getting Started
+
+   source/setup/installation
+   source/setup/developer
+   source/setup/sample
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Features
+
+   source/features/actuators
+   source/features/motion_generators
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Tutorials (beginner)
+
+   source/tutorials/00_empty
+   source/tutorials/01_arms
+   source/tutorials/02_cloner
+   source/tutorials/03_ik_controller
+   source/tutorials/04_gym_env
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Source API
+
+   source/api/index
+
+.. toctree::
+   :maxdepth: 1
+   :caption: References
+
+   source/refs/contributing
+   source/refs/troubleshooting
+   source/refs/changelog
+   source/refs/roadmap
+   source/refs/license
+   source/refs/bibliography
+
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`

docs/licenses/assets/anymal_b-license.txt

+Copyright 2019, ANYbotics AG.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+1. Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in
+   the documentation and/or other materials provided with the
+   distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

docs/licenses/assets/anymal_c-license.txt

+Copyright 2020, ANYbotics AG.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+1. Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in
+   the documentation and/or other materials provided with the
+   distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

docs/licenses/assets/kinova-license.txt

+Copyright (c) 2017, Kinova Robotics inc.
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+    * Neither the name of the copyright holder nor the names of its contributors
+      may be used to endorse or promote products derived from this software
+      without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+==============================================================================
+
+Copyright (c) 2018, Kinova inc.
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+    * Neither the name of the copyright holder nor the names of its contributors
+      may be used to endorse or promote products derived from this software
+      without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+____________________________________________________________________
+
+
+Protocol Buffer license
+
+Copyright 2008 Google Inc.  All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+    * Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the
+distribution.
+    * Neither the name of Google Inc. nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+Code generated by the Protocol Buffer compiler is owned by the owner
+of the input file used when generating it.  This code is not
+standalone and requires a support library to be linked with it.  This
+support library is itself covered by the above license.

docs/licenses/assets/robotiq-license.txt

+Copyright (c) 2013, ROS-Industrial
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+  Redistributions in binary form must reproduce the above copyright notice, this
+  list of conditions and the following disclaimer in the documentation and/or
+  other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

docs/licenses/dependencies/black-license.txt

+The MIT License (MIT)
+
+Copyright (c) 2018 Łukasz Langa
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

docs/licenses/dependencies/flake8-license.txt

+== Flake8 License (MIT) ==
+
+Copyright (C) 2011-2013 Tarek Ziade <tarek@ziade.org>
+Copyright (C) 2012-2016 Ian Cordasco <graffatcolmingov@gmail.com>
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

docs/licenses/dependencies/gym-license.txt

+The MIT License
+
+Copyright (c) 2016 OpenAI (https://openai.com)
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+# Mujoco models
+This work is derived from [MuJuCo models](http://www.mujoco.org/forum/index.php?resources/) used under the following license:
+```
+This file is part of MuJoCo.
+Copyright 2009-2015 Roboti LLC.
+Mujoco		:: Advanced physics simulation engine
+Source		: www.roboti.us
+Version		: 1.31
+Released 	: 23Apr16
+Author		:: Vikash Kumar
+Contacts 	: kumar@roboti.us
+```

docs/licenses/dependencies/h5py-license.txt

+Copyright (c) 2008 Andrew Collette and contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+1. Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the
+   distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

docs/licenses/dependencies/hidapi-license.txt

+Copyright (c) 2010, Alan Ott, Signal 11 Software
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of Signal 11 Software nor the names of its
+      contributors may be used to endorse or promote products derived from
+      this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

docs/licenses/dependencies/isaacsim-license.txt

+Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
+
+NVIDIA CORPORATION and its licensors retain all intellectual property
+and proprietary rights in and to this software, related documentation
+and any modifications thereto.  Any use, reproduction, disclosure or
+distribution of this software and related documentation without an express
+license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+Note: Licenses for assets such as Robots and Props used within these environments can be found inside their respective folders on the Nucleus server where they are hosted.
+
+For more information: https://docs.omniverse.nvidia.com/app_isaacsim/common/NVIDIA_Omniverse_License_Agreement.html
+
+For sub-dependencies of Isaac Sim: https://docs.omniverse.nvidia.com/app_isaacsim/common/licenses.html

docs/licenses/dependencies/isort-license.txt

+The MIT License (MIT)
+
+Copyright (c) 2013 Timothy Edmund Crosley
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

docs/licenses/dependencies/matplotlib-license.txt

+License agreement for matplotlib versions 1.3.0 and later
+=========================================================
+
+1. This LICENSE AGREEMENT is between the Matplotlib Development Team
+("MDT"), and the Individual or Organization ("Licensee") accessing and
+otherwise using matplotlib software in source or binary form and its
+associated documentation.
+
+2. Subject to the terms and conditions of this License Agreement, MDT
+hereby grants Licensee a nonexclusive, royalty-free, world-wide license
+to reproduce, analyze, test, perform and/or display publicly, prepare
+derivative works, distribute, and otherwise use matplotlib
+alone or in any derivative version, provided, however, that MDT's
+License Agreement and MDT's notice of copyright, i.e., "Copyright (c)
+2012- Matplotlib Development Team; All Rights Reserved" are retained in
+matplotlib  alone or in any derivative version prepared by
+Licensee.
+
+3. In the event Licensee prepares a derivative work that is based on or
+incorporates matplotlib or any part thereof, and wants to
+make the derivative work available to others as provided herein, then
+Licensee hereby agrees to include in any such work a brief summary of
+the changes made to matplotlib .
+
+4. MDT is making matplotlib available to Licensee on an "AS
+IS" basis.  MDT MAKES NO REPRESENTATIONS OR WARRANTIES, EXPRESS OR
+IMPLIED.  BY WAY OF EXAMPLE, BUT NOT LIMITATION, MDT MAKES NO AND
+DISCLAIMS ANY REPRESENTATION OR WARRANTY OF MERCHANTABILITY OR FITNESS
+FOR ANY PARTICULAR PURPOSE OR THAT THE USE OF MATPLOTLIB
+WILL NOT INFRINGE ANY THIRD PARTY RIGHTS.
+
+5. MDT SHALL NOT BE LIABLE TO LICENSEE OR ANY OTHER USERS OF MATPLOTLIB
+ FOR ANY INCIDENTAL, SPECIAL, OR CONSEQUENTIAL DAMAGES OR
+LOSS AS A RESULT OF MODIFYING, DISTRIBUTING, OR OTHERWISE USING
+MATPLOTLIB , OR ANY DERIVATIVE THEREOF, EVEN IF ADVISED OF
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+
+6. This License Agreement will automatically terminate upon a material
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+
+7. Nothing in this License Agreement shall be deemed to create any
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+
+8. By copying, installing or otherwise using matplotlib ,
+Licensee agrees to be bound by the terms and conditions of this License
+Agreement.
+
+License agreement for matplotlib versions prior to 1.3.0
+========================================================
+
+1. This LICENSE AGREEMENT is between John D. Hunter ("JDH"), and the
+Individual or Organization ("Licensee") accessing and otherwise using
+matplotlib software in source or binary form and its associated
+documentation.
+
+2. Subject to the terms and conditions of this License Agreement, JDH
+hereby grants Licensee a nonexclusive, royalty-free, world-wide license
+to reproduce, analyze, test, perform and/or display publicly, prepare
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+alone or in any derivative version, provided, however, that JDH's
+License Agreement and JDH's notice of copyright, i.e., "Copyright (c)
+2002-2011 John D. Hunter; All Rights Reserved" are retained in
+matplotlib  alone or in any derivative version prepared by
+Licensee.
+
+3. In the event Licensee prepares a derivative work that is based on or
+incorporates matplotlib  or any part thereof, and wants to
+make the derivative work available to others as provided herein, then
+Licensee hereby agrees to include in any such work a brief summary of
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+
+4. JDH is making matplotlib  available to Licensee on an "AS
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+DISCLAIMS ANY REPRESENTATION OR WARRANTY OF MERCHANTABILITY OR FITNESS
+FOR ANY PARTICULAR PURPOSE OR THAT THE USE OF MATPLOTLIB
+WILL NOT INFRINGE ANY THIRD PARTY RIGHTS.
+
+5. JDH SHALL NOT BE LIABLE TO LICENSEE OR ANY OTHER USERS OF MATPLOTLIB
+ FOR ANY INCIDENTAL, SPECIAL, OR CONSEQUENTIAL DAMAGES OR
+LOSS AS A RESULT OF MODIFYING, DISTRIBUTING, OR OTHERWISE USING
+MATPLOTLIB , OR ANY DERIVATIVE THEREOF, EVEN IF ADVISED OF
+THE POSSIBILITY THEREOF.
+
+6. This License Agreement will automatically terminate upon a material
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+
+7. Nothing in this License Agreement shall be deemed to create any
+relationship of agency, partnership, or joint venture between JDH and
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+
+8. By copying, installing or otherwise using matplotlib,
+Licensee agrees to be bound by the terms and conditions of this License
+Agreement.

docs/licenses/dependencies/numpy-license.txt

+Copyright (c) 2005-2022, NumPy Developers.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+    * Redistributions of source code must retain the above copyright
+       notice, this list of conditions and the following disclaimer.
+
+    * Redistributions in binary form must reproduce the above
+       copyright notice, this list of conditions and the following
+       disclaimer in the documentation and/or other materials provided
+       with the distribution.
+
+    * Neither the name of the NumPy Developers nor the names of any
+       contributors may be used to endorse or promote products derived
+       from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

docs/licenses/dependencies/open3d-license.txt

+The MIT License (MIT)
+
+Open3D: www.open3d.org
+Copyright (c) 2018-2021 www.open3d.org
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

docs/licenses/dependencies/pillow-license.txt

+The Python Imaging Library (PIL) is
+
+    Copyright © 1997-2011 by Secret Labs AB
+    Copyright © 1995-2011 by Fredrik Lundh
+
+Pillow is the friendly PIL fork. It is
+
+    Copyright © 2010-2022 by Alex Clark and contributors
+
+Like PIL, Pillow is licensed under the open source HPND License:
+
+By obtaining, using, and/or copying this software and/or its associated
+documentation, you agree that you have read, understood, and will comply
+with the following terms and conditions:
+
+Permission to use, copy, modify, and distribute this software and its
+associated documentation for any purpose and without fee is hereby granted,
+provided that the above copyright notice appears in all copies, and that
+both that copyright notice and this permission notice appear in supporting
+documentation, and that the name of Secret Labs AB or the author not be
+used in advertising or publicity pertaining to distribution of the software
+without specific, written prior permission.
+
+SECRET LABS AB AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS
+SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS.
+IN NO EVENT SHALL SECRET LABS AB OR THE AUTHOR BE LIABLE FOR ANY SPECIAL,
+INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM
+LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE
+OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
+PERFORMANCE OF THIS SOFTWARE.

