# Description

This MR adds support for keyword arguments into the `ManagerBase` class.
This helps in defining some default arguments into the term function
call, which makes the configuration for those terms easier. Earlier, we
had a lot of `SceneEntity("robot")` references, which is redundant for
most cases that we are interested in.

## Type of change

- 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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Farbod Farshidian <ffarshidian@theaiinstitute.com>

# Description

This MR adds rigid body acceleration and heading data into the
`RigidObjectData` class.

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Nikita Rudin <48368649+nikitardn@users.noreply.github.com>

# Description

This MR adds support for 2D drift into the `RayCaster`. It also makes
certain attributes in the `ContactSensorData` optional since they are
not needed by default.

## Type of change

- 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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

Earlier in the code, we were using the `Ellipsis` object to index the
dimensions of the tensor. This led to situations where
we indexed multi-dimension tensors as: `x[..., ..., 0]`. This now leads
to errors with Python 3.10.

The MR replaces `Ellipsis` with the `slice(None)` object, which results
in indexing as: `x[:, :, 0]`.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------
Co-authored-by: Farbod Farshidian <ffarshidian@theaiinstitute.com>

# Description

Adds `--preview` feature to the black formatter which also takes care of
the string representations in the code. This feature will become the
default setting in the next release of black
(https://github.com/psf/black/issues/1802).

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] 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 `config/extension.toml` file

# Description

* Fixed bugs in actuator model implementation for