docs/licenses/dependencies/pre-commit-hooks-license.txt

+Copyright (c) 2014 pre-commit dev team: Anthony Sottile, Ken Struys
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

docs/licenses/dependencies/pre-commit-license.txt

+Copyright (c) 2014 pre-commit dev team: Anthony Sottile, Ken Struys
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

docs/licenses/dependencies/protobuf-license.txt

+Copyright 2008 Google Inc.  All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+    * Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the
+distribution.
+    * Neither the name of Google Inc. nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+Code generated by the Protocol Buffer compiler is owned by the owner
+of the input file used when generating it.  This code is not
+standalone and requires a support library to be linked with it.  This
+support library is itself covered by the above license.

docs/licenses/dependencies/pyright-license.txt

+MIT License
+
+Copyright (c) 2021 Robert Craigie
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
+===============================================================================
+
+MIT License
+
+Pyright - A static type checker for the Python language
+Copyright (c) Microsoft Corporation. All rights reserved.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE

docs/licenses/dependencies/pyupgrade-license.txt

+Copyright (c) 2017 Anthony Sottile
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

docs/licenses/dependencies/rl_games-license.txt

+MIT License
+
+Copyright (c) 2019 Denys88
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

docs/licenses/dependencies/robomimc-license.txt

+MIT License
+
+Copyright (c) 2021 Stanford Vision and Learning Lab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

docs/licenses/dependencies/rsl_rl-license.txt

+Copyright (c) 2021, ETH Zurich, Nikita Rudin
+Copyright (c) 2021, NVIDIA CORPORATION & AFFILIATES
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+   may be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+See licenses/dependencies for license information of dependencies of this package.
+
+===============================================================================
+
+Copyright (c) 2005-2021, NumPy Developers.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+    * Redistributions of source code must retain the above copyright
+       notice, this list of conditions and the following disclaimer.
+
+    * Redistributions in binary form must reproduce the above
+       copyright notice, this list of conditions and the following
+       disclaimer in the documentation and/or other materials provided
+       with the distribution.
+
+    * Neither the name of the NumPy Developers nor the names of any
+       contributors may be used to endorse or promote products derived
+       from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+===============================================================================
+
+From PyTorch:
+
+Copyright (c) 2016-     Facebook, Inc            (Adam Paszke)
+Copyright (c) 2014-     Facebook, Inc            (Soumith Chintala)
+Copyright (c) 2011-2014 Idiap Research Institute (Ronan Collobert)
+Copyright (c) 2012-2014 Deepmind Technologies    (Koray Kavukcuoglu)
+Copyright (c) 2011-2012 NEC Laboratories America (Koray Kavukcuoglu)
+Copyright (c) 2011-2013 NYU                      (Clement Farabet)
+Copyright (c) 2006-2010 NEC Laboratories America (Ronan Collobert, Leon Bottou, Iain Melvin, Jason Weston)
+Copyright (c) 2006      Idiap Research Institute (Samy Bengio)
+Copyright (c) 2001-2004 Idiap Research Institute (Ronan Collobert, Samy Bengio, Johnny Mariethoz)
+
+===============================================================================
+
+From Caffe2:
+
+Copyright (c) 2016-present, Facebook Inc. All rights reserved.
+
+All contributions by Facebook:
+Copyright (c) 2016 Facebook Inc.
+
+All contributions by Google:
+Copyright (c) 2015 Google Inc.
+All rights reserved.
+
+All contributions by Yangqing Jia:
+Copyright (c) 2015 Yangqing Jia
+All rights reserved.
+
+All contributions by Kakao Brain:
+Copyright 2019-2020 Kakao Brain
+
+All contributions from Caffe:
+Copyright(c) 2013, 2014, 2015, the respective contributors
+All rights reserved.
+
+All other contributions:
+Copyright(c) 2015, 2016 the respective contributors
+All rights reserved.
+
+Caffe2 uses a copyright model similar to Caffe: each contributor holds
+copyright over their contributions to Caffe2. The project versioning records
+all such contribution and copyright details. If a contributor wants to further
+mark their specific copyright on a particular contribution, they should
+indicate their copyright solely in the commit message of the change when it is
+committed.
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+
+3. Neither the names of Facebook, Deepmind Technologies, NYU, NEC Laboratories America
+   and IDIAP Research Institute nor the names of its contributors may be
+   used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

docs/licenses/dependencies/torch-license.txt

+Copyright (c) 2016, Soumith Chintala, Ronan Collobert, Koray Kavukcuoglu, Clement Farabet
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of distro nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

docs/licenses/dependencies/wandb-license.txt

+MIT License
+
+Copyright (c) 2021 Weights and Biases, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

docs/licenses/dependencies/warp-license.txt

+# NVIDIA Source Code License for Warp
+
+## 1. Definitions
+
+“Licensor” means any person or entity that distributes its Work.
+“Software” means the original work of authorship made available under this License.
+“Work” means the Software and any additions to or derivative works of the Software that are made available under this License.
+The terms “reproduce,” “reproduction,” “derivative works,” and “distribution” have the meaning as provided under U.S. copyright law; provided, however, that for the purposes of this License, derivative works shall not include works that remain separable from, or merely link (or bind by name) to the interfaces of, the Work.
+Works, including the Software, are “made available” under this License by including in or with the Work either (a) a copyright notice referencing the applicability of this License to the Work, or (b) a copy of this License.
+
+## 2. License Grant
+
+2.1 Copyright Grant. Subject to the terms and conditions of this License, each Licensor grants to you a perpetual, worldwide, non-exclusive, royalty-free, copyright license to reproduce, prepare derivative works of, publicly display, publicly perform, sublicense and distribute its Work and any resulting derivative works in any form.
+
+## 3. Limitations
+
+3.1 Redistribution. You may reproduce or distribute the Work only if (a) you do so under this License, (b) you include a complete copy of this License with your distribution, and (c) you retain without modification any copyright, patent, trademark, or attribution notices that are present in the Work.
+
+3.2 Derivative Works. You may specify that additional or different terms apply to the use, reproduction, and distribution of your derivative works of the Work (“Your Terms”) only if (a) Your Terms provide that the use limitation in Section 3.3 applies to your derivative works, and (b) you identify the specific derivative works that are subject to Your Terms. Notwithstanding Your Terms, this License (including the redistribution requirements in Section 3.1) will continue to apply to the Work itself.
+
+3.3 Use Limitation. The Work and any derivative works thereof only may be used or intended for use non-commercially. Notwithstanding the foregoing, NVIDIA and its affiliates may use the Work and any derivative works commercially. As used herein, “non-commercially” means for research or evaluation purposes only.
+
+3.4 Patent Claims. If you bring or threaten to bring a patent claim against any Licensor (including any claim, cross-claim or counterclaim in a lawsuit) to enforce any patents that you allege are infringed by any Work, then your rights under this License from such Licensor (including the grant in Section 2.1) will terminate immediately.
+
+3.5 Trademarks. This License does not grant any rights to use any Licensor’s or its affiliates’ names, logos, or trademarks, except as necessary to reproduce the notices described in this License.
+
+3.6 Termination. If you violate any term of this License, then your rights under this License (including the grant in Section 2.1) will terminate immediately.
+
+## 4. Disclaimer of Warranty.
+
+THE WORK IS PROVIDED “AS IS” WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WARRANTIES OR CONDITIONS OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE OR NON-INFRINGEMENT. YOU BEAR THE RISK OF UNDERTAKING ANY ACTIVITIES UNDER THIS LICENSE.
+
+## 5. Limitation of Liability.
+
+EXCEPT AS PROHIBITED BY APPLICABLE LAW, IN NO EVENT AND UNDER NO LEGAL THEORY, WHETHER IN TORT (INCLUDING NEGLIGENCE), CONTRACT, OR OTHERWISE SHALL ANY LICENSOR BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF OR RELATED TO THIS LICENSE, THE USE OR INABILITY TO USE THE WORK (INCLUDING BUT NOT LIMITED TO LOSS OF GOODWILL, BUSINESS INTERRUPTION, LOST PROFITS OR DATA, COMPUTER FAILURE OR MALFUNCTION, OR ANY OTHER COMM ERCIAL DAMAGES OR LOSSES), EVEN IF THE LICENSOR HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.

docs/make.bat

+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=.
+set BUILDDIR=_build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

docs/requirements.txt

+# for building the docs
+Jinja2==3.0.3
+Sphinx==4.5.0
+sphinx-book-theme==0.3.3
+myst-parser==0.18.1
+sphinxcontrib-bibtex==2.5.0
+autodocsumm==0.2.9
+
+# basic python
+numpy==1.24.1
+matplotlib==3.6.2

docs/source/_static/css/nvidia.css

+/* Modified from https://github.com/ARISE-Initiative/robosuite */
+
+
+.wy-side-nav-search {
+    background: rgb(143,144,147);
+}
+
+.wy-side-nav-search > div.version {
+  color: black;
+}
+
+
+.wy-nav-content-wrap {
+  background: inherit;
+}
+
+.wy-side-nav-search input[type="text"] {
+  border: none;
+  box-shadow: none;
+  background: white;
+  border-radius: 0;
+  font-size: 100%;
+}
+
+.wy-menu-vertical li.current a,
+.wy-menu-vertical li.toctree-l1.current > a {
+  border: none;
+}
+
+.ethical-rtd > div.ethical-sidebar,
+.ethical-rtd > div.ethical-footer {
+  display: none !important;
+}
+
+h1 {
+  /* text-transform: uppercase; */
+  font-family: inherit;
+  font-weight: 200;
+}
+
+h2,
+.rst-content .toctree-wrapper p.caption {
+  font-family: inherit;
+  font-weight: 200;
+}
+
+.rst-content a:visited {
+  color: #76b900;
+}
+
+/* Begin code */
+.rst-content pre.literal-block,
+.rst-content div[class^="highlight"] {
+  border: none;
+}
+
+.rst-content pre.literal-block,
+.rst-content div[class^="highlight"] pre,
+.rst-content .linenodiv pre {
+  font-size: 80%;
+}
+
+.highlight {
+  background: #f6f8fa;
+  border-radius: 6px;
+}
+
+.highlight .kn,
+.highlight .k {
+  color: #76b900;
+}
+
+.highlight .nn {
+  color: inherit;
+  font-weight: inherit;
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docs/source/_static/refs.bib

+@inproceedings{rudin2022learning,
+  title={Learning to walk in minutes using massively parallel deep reinforcement learning},
+  author={Rudin, Nikita and Hoeller, David and Reist, Philipp and Hutter, Marco},
+  booktitle={Conference on Robot Learning},
+  pages={91--100},
+  year={2022},
+  organization={PMLR}
+}
+
+@article{hwangbo2019learning,
+  title={Learning agile and dynamic motor skills for legged robots},
+  author={Hwangbo, Jemin and Lee, Joonho and Dosovitskiy, Alexey and Bellicoso, Dario and Tsounis, Vassilios and Koltun, Vladlen and Hutter, Marco},
+  journal={Science Robotics},
+  volume={4},
+  number={26},
+  pages={eaau5872},
+  year={2019},
+  publisher={American Association for the Advancement of Science}
+}
+
+@article{khatib1987osc,
+  author={Khatib, O.},
+  journal={IEEE Journal on Robotics and Automation},
+  title={A unified approach for motion and force control of robot manipulators: The operational space formulation},
+  year={1987},
+  volume={3},
+  number={1},
+  pages={43-53},
+  doi={10.1109/JRA.1987.1087068}
+}
+
+@book{siciliano2009force,
+  title={Force control},
+  author={Siciliano, Bruno and Sciavicco, Lorenzo and Villani, Luigi and Oriolo, Giuseppe},
+  year={2009},
+  publisher={Springer}
+}
+
+@article{cheng2021rmpflow,
+  author={Cheng, Ching-An and Mukadam, Mustafa and Issac, Jan and Birchfield, Stan and Fox, Dieter and Boots, Byron and Ratliff, Nathan},
+  journal={IEEE Transactions on Automation Science and Engineering},
+  title={RMPflow: A Geometric Framework for Generation of Multitask Motion Policies},
+  year={2021},
+  volume={18},
+  number={3},
+  pages={968-987},
+  doi={10.1109/TASE.2021.3053422}
+}
+
+@article{buss2004ik,
+    author = {Buss, Samuel},
+    year = {2004},
+    pages = {},
+    title = {Introduction to inverse kinematics with Jacobian transpose, pseudoinverse and damped least squares methods},
+    volume = {17},
+    journal={IEEE Transactions in Robotics and Automation},
+}
+
+@article{sucan2012ompl,
+    Author = {Ioan A. {\c{S}}ucan and Mark Moll and Lydia E. Kavraki},
+    Doi = {10.1109/MRA.2012.2205651},
+    Journal = {{IEEE} Robotics \& Automation Magazine},
+    Month = {December},
+    Number = {4},
+    Pages = {72--82},
+    Title = {The {O}pen {M}otion {P}lanning {L}ibrary},
+    Note = {\url{https://ompl.kavrakilab.org}},
+    Volume = {19},
+    Year = {2012}
+}
+
+@article{mittal2021articulated,
+  title={Articulated object interaction in unknown scenes with whole-body mobile manipulation},
+  author={Mittal, Mayank and Hoeller, David and Farshidian, Farbod and Hutter, Marco and Garg, Animesh},
+  journal={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
+  year={2022}
+}
+
+@INPROCEEDINGS{rudin2022advanced,
+  author={Rudin, Nikita and Hoeller, David and Bjelonic, Marko and Hutter, Marco},
+  booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
+  title={Advanced Skills by Learning Locomotion and Local Navigation End-to-End},
+  year={2022},
+  volume={},
+  number={},
+  pages={2497-2503},
+  doi={10.1109/IROS47612.2022.9981198}
+}

docs/source/api/index.rst

+API Reference
+=============
+
+omni.isaac.orbit extension
+--------------------------
+
+.. toctree::
+   :maxdepth: 1
+
+   orbit.actuators.group
+   orbit.actuators.model
+   orbit.devices
+   orbit.markers
+   orbit.objects.articulated
+   orbit.objects.rigid
+   orbit.robots
+   orbit.utils
+   orbit.utils.assets
+   orbit.utils.kit
+   orbit.utils.math
+   orbit.utils.mdp
+
+omni.isaac.orbit_envs extension
+-------------------------------
+
+.. toctree::
+   :maxdepth: 1
+
+   orbit_envs.isaac_env
+   orbit_envs.utils
+   orbit_envs.utils.data_collector
+   orbit_envs.utils.wrappers

docs/source/api/orbit.actuators.group.rst

+omni.isaac.orbit.actuators.group
+================================
+
+Actuator groups apply the same actuator model over a collection of actuated joints.
+It deals with both explicit and implicit models, and processes the input joint
+configuration and actions accordingly. The joint names, that are a part of a given
+actuator group, are configured using regex expressions. These expressions are matched
+with the joint names in the robot's kinematic tree. For instance, in the Franka Panda
+Emika arm, the first four joints and last three joints can be captured using the regex
+expressions ``"panda_joint[1-4]"`` and ``"panda_joint[5-7]"``,
+
+For a given actuator group, it is possible to provide multiple joint-level command types
+(e.g. position, velocity, torque, etc.). The command types are processed as a list of strings.
+Each string has two sub-strings joined by underscore:
+
+- **type of command mode:** "p" (position), "v" (velocity), "t" (torque)
+- **type of command resolving:** "abs" (absolute), "rel" (relative)
+
+For instance, the command type ``"p_abs"`` defines a position command in absolute mode, while ``"v_rel"``
+defines a velocity command in relative mode.
+
+To facilitate easier composibility, the actuator group handles the offsets and scalings applied to
+the input commands. These are set through the :class:`ActuatorControlCfg` and by default are set to zero
+and one, respectively. Based on these, the input commands are processed as follows:
+
+.. math::
+
+   \text{command} = \text{offset} + \text{scaling} \times \text{input command}
+
+where :math:`\text{command}` is the command that is sent to the actuator model, :math:`\text{offset}`
+is the offset applied to the input command, :math:`\text{scaling}` is the scaling applied to the input
+command, and :math:`\text{input command}` is the input command from the user.
+
+1. **Relative command:** The offset is based on the current joint state. For instance, if the
+   command type is "p_rel", the offset is the current joint position.
+2. **Absolute command:** The offset is based on the values set in the :class:`ActuatorControlCfg`.
+   For instance, if the command type is "p_abs", the offset is the value for :attr:`dof_pos_offset`
+   in the :class:`ActuatorControlCfg` instance.
+
+.. note::
+
+   Currently, the following joint command types are supported: "p_abs", "p_rel", "v_abs", "v_rel", "t_abs".
+
+
+On initialization, the actuator group performs the following:
+
+1. **Sets the control mode into simulation:** The control mode is set into the simulator for each joint
+   based on the command types and actuator models. For implicit actuator models, this is interpreted
+   from the first entry in the input list of command types. For explicit actuator models, the control
+   mode is always set to torque.
+2. **Sets the joint stiffness and damping gains:** In case of implicit actuators, these are set into
+   simulator directly, while for explicit actuators, the gains are set into the actuator model.
+3. **Sets the joint torque limits:** In case of implicit actuators, these are set into simulator directly
+   based on the parsed configuration. For explicit actuators, the torque limits are set high since the
+   actuator model itself is responsible for enforcing the torque limits.
+
+While computing the joint actions, the actuator group takes the following steps:
+
+1. **Formats the input actions:** It formats the input actions to account for additional constraints over
+   the joints. These include mimicking the input command over the joints, or considering non-holonomic steering
+   constraint for a wheel base.
+2. **Pre-process joint commands:** It splits the formatted commands based on number of command types. For
+   instance, if the input command types are "p_abs" and "v_abs", the input command is split into two tensors.
+   Over each tensor, the scaling and offset are applied.
+3. **Computes the joint actions:** The joint actions are computed based on the actuator model. For implicit
+   actuator models, the joint actions are returned directly. For explicit actuator models, the joint actions
+   are computed by calling the :meth:`IdealActuator.compute` and :meth:`IdealActuator.clip_torques` method.
+
+
+Consider a scene with multiple Franka Emika Panda robots present in the stage at the USD paths *"/World/Robot_{n}"*
+where *n* is the number of the instance. The following is an example of using the default actuator group to control
+the robot with position and velocity commands:
+
+.. code-block:: python
+
+   import torch
+   from omni.isaac.core.articulations import ArticulationView
+   from omni.isaac.orbit.actuator.model import IdealActuatorCfg
+   from omni.isaac.orbit.actuator.group import ActuatorControlCfg, ActuatorGroupCfg, ActuatorGroup
+
+   # Note: We assume the stage is created and simulation is playing.
+
+   # create an articulation view for the arms
+   # Reference: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_core.html
+   articulation_view = ArticulationView(
+      "/World/Robot_.*", "panda_arm", reset_xform_properties=False
+   )
+   articulation_view.initialize()
+
+   # create a configuration instance
+   # -- model
+   model_cfg = IdealActuatorCfg(motor_torque_limit=40, gear_ratio=1)
+   # -- control
+   control_cfg = ActuatorControlCfg(
+      command_types=["p_abs", "v_abs"],
+      stiffness={".*": 1000},
+      damping={".*": 10}
+   )
+   # -- group
+   group_cfg = ActuatorGroupCfg(
+       dof_names=["panda_joint[1-7]"],
+       model_cfg=model_cfg,
+       control_cfg=control_cfg,
+   )
+   # create the actuator group
+   group = ActuatorGroup(group_cfg, articulation_view)
+   # clear history in the actuator model (if any)
+   group.reset()
+
+   # create random commands
+   shape = (articulation_view.count, 7)
+   dof_pos_des, dof_vel_des = torch.rand(*shape), torch.rand(*shape)
+   # concatenate the commands into a single tensor
+   group_actions = torch.cat([dof_pos_des, dof_vel_des], dim=1)
+   # check that commands are of the correct shape
+   assert group_actions.shape == (group.num_articulation, group.control_dim)
+
+   # read current joint state
+   dof_pos = articulation_view.get_joint_positions(joint_indices=group.dof_indices)
+   dof_vel = articulation_view.get_joint_velocities(joint_indices=group.dof_indices)
+
+   # compute the joint actions
+   joint_actions = group.compute(group_actions, dof_pos, dof_vel)
+   # set actions into simulator
+   articulation_view.apply_actions(joint_actions)
+
+
+Actuator Control Configuration
+------------------------------
+
+.. autoclass:: omni.isaac.orbit.actuators.group.ActuatorControlCfg
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Default Actuator Group
+----------------------
+
+.. autoclass:: omni.isaac.orbit.actuators.group.ActuatorGroup
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+.. autoclass:: omni.isaac.orbit.actuators.group.ActuatorGroupCfg
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+
+Gripper Actuator Group
+-----------------------
+
+.. autoclass:: omni.isaac.orbit.actuators.group.GripperActuatorGroup
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+.. autoclass:: omni.isaac.orbit.actuators.group.GripperActuatorGroupCfg
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Non-Holonomic Kinematics Group
+------------------------------
+
+.. autoclass:: omni.isaac.orbit.actuators.group.NonHolonomicKinematicsGroup
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+.. autoclass:: omni.isaac.orbit.actuators.group.NonHolonomicKinematicsGroupCfg
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/api/orbit.actuators.model.rst

+omni.isaac.orbit.actuators.model
+================================
+
+There are two main categories of actuator models that are supported:
+
+- **Implicit**: Motor model with ideal PD from the physics engine.
+- **Explicit**: Motor models based on physical drive models.
+
+  - **Physics-based**: Derives the motor models based on first-principles.
+  - **Neural Network-based**: Learned motor models from actuator data.
+
+Currently, all the explicit motor models convert input joint commands into joint efforts to
+apply into the simulation. This process comprise of three main steps:
+
+1. :func:`set_command`: Set the desired command to the model. These include joint positions, velocities, feedforward torque, stiffness and damping gain.
+2. :func:`compute_torque`: Compute the joint efforts using the actuator model.
+3. :func:`clip_torques`: Clip the desired torques epxlicitly using an actuator saturation model.
+
+It is upto the model how the input values from step (1) are processed and dealt with in step (2).
+The steps (2) and (3) are segregrated explicitly, since many times in learning, we need both the
+computed (desired) or clipped (applied) joint efforts. For instance, to penalize the difference
+between the computed and clipped joint efforts, so that the learned policy does not keep outputting
+arbitrarily large commands.
+
+All explicit models inherit from the base actuator model, :class:`IdealActuator`, which implements a
+PD controller with feed-forward effort, and simple clipping based on the configured maximum effort.
+
+The following is a simple example of using the actuator model:
+
+.. code-block:: python
+
+   import torch
+   from omni.isaac.orbit.actuators.model import IdealActuator, IdealActuatorCfg
+
+   # joint information from the articulation
+   num_actuators, num_envs = 5, 32
+   device ="cpu"
+   # create a configuration instance
+   cfg = IdealActuatorCfg(motor_torque_limit=20, gear_ratio=1)
+   # create the actuator model instance
+   model = IdealActuator(cfg, num_actuators, num_envs, device)
+   # clear history in the actuator model (if any)
+   model.reset()
+
+   # creat random commands
+   dof_pos_des, dof_vel_des = torch.rand(32, 5), torch.rand(32, 5)
+   # create random state
+   dof_pos, dof_vel = torch.rand(32, 5), torch.rand(32, 5)
+
+   # set desired joint state
+   model.set_command(dof_pos_des, dof_vel_des)
+   # compute the torques
+   computed_torques = model.compute_torques(dof_pos, dof_vel)
+   applied_torques = model.clip_torques(computed_torques)
+
+
+Implicit Actuator
+-----------------
+
+.. autoclass:: omni.isaac.orbit.actuators.model.ImplicitActuatorCfg
+   :members:
+   :show-inheritance:
+
+Ideal Actuator
+---------------
+
+.. autoclass:: omni.isaac.orbit.actuators.model.IdealActuator
+   :members:
+   :show-inheritance:
+
+.. autoclass:: omni.isaac.orbit.actuators.model.IdealActuatorCfg
+   :members:
+   :show-inheritance:
+
+Direct Control (DC) Actuator
+----------------------------
+
+Fixed Gear Ratio
+~~~~~~~~~~~~~~~~
+
+.. autoclass:: omni.isaac.orbit.actuators.model.DCMotor
+   :members:
+   :show-inheritance:
+
+.. autoclass:: omni.isaac.orbit.actuators.model.DCMotorCfg
+   :members:
+   :show-inheritance:
+
+Variable Gear Ratio
+~~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: omni.isaac.orbit.actuators.model.VariableGearRatioDCMotor
+   :members:
+   :show-inheritance:
+
+.. autoclass:: omni.isaac.orbit.actuators.model.VariableGearRatioDCMotorCfg
+   :members:
+   :show-inheritance:
+
+Actuator Networks
+-----------------
+
+Multi-layer Perceptron (MLP)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: omni.isaac.orbit.actuators.model.ActuatorNetMLP
+   :members:
+   :show-inheritance:
+
+.. autoclass:: omni.isaac.orbit.actuators.model.ActuatorNetMLPCfg
+   :members:
+   :show-inheritance:
+
+Long Short-term Memory (LSTM)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: omni.isaac.orbit.actuators.model.ActuatorNetLSTM
+   :members:
+   :show-inheritance:
+
+.. autoclass:: omni.isaac.orbit.actuators.model.ActuatorNetLSTMCfg
+   :members:
+   :show-inheritance:

docs/source/api/orbit.devices.rst

+omni.isaac.orbit.devices
+========================
+
+.. automodule:: omni.isaac.orbit.devices
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/api/orbit.markers.rst

+omni.isaac.orbit.markers
+========================
+
+.. automodule:: omni.isaac.orbit.markers
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/api/orbit.objects.articulated.rst

+omni.isaac.orbit.objects.articulated
+====================================
+
+.. automodule:: omni.isaac.orbit.objects.articulated
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/api/orbit.objects.rigid.rst

+omni.isaac.orbit.objects.rigid
+==============================
+
+.. automodule:: omni.isaac.orbit.objects.rigid
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/api/orbit.robots.rst

+omni.isaac.orbit.robots
+========================
+
+Robot Base
+----------
+
+.. automodule:: omni.isaac.orbit.robots.robot_base
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+.. automodule:: omni.isaac.orbit.robots.robot_base_cfg
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+.. automodule:: omni.isaac.orbit.robots.robot_base_data
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Legged Robot
+------------
+
+.. automodule:: omni.isaac.orbit.robots.legged_robot
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+
+Single Arm Manipulator
+----------------------
+
+.. automodule:: omni.isaac.orbit.robots.single_arm
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Mobile Manipulator
+------------------
+
+.. automodule:: omni.isaac.orbit.robots.mobile_manipulator
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/api/orbit.utils.assets.rst

+omni.isaac.orbit.utils.assets
+=============================
+
+.. automodule:: omni.isaac.orbit.utils.assets
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/api/orbit.utils.kit.rst

+omni.isaac.orbit.utils.kit
+==========================
+
+.. automodule:: omni.isaac.orbit.utils.kit
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/api/orbit.utils.math.rst

+omni.isaac.orbit.utils.math
+===========================
+
+.. automodule:: omni.isaac.orbit.utils.math
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/api/orbit.utils.mdp.rst

+omni.isaac.orbit.utils.mdp
+==========================
+
+.. automodule:: omni.isaac.orbit.utils.mdp
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/api/orbit.utils.rst

+omni.isaac.orbit.utils
+======================
+
+Sub-module containing utilities for the Orbit framework.
+
+Configuration operations
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.orbit.utils.configclass
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Loading and saving data
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.orbit.utils.io
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Dictionary operations
+~~~~~~~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.orbit.utils.dict
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+String operations
+~~~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.orbit.utils.string
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Timer operations
+~~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.orbit.utils.timer
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/api/orbit_envs.isaac_env.rst

+omni.isaac.orbit_envs.isaac_env
+===============================
+
+We use OpenAI Gym registry to register the environment and their default configuration file.
+The default configuration file is passed to the argument "kwargs" in the Gym specification registry.
+The string is parsed into respective configuration container which needs to be passed to the environment
+class. This is done using the function :meth:`load_default_env_cfg` in the sub-module
+:mod:`omni.isaac.orbit.utils.parse_cfg`.
+
+
+.. note::
+
+    There is a slight abuse of kwargs since they are meant to be directly passed into the environment class.
+    Instead, we remove the key :obj:`cfg_file` from the "kwargs" dictionary and the user needs to provide
+    the kwarg argument :obj:`cfg` while creating the environment.
+
+
+.. code-block:: python
+
+   import gym
+   import omni.isaac.orbit_envs
+   from omni.isaac.orbit_envs.utils.parse_cfg import load_default_env_cfg
+
+   task_name = "Isaac-Cartpole-v0"
+   cfg = load_default_env_cfg(task_name)
+   env = gym.make(task_name, cfg=cfg)
+
+
+All environments must inherit from :class:`IsaacEnv` class which is defined in the sub-module
+:mod:`omni.isaac.orbit_envs.isaac_env`.
+The main methods that needs to be implemented by an inherited environment class:
+
+* :meth:`_design_scene`: Design the template environment for cloning.
+* :meth:`_reset_idx`: Environment reset function based on environment indices.
+* :meth:`_step_impl`: Apply actions into simulation and compute MDP signals.
+* :meth:`_get_observations`: Get observations from the environment.
+
+The following attributes need to be set by the inherited class:
+
+* :attr:`action_space`: The Space object corresponding to valid actions
+* :attr:`observation_space`: The Space object corresponding to valid observations
+* :attr:`reward_range`: A tuple corresponding to the min and max possible rewards. A default reward range set to [-inf, +inf] already exists.
+
+The action and observation space correspond to single environment (and not vectorized).
+
+
+Base Environment
+----------------
+
+.. automodule:: omni.isaac.orbit_envs.isaac_env
+   :members:
+   :undoc-members:
+   :show-inheritance:
+   :private-members:
+
+Base Configuration
+---------------------
+
+.. automodule:: omni.isaac.orbit_envs.isaac_env_cfg
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/api/orbit_envs.utils.data_collector.rst

+omni.isaac.orbit_envs.utils.data_collector
+==========================================
+
+All post-processed robomimic compatible datasets share the same data structure. A single dataset is a
+single HDF5 file. The stored data follows the structure provided
+`here <https://robomimic.github.io/docs/datasets/overview.html#dataset-structure>`_.
+
+The collector takes input data in its batched format and stores them as different demonstrations, each corresponding
+to a given environment index. The demonstrations are flushed to disk when the :meth:`flush()` is called for the
+respective environments. All the data is saved when the :meth:`close()` is called.
+
+The following sample shows how to use the ``robomimic`` data collector:
+
+.. code-block:: python
+
+   import os
+   import torch
+
+   from omni.isaac.orbit_envs.utils.data_collector import RobomimicDataCollector
+
+   # name of the environment (needed by robomimic)
+   task_name = "Isaac-Franka-Lift-v0"
+   # specify directory for logging experiments
+   test_dir = os.path.dirname(os.path.abspath(__file__))
+   log_dir = os.path.join(test_dir, "logs", "demos")
+   # name of the file to save data
+   filename = "hdf_dataset.hdf5"
+   # number of episodes to collect
+   num_demos = 10
+   # number of environments to simulate
+   num_envs = 4
+
+   # create data-collector
+   collector_interface = RobomimicDataCollector(task_name, log_dir, filename, num_demos)
+
+   # reset the collector
+   collector_interface.reset()
+
+   while not collector_interface.is_stopped():
+      # generate random data to store
+      # -- obs
+      obs = {
+            "joint_pos": torch.randn(num_envs, 10),
+            "joint_vel": torch.randn(num_envs, 10)
+      }
+      # -- actions
+      actions = torch.randn(num_envs, 10)
+      # -- rewards
+      rewards = torch.randn(num_envs)
+      # -- dones
+      dones = torch.rand(num_envs) > 0.5
+
+      # store signals
+      # -- obs
+      for key, value in obs.items():
+            collector_interface.add(f"obs/{key}", value)
+      # -- actions
+      collector_interface.add("actions", actions)
+      # -- next_obs
+      for key, value in obs.items():
+            collector_interface.add(f"next_obs/{key}", value.cpu().numpy())
+      # -- rewards
+      collector_interface.add("rewards", rewards)
+      # -- dones
+      collector_interface.add("dones", dones)
+
+      # flush data from collector for successful environments
+      # note: in this case we flush all the time
+      reset_env_ids = dones.nonzero(as_tuple=False).squeeze(-1)
+      collector_interface.flush(reset_env_ids)
+
+   # close collector
+   collector_interface.close()
+
+
+.. automodule:: omni.isaac.orbit_envs.utils.data_collector
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/api/orbit_envs.utils.rst

+omni.isaac.orbit_envs.utils
+===============================
+
+.. automodule:: omni.isaac.orbit_envs.utils
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/api/orbit_envs.utils.wrappers.rst

+omni.isaac.orbit_envs.utils.wrappers
+====================================
+
+Wrappers allow you to modify the behavior of an environment without modifying the environment itself.
+This is useful for modifying the observation space, action space, or reward function. Additionally,
+they can be used to cast a given environment into the respective environment class definition used by
+different learning frameworks. This operation may include handling of asymmetric actor-critic observations,
+casting the data between different backends such `numpy` and `pytorch`, or organizing the returned data
+into the expected data structure by the learning framework.
+
+All wrappers derive from the ``gym.Wrapper``` class. Using a wrapper is as simple as passing the initialized
+environment instance to the wrapper constructor. For instance, to wrap an environment in the
+`Stable-Baselines3`_ wrapper, you can do the following:
+
+.. code-block:: python
+
+   from omni.isaac.orbit_envs.utils.wrappers.sb3 import Sb3VecEnvWrapper
+
+   env = Sb3VecEnvWrapper(env)
+
+
+.. _RL-Games: https://github.com/Denys88/rl_games
+.. _RSL-RL: https://github.com/leggedrobotics/rsl_rl
+.. _Stable-Baselines3: https://github.com/DLR-RM/stable-baselines3
+
+
+RL-Games Wrapper
+----------------
+
+.. automodule:: omni.isaac.orbit_envs.utils.wrappers.rl_games
+   :members:
+   :show-inheritance:
+
+RSL-RL Wrapper
+--------------
+
+.. automodule:: omni.isaac.orbit_envs.utils.wrappers.rsl_rl
+   :members:
+   :show-inheritance:
+
+Stable-Baselines3 Wrapper
+-------------------------
+
+.. automodule:: omni.isaac.orbit_envs.utils.wrappers.sb3
+   :members:
+   :show-inheritance:

docs/source/features/actuators.rst

+Actuators
+=========
+
+An articulated system comprises of actuated joints, also called the degrees of freedom (DOF).
+In a physical system, the actuation typically happens either through active components, such as
+electric or hydraulic motors, or passive components, such as springs. These components can introduce
+certain non-linear characteristics which includes delays or maximum producible velocity or torque.
+
+In simulation, the joints are either position, velocity, or torque-controlled. For position and velocity
+control, the physics engine internally implements a spring-damp (PD) controller which computes the torques
+applied on the actuated joints. In torque-control, the commands are set directly as the joint efforts.
+While this mimics an ideal behavior of the joint mechanism, it does not truly model how the drives work
+in the physical world. Thus, we provide a mechanism to inject external models to compute the
+joint commands that would represent the physical robot's behavior.
+
+Actuator models
+---------------
+
+We name two different types of actuator models:
+
+1. **implicit**: corresponds to the ideal simulation mechanism (provided by physics engine).
+2. **explicit**: corresponds to external drive models (implemented by user).
+
+The explicit actuator model performs two steps: 1) it computes the desired joint torques for tracking
+the input commands, and 2) it clips the desired torques based on the motor capabilities. The clipped
+torques are the desired actuation efforts that are set into the simulation.
+
+All explicit models inherit from the base actuator model, :class:`IdealActuator`, which implements a
+PD controller with feed-forward effort, and simple clipping based on the configured maximum effort:
+
+.. math::
+
+    \tau_{j, computed} & = k_p * (q - q_{des}) + k_d * (\dot{q} - \dot{q}_{des}) + \tau_{ff} \\
+    \tau_{j, applied} & = clip(\tau_{computed}, -\tau_{j, max}, \tau_{j, max})
+
+
+where, :math:`k_p` and :math:`k_d` are joint stiffness and damping gains, :math:`q` and :math:`\dot{q}`
+are the current joint positions and velocities, :math:`q_{des}`, :math:`\dot{q}_{des}` and :math:`\tau_{ff}`
+are the desired joint positions, velocities and torques commands. The parameters :math:`\gamma` and
+:math:`\tau_{motor, max}`  are the gear box ratio and the maximum motor effort possible.
+
+.. note::
+
+    We provide implementations for various explicit actuator models. These are detailed in
+    `omni.isaac.orbit.actuators.model <../api/orbit.actuators.model.html>`_ sub-package.
+
+Actuator groups
+---------------
+
+The actuator models by themselves are computational blocks that take as inputs the desired joint commands
+and output the the joint commands to apply into the simulator. They do not contain any knowledge about the
+joints they are acting on themselves. These are handled by the actuator groups.
+
+Actuator groups collect a set of actuated joints on an articulation that are using the same actuator model.
+For instance, the quadruped, ANYmal-C, uses series elastic actuator, ANYdrive 3.0, for all its joints. This
+grouping configures the actuator model for those joints, translates the input commands to the joint level
+commands, and returns the articulation action to set into the simulator. Through this mechanism, it is also
+possible to configure the included joints under some constraints, such as mimicking of gripper commands or
+introducing non-holonomic constraints for a wheel base.
+
+An articulated system can be composed of different actuator groups. For instance, a legged mobile manipulator
+can be composed of a base group, an arm group, and a gripper group. If the base is the quadruped, ANYmal-C,
+the base group can utilize the actuator network to model the series elastic actuation. Similarly, the arm,
+a Kinova Jaco2, can use a DC motor model and take joint positions as input commands. Finally, the gripper group
+can employ the gripper mimic group which processes binary open/close command into individual gripper joint actions.
+
+.. image:: ../_static/actuator_groups.svg
+    :width: 600
+    :align: center
+    :alt: Actuator groups for a legged mobile manipulator
+
+
+.. note::
+
+    For more information on the actuator groups, please refer to the documentation of the
+    `omni.isaac.orbit.actuators.group <../api/orbit.actuators.group.html>`_ subpackage.

docs/source/features/motion_generators.rst

+Motion Generators
+=================
+
+Robotic tasks are typically defined in task-space in terms of desired
+end-effector trajectory, while control actions are executed in the
+joint-space. This naturally leads to *joint-space* and *task-space*
+(operational-space) control methods. However, successful execution of
+interaction tasks using motion control often requires an accurate model
+of both the robot manipulator as well as its environment. While a
+sufficiently precise manipulator's model might be known, detailed
+description of environment is hard to obtain :cite:p:`siciliano2009force`.
+Planning errors caused by this mismatch can be overcome by introducing a
+*compliant* behavior during interaction.
+
+While compliance is achievable passively through robot's structure (such
+as elastic actuators, soft robot arms), we are more interested in
+controller designs that focus on active interaction control. These are
+broadly categorized into:
+
+1. **impedance control:** indirect control method where motion deviations
+   caused during interaction relates to contact force as a mass-spring-damper
+   system with adjustable parameters (stiffness and damping). A specialized case
+   of this is *stiffness* control where only the static relationship between
+   position error and contact force is considered.
+
+2. **hybrid force/motion control:** active control method which controls motion
+   and force along unconstrained and constrained task directions respectively.
+   Among the various schemes for hybrid motion control, the provided implementation
+   is based on inverse dynamics control in the operational space :cite:p:`khatib1987osc`.
+
+.. note::
+
+    To provide an even broader set of motion generators, we welcome contributions from the
+    community. If you are interested, please open an issue to start a discussion!
+
+
+Joint-space controllers
+-----------------------
+
+Torque control
+~~~~~~~~~~~~~~
+
+Action dimensions: ``"n"`` (number of joints)
+
+In torque control mode, the input actions are directly set as feed-forward
+joint torque commands, i.e. at every time-step,
+
+.. math::
+
+    \tau = \tau_{des}
+
+Thus, this control mode is achievable by setting the command type for the actuator group, via
+the :class:`ActuatorControlCfg` class, to `"t_abs"`.
+
+
+Velocity control
+~~~~~~~~~~~~~~~~
+
+Action dimensions: ``"n"`` (number of joints)
+
+In velocity control mode, a proportional control law is required to reduce the error between the
+current and desired joint velocities. Based on input actions, the joint torques commands are computed as:
+
+.. math::
+
+    \tau = k_d (\dot{q}_{des} - \dot{q})
+
+where :math:`k_d` are the gains parsed from configuration.
+
+This control mode is achievable by setting the command type for the actuator group, via
+the :class:`ActuatorControlCfg` class, to `"v_abs"` or `"v_rel"`.
+
+.. note::
+
+    While performing velocity control, in many cases, gravity compensation is required to ensure better
+    tracking of the command. In this case, we suggest disabling gravity for the links in the articulation
+    in simulation.
+
+Position control with fixed impedance
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Action dimensions: ``"n"`` (number of joints)
+
+In position control mode, a proportional-damping (PD) control law is employed to track the desired joint
+positions and ensuring the articulation remains still at the desired location (i.e., desired joint velocities
+are zero). Based on the input actions, the joint torque commands are computed as:
+
+.. math::
+
+    \tau = k_p (q_{des} - q)  - k_d \dot{q}
+
+where :math:`k_p` and :math:`k_d` are the gains parsed from configuration.
+
+In its simplest above form,  the control mode is achievable by setting the command type for the actuator group,
+via the :class:`ActuatorControlCfg` class, to `"p_abs"` or `"p_rel"`.
+
+However, a more complete formulation which considers the dynamics of the articulation would be:
+
+.. math::
+
+    \tau = M \left( k_p (q_{des} - q)  - k_d \dot{q} \right) + g
+
+where :math:`M` is the joint-space inertia matrix of size :math:`n \times n`, and :math:`g` is the joint-space
+gravity vector. This implementation is available through the :class:`JointImpedanceController` class by setting the
+impedance mode to ``"fixed"``. The gains :math:`k_p` are parsed from the input configuration and :math:`k_d`
+are computed while considering the system as a decoupled point-mass oscillator, i.e.,
+
+.. math::
+
+    k_d = 2 \sqrt{k_p} \times D
+
+where :math:`D` is the damping ratio of the system. Critical damping is achieved for :math:`D = 1`, overcritical
+damping for :math:`D > 1` and undercritical damping for :math:`D < 1`.
+
+Additionally, it is possible to disable the inertial or gravity compensation in the controller by setting the
+flags :attr:`inertial_compensation` and  :attr:`gravity_compensation` in the configuration to :obj:`False`,
+respectively.
+
+Position control with variable stiffness
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Action dimensions: ``"2n"`` (number of joints)
+
+In stiffness control, the same formulation as above is employed, however, the gains :math:`k_p` are part of
+the input commands. This implementation is available through the :class:`JointImpedanceController` class by
+setting the impedance mode to ``"variable_kp"``.
+
+Position control with variable impedance
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Action dimensions: ``"3n"`` (number of joints)
+
+In impedance control, the same formulation as above is employed, however, both :math:`k_p` and :math:`k_d`
+are part of the input commands. This implementation is available through the :class:`JointImpedanceController`
+class by setting the impedance mode to ``"variable"``.
+
+Task-space controllers
+----------------------
+
+Differential inverse kinematics (IK)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Action dimensions:  ``"3"`` (relative/absolute position), ``"6"`` (relative pose), or ``"7"`` (absolute pose)
+
+Inverse kinematics converts the task-space tracking error to joint-space error. In its most typical implementation,
+the pose error in the task-sace, :math:`\Delta \chi_e = (\Delta p_e, \Delta \phi_e)`, is computed as the cartesian
+distance between the desired and current task-space positions, and the shortest distance in :math:`\mathbb{SO}(3)`
+between the desired and current task-space orientations.
+
+Using the geometric Jacobian :math:`J_{eO} \in \mathbb{R}^{6 \times n}`, that relates task-space velocity to joint-space velocities,
+we design the control law to obtain the desired joint positions as:
+
+.. math::
+
+    q_{des} = q + \eta J_{eO}^{-} \Delta \chi_e
+
+where :math:`\eta` is a scaling parameter and :math:`J_{eO}^{-}` is the pseudo-inverse of the Jacobian.
+
+It is possible to compute the pseudo-inverse of the Jacobian using different formulations:
+
+* Moore-Penrose pseduo-inverse: :math:`A^{-} = A^T(AA^T)^{-1}`.
+* Levenberg-Marquardt pseduo-inverse (damped least-squares): :math:`A^{-} = A^T (AA^T + \lambda \mathbb{I})^{-1}`.
+* Tanspose pseudo-inverse: :math:`A^{-} = A^T`.
+* Adaptive singular-vale decomposition (SVD) pseduo-inverse from :cite:t:`buss2004ik`.
+
+These implementations are available through the :class:`DifferentialInverseKinematics` class.
+
+Impedance controller
+~~~~~~~~~~~~~~~~~~~~
+
+
+It uses task-space pose error and Jacobian to compute join torques through mass-spring-damper system
+with a) fixed stiffness, b) variable stiffness (stiffness control),
+and c) variable stiffness and damping (impedance control).
+
+Operational-space controller
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Similar to task-space impedance
+control but uses the Equation of Motion (EoM) for computing the
+task-space force
+
+Closed-loop proportional force controller
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+It uses a proportional term
+to track the desired wrench command with respect to current wrench at
+the end-effector.
+
+Hybrid force-motion controller
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+It combines closed-loop force control
+and operational-space motion control to compute the desired wrench at
+the end-effector. It uses selection matrices that define the
+unconstrainted and constrained task directions.
+
+
+Reactive planners
+-----------------
+
+Typical task-space controllers do not account for motion constraints
+such as joint limits, self-collision and environment collision. Instead
+they rely on high-level planners (such as RRT) to handle these
+non-Euclidean constraints and give joint/task-space way-points to the
+controller. However, these methods are often conservative and have
+undesirable deceleration when close to an object. More recently,
+different approaches combine the constraints directly into an
+optimization problem, thereby providing a holistic solution for motion
+generation and control.
+
+We currently support the following planners:
+
+-  **RMPFlow (lula):** An acceleration-based policy that composes various Reimannian Motion Policies (RMPs) to
+   solve a hierarchy of tasks :cite:p:`cheng2021rmpflow`. It is capable of performing dynamic collision
+   avoidance while navigating the end-effector to a target.
+
+-  **MPC (OCS2):** A receding horizon control policy based on sequential linear-quadratic (SLQ) programming.
+   It formulates various constraints into a single optimization problem via soft-penalties and uses automatic
+   differentiation to compute derivatives of the system dynamics, constriants and costs. Currently, we support
+   the MPC formulation for end-effector trajectory tracking in fixed-arm and mobile manipulators. The formulation
+   considers a kinematic system model with joint limits and self-collision avoidance :cite:p:`mittal2021articulated`.
+
+
+.. warning::
+
+    We wrap around the python bindings for these reactive planners to perform a batched computing of
+    robot actions. However, their current implementations are CPU-based which may cause certain
+    slowdown for learning.

docs/source/refs/bibliography.rst

+Bibliography
+============
+
+.. bibliography::

docs/source/refs/changelog.rst

+Extensions Changelog
+====================
+
+All notable changes to this project are documented in this file. The format is based on `Keep a Changelog <https://keepachangelog.com/en/1.0.0/>`__ and this project adheres to `Semantic Versioning <https://semver.org/spec/v2.0.0.html>`__.
+
+Each extension has its own changelog. The changelog for each extension is located in the ``docs`` directory of the extension.
+The changelog for each extension is also included in this changelog to make it easier to find the changelog for a specific extension.
+
+omni.isaac.orbit
+-----------------
+
+Extension containing the core framework of Orbit.
+
+.. include:: ../../../source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
+   :start-line: 3
+
+
+omni.isaac.orbit_envs
+---------------------
+
+Extension containing the environments built using Orbit.
+
+.. include:: ../../../source/extensions/omni.isaac.orbit_envs/docs/CHANGELOG.rst
+   :start-line: 3
+
+
+omni.isaac.contrib_envs
+-----------------------
+
+Extension for environments contributed by the community.
+
+.. include:: ../../../source/extensions/omni.isaac.contrib_envs/docs/CHANGELOG.rst
+   :start-line: 3

docs/source/refs/contributing.rst

+Contribution Guidelines
+=======================
+
+We wholeheartedly welcome contributions to the project to make the framework more mature
+and useful for everyone. These may happen in forms of:
+
+* Bug reports: Please report any bugs you find in the `issue tracker <https://github.com/NVIDIA-Omniverse/orbit/issues>`__.
+* Feature requests: Please suggest new features you would like to see in the `issue tracker <https://github.com/NVIDIA-Omniverse/orbit/issues>`__.
+* Code contributions: Please submit a `pull request <https://github.com/NVIDIA-Omniverse/orbit/pulls>`__.
+
+  * Bug fixes
+  * New features
+  * Documentation improvements
+  * Tutorials and tutorial improvements
+
+
+Contributing Code
+-----------------
+
+We use `GitHub <https://github.com/NVIDIA-Omniverse/orbit>`__ for code hosting. Please
+follow the following steps to contribute code:
+
+1. Create an issue in the `issue tracker <https://github.com/NVIDIA-Omniverse/orbit/issues>`__ to discuss
+   the changes or additions you would like to make. This helps us to avoid duplicate work and to make
+   sure that the changes are aligned with the roadmap of the project.
+2. Fork the repository.
+3. Create a new branch for your changes.
+4. Make your changes and commit them.
+5. Push your changes to your fork.
+6. Submit a pull request to the `main branch <https://github.com/NVIDIA-Omniverse/orbit/compare>`__.
+7. Ensure all the checks on the pull request template are performed.
+
+After sending a pull request, the maintainers will review your code and provide feedback.
+
+Please ensure that your code is well-formatted, documented and passes all the tests.
+
+.. note::
+
+   It is important to keep the pull request as small as possible. This makes it easier for the
+   maintainers to review your code. If you are making multiple changes, please send multiple pull requests.
+   Large pull requests are difficult to review and may take a long time to merge.
+
+
+Coding Style
+------------
+
+We follow the `Google Style
+Guides <https://google.github.io/styleguide/pyguide.html>`__ for the
+codebase. For Python code, the PEP guidelines are followed. Most
+important ones are `PEP-8 <https://www.python.org/dev/peps/pep-0008/>`__
+for code comments and layout,
+`PEP-484 <http://www.python.org/dev/peps/pep-0484>`__ and
+`PEP-585 <https://www.python.org/dev/peps/pep-0585/>`__ for
+type-hinting.
+
+We use the following tools for maintaining code quality:
+
+* `pre-commit <https://pre-commit.com/>`__: Runs a list of formatters and linters over the codebase.
+* `black <https://black.readthedocs.io/en/stable/>`__: The uncompromising code formatter.
+* `flake8 <https://flake8.pycqa.org/en/latest/>`__: A wrapper around PyFlakes, pycodestyle and
+  Ned Batchelder's McCabe script.
+
+Please check `here <https://pre-commit.com/#install>`__ for instructions
+to set these up. To run over the entire repository, please execute the
+following command in the terminal:
+
+.. code:: bash
+
+   pre-commit run --all-files
+
+Maintaining a changelog
+-----------------------
+
+Each extension maintains a changelog in the ``CHANGELOG.rst`` file in the ``docs`` directory. The
+file is written in `reStructuredText <https://docutils.sourceforge.io/rst.html>`__ format. It
+contains a curated, chronologically ordered list of notable changes for each version of the extension.
+
+The goal of this changelog is to help users and contributors see precisely what notable changes have
+been made between each release (or version) of the extension. This is a *MUST* for every extension.
+
+For updating the changelog, please follow the following guidelines:
+
+* Each version should have a section with the version number and the release date.
+* The version number is updated according to `Semantic Versioning <https://semver.org/>`__. The
+  release date is the date on which the version is released.
+* Each version is divided into subsections based on the type of changes made.
+
+  * ``Added``: For new features.
+  * ``Changed``: For changes in existing functionality.
+  * ``Deprecated``: For soon-to-be removed features.
+  * ``Removed``: For now removed features.
+  * ``Fixed``: For any bug fixes.
+
+* Each change is described in its corresponding sub-section with a bullet point.
+* The bullet points are written in the past tense and in imperative mode.
+
+For example, the following is a sample changelog:
+
+.. code:: rst
+
+    Changelog
+    ---------
+
+    0.1.0 (2021-02-01)
+    ~~~~~~~~~~~~~~~~~~
+
+    Added
+    ^^^^^
+
+    * Added a new feature.
+
+    Changed
+    ^^^^^^^
+
+    * Changed an existing feature.
+
+    Deprecated
+    ^^^^^^^^^^
+
+    * Deprecated an existing feature.
+
+    Removed
+    ^^^^^^^
+
+    * Removed an existing feature.
+
+    Fixed
+    ^^^^^
+
+    * Fixed a bug.
+
+    0.0.1 (2021-01-01)
+    ~~~~~~~~~~~~~~~~~~
+
+    Added
+    ^^^^^
+
+    * Added a new feature.
+
+
+Contributing Documentation
+--------------------------
+
+Contributing to the documentation is as easy as contributing to the codebase. All the source files
+for the documentation are located in the ``orbit/docs`` directory. The documentation is written in
+`reStructuredText <https://docutils.sourceforge.io/rst.html>`__ format.
+
+We use `Sphinx <https://www.sphinx-doc.org/en/master/>`__ with the
+`Book Theme <https://sphinx-book-theme.readthedocs.io/en/stable/>`__
+for maintaining the documentation.
+
+Sending a pull request for the documentation is the same as sending a pull request for the codebase.
+Please follow the steps mentioned in the `Contributing Code`_ section.
+
+To build the documentation, we recommend creating a `virtual environment <https://docs.python.org/3/library/venv.html>`__
+to install the dependencies. This can also be a `conda environment <https://docs.conda.io/projects/conda/en/latest/user-guide/tasks/manage-environments.html>`__.
+
+Execute the following commands in the terminal:
+
+1. Enter the ``orbit/docs`` directory.
+
+   .. code:: bash
+
+     # enter the location of the docs directory (relative to the root of the repository)
+     cd docs
+
+2. Install the dependencies (preferably in a virtual/conda environment).
+
+   .. code:: bash
+
+     # install the dependencies
+     pip install -r requirements.txt
+
+3. Build the documentation.
+
+   .. code:: bash
+
+     # build the documentation
+     make html
+
+4. Open the documentation in a browser.
+
+   .. code:: bash
+
+     # open the documentation in a browser
+     xdg-open _build/html/index.html
+
+
+Contributing assets
+-------------------
+
+Currently, we host the assets for the extensions on `NVIDIA Nucleus Server <https://docs.omniverse.nvidia.com/prod_nucleus/prod_nucleus/overview.html>`__.
+Nucleus is a cloud-based storage service that allows users to store and share large files. It is
+integrated with the `NVIDIA Omniverse Platform <https://developer.nvidia.com/omniverse>`__.
+
+Since all assets are hosted on Nucleus, we do not need to include them in the repository. However,
+we need to include the links to the assets in the documentation.
+
+The included assets are part of the `Isaac Sim Content <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/reference_assets.html>`__.
+To use this content, you need to download the files to a Nucleus server or create an **Isaac** Mount on
+a Nucleus server.
+
+Please check the `Isaac Sim documentation <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_faq.html#assets-and-nucleus>`__
+for more information on how to download the assets.
+
+.. note::
+  We are currently working on a better way to contribute assets. We will update this section once we
+  have a solution. In the meantime, please follow the steps mentioned below.
+
+To host your own assets, the current solution is:
+
+1. Create a separate repository for the assets and add it over there
+2. Make sure the assets are licensed for use and distribution
+3. Include images of the assets in the README file of the repository
+4. Send a pull request with a link to the repository
+
+We will then verify the assets, its licensing, and include the assets into the Nucleus server for hosting.
+In case you have any questions, please feel free to reach out to us through e-mail or by opening an issue
+in the repository.

docs/source/refs/license.rst

+License
+=======
+
+NVIDIA Isaac Sim is available freely under `indivudal license
+<https://www.nvidia.com/en-us/omniverse/download/>`_. For more information
+about its license terms, please check `here <https://docs.omniverse.nvidia.com/app_isaacsim/common/NVIDIA_Omniverse_License_Agreement.html#software-support-supplement>`_.
+The license files for all its dependencies and included assets are available in its
+`documentation <https://docs.omniverse.nvidia.com/app_isaacsim/common/licenses.html>`_.
+
+
+Orbit framework is open-sourced under the
+`BSD-3-Clause license <https://opensource.org/licenses/BSD-3-Clause>`_.
+
+
+.. code-block:: text
+
+   Copyright (c) 2022, ETH Zurich
+   Copyright (c) 2022, University of Toronto
+   Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES
+   All rights reserved.
+
+   Redistribution and use in source and binary forms, with or without modification,
+   are permitted provided that the following conditions are met:
+
+   1. Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+
+   2. Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+
+   3. Neither the name of the copyright holder nor the names of its contributors
+      may be used to endorse or promote products derived from this software without
+      specific prior written permission.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+   ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+   WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+   ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+   (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+   LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+   ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+   (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+   SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

docs/source/refs/roadmap.rst

+Development Roadmap
+===================
+
+Following is a loosely defined roadmap for the development of the codebase. The roadmap is subject to
+change and is not a commitment to deliver specific features by specific dates or in the specified order.
+
+Some of the features listed below are already implemented in the codebase, but are not yet documented
+and/or tested. We will be working on improving the documentation and testing of these features in the
+coming months.
+
+**January 2023**
+
+* Experimental functional API
+* Supported motion generators
+
+  * Joint-space control
+  * Differential inverse kinematics control
+  * Riemannian Motion Policies (RMPs)
+
+* Supported robots
+
+  * Quardupeds: ANYmal-B, ANYmal-C, Unitree A1
+  * Arms: Franka Emika Panda, UR10
+  * Mobile manipulators: Franka Emika Panda and UR10 on Clearpath Ridgeback
+
+* Supported sensors
+
+  * Camera (non-parallelized)
+  * Height scanner (non-parallelized)
+
+* Included environments
+
+  * classic: MuJoCo classic environments (ant, humanoid, cartpole)
+  * locomotion: flat terrain for legged robots
+  * rigid-object manipulation: end-effector tracking, object lifting
+
+**February 2023**
+
+* Example on using the APIs in an Omniverse extension
+* Supported motion generators
+
+  * Operational-space control
+  * Model predictive control (OCS2)
+
+* Supported sensors
+
+  * Height scanner (parallelized for terrains)
+
+* Supported robots
+
+  * Quardupeds: Unitree B1, Unitree Go1
+  * Arms: Kinova Jaco2, Kinova Gen3, Sawyer, UR10e
+  * Mobile manipulators: Fetch
+
+* Included environments
+
+  * locomotion: rough terrain for legged robots
+  * rigid-object manipulation: in-hand manipulation, hockey puck pushing, peg-in-hole, stacking
+  * deformable-object manipulation: cloth folding, cloth lifting
+
+**March or April 2023**
+
+* Add functional versions of all environments
+* Included environments
+
+  * deformable-object manipulation: fluid transfer, fluid pouring, deformable object lifting
+
+**May 2023**
+
+* Update code documentation and tutorials
+* Release 1.0

docs/source/refs/troubleshooting.rst

+Tricks and Troubleshooting
+==========================
+
+Using CPU Scaling Governor for performance
+------------------------------------------
+
+By default on many systems, the CPU frequency governor is set to
+“powersave” mode, which sets the CPU to lowest static frequency. To
+increase the maximum performance, we recommend setting the CPU frequency
+governor to “performance” mode. For more details, please check the the
+link
+`here <https://access.redhat.com/documentation/en-us/red_hat_enterprise_linux/7/html/power_management_guide/cpufreq_governors>`__.
+
+.. warning::
+    We advice not to set the governor to “performance” mode on a system with poor
+    cooling (such as laptops), since it may cause the system to overheat.
+
+-  To view existing ``scaling_governor`` value per CPU:
+
+   .. code:: bash
+
+      cat /sys/devices/system/cpu/cpu*/cpufreq/scaling_governor
+
+-  To change the governor to “performance” mode for each CPU:
+
+   .. code:: bash
+
+      echo performance | sudo tee /sys/devices/system/cpu/cpu*/cpufreq/scaling_governor
+
+
+Observing long load times at the start of the simulation
+--------------------------------------------------------
+
+The first time you run the simulator, it will take a long time to load up. This is because the
+simulator is compiling shaders and loading assets. Subsequent runs should be faster to start up,
+but may still take some time.
+
+Please note that once the Isaac Sim app loads, the environment creation time may scale linearly with
+the number of environments. Please expect a longer load time if running with thousands of
+environments or if each environment contains a larger number of assets. We are continually working
+on improving the time needed for this.
+
+When an instance of Isaac Sim is already running, launching another Isaac Sim instance in a different
+process may appear to hang at startup for the first time. Please be patient and give it some time as
+the second process will take longer to start up due to slower shader compilation.
+
+
+Receiving a “PhysX error” when running simulation on GPU
+--------------------------------------------------------
+
+When using the GPU pipeline, the buffers used for the physics simulation are allocated on the GPU only
+once at the start of the simulation. This means that they do not grow dynamically as the number of
+collisions or objects in the scene changes. If the number of collisions or objects in the scene
+exceeds the size of the buffers, the simulation will fail with an error such as the following:
+
+.. code:: bash
+
+    PhysX error: the application need to increase the PxgDynamicsMemoryConfig::foundLostPairsCapacity parameter to 3072, otherwise the simulation will miss interactions
+
+In this case, you need to increase the size of the buffers passed to the :class:`SimulationContext` class.
+The size of the buffers can be increased by setting the ``found_lost_pairs_capacity`` in the ``sim_params``
+argument to the :class:`SimulationContext` class. For example, to increase the size of the buffers to
+``4096``, you can use the following code:
+
+.. code:: python
+
+    from omni.isaac.core.simulation_context import SimulationContext
+
+    sim = SimulationContext(sim_params={"gpu_found_lost_pairs_capacity": 4096})
+
+These settings are also directly exposed through the :class:`PhysxCfg` class in the ``omni.isaac.orbit_envs``
+extension, which can be used to configure the simulation engine. Please see the documentation for
+:class:`PhysxCfg` for more details.
+
+
+Understanding the error logs from crashes
+-----------------------------------------
+
+Many times the simulator crashes due to a bug in the implementation.
+This swamps the terminal with exceptions, some of which are coming from
+the python interpreter calling ``__del__()`` destructor of the
+simulation application. These typically look like the following:
+
+.. code:: bash
+
+    ...
+
+    [INFO]: Completed setting up the environment...
+
+    Traceback (most recent call last):
+    File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 166, in <module>
+        main()
+    File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 126, in main
+        actions = pre_process_actions(delta_pose, gripper_command)
+    File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 57, in pre_process_actions
+        return torch.concat([delta_pose, gripper_vel], dim=1)
+    TypeError: expected Tensor as element 1 in argument 0, but got int
+    Exception ignored in: <function _make_registry.<locals>._Registry.__del__ at 0x7f94ac097f80>
+    Traceback (most recent call last):
+    File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__
+    File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
+    TypeError: 'NoneType' object is not callable
+    Exception ignored in: <function _make_registry.<locals>._Registry.__del__ at 0x7f94ac097f80>
+    Traceback (most recent call last):
+    File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__
+    File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
+    TypeError: 'NoneType' object is not callable
+    Exception ignored in: <function SettingChangeSubscription.__del__ at 0x7fa2ea173e60>
+    Traceback (most recent call last):
+    File "../orbit/_isaac_sim/kit/kernel/py/omni/kit/app/_impl/__init__.py", line 114, in __del__
+    AttributeError: 'NoneType' object has no attribute 'get_settings'
+    Exception ignored in: <function RegisteredActions.__del__ at 0x7f935f5cae60>
+    Traceback (most recent call last):
+    File "../orbit/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py", line 345, in __del__
+    File "../orbit/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py", line 350, in destroy
+    TypeError: 'NoneType' object is not callable
+    2022-12-02 15:41:54 [18,514ms] [Warning] [carb.audio.context] 1 contexts were leaked
+    ../orbit/_isaac_sim/python.sh: line 41: 414372 Segmentation fault      (core dumped) $python_exe "$@" $args
+    There was an error running python
+
+This is a known error with running standalone scripts with the Isaac Sim
+simulator. Please scroll above the exceptions thrown with
+``registry`` to see the actual error log.
+
+In the above case, the actual error is:
+
+.. code:: bash
+
+    Traceback (most recent call last):
+    File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 166, in <module>
+        main()
+    File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 126, in main
+        actions = pre_process_actions(delta_pose, gripper_command)
+    File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 57, in pre_process_actions
+        return torch.concat([delta_pose, gripper_vel], dim=1)
+    TypeError: expected Tensor as element 1 in argument 0, but got int

docs/source/setup/installation.rst

+Installation Guide
+===================
+
+.. image:: https://img.shields.io/badge/IsaacSim-2022.2.0-brightgreen.svg
+   :target: https://developer.nvidia.com/isaac-sim
+   :alt: IsaacSim 2022.2.0
+
+.. image:: https://img.shields.io/badge/python-3.7-blue.svg
+   :target: https://www.python.org/downloads/release/python-370/
+   :alt: Python 3.7
+
+.. image:: https://img.shields.io/badge/platform-linux--64-lightgrey.svg
+   :target: https://releases.ubuntu.com/20.04/
+   :alt: Ubuntu 20.04
+
+
+Installing Isaac Sim
+--------------------
+
+Downloading pre-built binaries
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Please follow the Isaac Sim
+`documentation <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_basic.html>`__
+to install the latest Isaac Sim release.
+
+To check the minimum system requirements,refer to the documentation
+`here <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/requirements.html>`__.
+
+.. note::
+	We have tested ORBIT with Isaac Sim 2022.2 release on Ubuntu
+	20.04LTS with NVIDIA driver 515.76.
+
+Configuring the environment variables
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Isaac Sim is shipped with its own Python interpreter which bundles in
+the extensions released with it. To simplify the setup, we recommend
+using the same Python interpreter. Alternately, it is possible to setup
+a virtual environment following the instructions
+`here <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_python.html>`__.
+
+Please locate the `Python executable in Isaac
+Sim <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_python.html>`__
+by navigating to Isaac Sim root folder. In the remaining of the
+documentation, we will refer to its path as ``ISAACSIM_PYTHON_EXE``.
+
+.. note::
+	On Linux systems, by default, this should be the executable ``python.sh`` in the directory
+	``${HOME}/.local/share/ov/pkg/isaac_sim-*``, with ``*`` corresponding to the Isaac Sim version.
+
+To avoid the overhead of finding and locating the Isaac Sim installation
+directory every time, we recommend exporting the following environment
+variables to your ``~/.bashrc`` or ``~/.zshrc`` files:
+
+.. code:: bash
+
+   # Isaac Sim root directory
+   export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac_sim-2022.2.0"
+   # Isaac Sim python executable
+   export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
+
+Running the simulator
+~~~~~~~~~~~~~~~~~~~~~
+
+Once Isaac Sim is installed successfully, make sure that the simulator runs on your
+system. For this, we encourage the user to try some of the introductory
+tutorials on their `website <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_intro_interface.html>`__.
+
+For completeness, we specify the commands here to check that everything is configured correctly.
+On a new terminal (**``Ctrl+Alt+T``**), run the following:
+
+-  Check that the simulator is runs:
+
+   .. code:: bash
+
+      # note: you can pass the argument `--help` to see all arguments possible.
+      ${ISAACSIM_PATH}/isaac-sim.sh
+
+-  Check that the simulator runs from a standalone python script:
+
+   .. code:: bash
+
+      # checks that python path is set correctly
+      ${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')"
+      # checks that Isaac Sim can be launched from python
+      ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/omni.isaac.core/add_cubes.py
+
+.. note::
+
+	If you have been using a previous version of Isaac Sim, you
+	need to run the following command for the *first* time after
+	installation to remove all the old user data and cached variables:
+
+	.. code:: bash
+
+		${ISAACSIM_PATH}/isaac-sim.sh --reset-user
+
+If the simulator does not run or crashes while following the above
+instructions, it means that something is incorrectly configured. To
+debug and troubleshoot, please check Isaac Sim
+`documentation <https://docs.omniverse.nvidia.com/app_isaacsim/prod_kit/linux-troubleshooting.html>`__
+and the
+`forums <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/isaac_sim_forums.html>`__.
+
+Installing Orbit
+----------------
+
+Organizing the workspace
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+-  Clone the ``orbit`` repository into your workspace:
+
+   .. code:: bash
+
+	  # For public users
+	  git clone git@github.com:NVIDIA-Omniverse/orbit.git
+
+-  Set up a symbolic link between the installed Isaac Sim root folder
+   and ``_isaac_sim`` in the ``orbit``` directory. This makes it convenient
+   to index the python modules and look for extensions shipped with
+   Isaac Sim.
+
+   .. code:: bash
+
+      # enter the cloned repository
+      cd orbit
+      # create a symbolic link
+      ln -s ${ISAACSIM_PATH} _isaac_sim
+
+Building extensions
+~~~~~~~~~~~~~~~~~~~
+
+We provide a helper executable ```orbit.sh`` <orbit.sh>`__ that provides
+utilities to manage extensions:
+
+.. code:: bash
+
+   ./orbit.sh --help
+
+   usage: orbit.sh [-h] [-i] [-e] [-p] [-s] -- Utility to manage extensions in Isaac Orbit.
+
+   optional arguments:
+       -h, --help       Display the help content.
+       -i, --install    Install the extensions inside Isaac Orbit.
+       -e, --extra      Install extra dependencies such as the learning frameworks.
+       -p, --python     Run the python executable (python.sh) provided by Isaac Sim.
+       -s, --sim        Run the simulator executable (isaac-sim.sh) provided by Isaac Sim.
+
+The executable automatically fetches the python bundled with Isaac
+Sim, using ``./orbit.sh -p`` command. To not restrict running commands
+only from the top of this repository (where the README.md is located),
+we recommend adding the executable to your environment variables in
+your ``.bashrc`` or ``.zshrc`` file as an alias command. This can be
+achieved running the following on your terminal:
+
+
+.. code:: bash
+
+   # note: execute the command from where the `orbit.sh` executable exists
+   # for bash users
+   echo -e "alias orbit=$(pwd)/orbit.sh" >> ${HOME}/.bashrc
+   # for zshell users
+   echo -e "alias orbit=$(pwd)/orbit.sh" >> ${HOME}/.zshrc
+
+
+To build all the extensions, run the following commands:
+
+-  Install dependencies using ``apt`` (on Ubuntu):
+
+   .. code:: bash
+
+      sudo apt install cmake build-essential
+
+-  Run the install command that iterates over all the extensions in
+   ``source/extensions`` directory and installs them using pip
+   (with ``--editable`` flag):
+
+   .. code:: bash
+
+      ./orbit.sh --install
+
+-  For installing all other dependencies (such as learning
+   frameworks), execute:
+
+   .. code:: bash
+
+      ./orbit.sh --extra

source/extensions/omni.isaac.contrib_envs/config/extension.toml

+[package]
+
+# Note: Semantic Versioning is used: https://semver.org/
+version = "0.0.1"
+
+# Description
+title = "ORBIT Environments contributed by the community."
+description="Extension containing environments for robot learning contributed by the community."
+readme  = "docs/README.md"
+repository = "https://github.com/NVIDIA-Omniverse/Orbit"
+category = "robotics"
+keywords = ["robotics", "rl", "il", "learning"]
+
+[dependencies]
+"omni.isaac.orbit" = {}
+"omni.isaac.orbit_envs" = {}
+"omni.isaac.core" = {}
+"omni.isaac.gym" = {}
+"omni.replicator.isaac" = {}
+
+[[python.module]]
+name = "omni.isaac.contrib_envs"

source/extensions/omni.isaac.contrib_envs/docs/CHANGELOG.rst

+Changelog
+---------
+
+0.0.1 (2023-01-17)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Initial dummy extension for community to contribute environments.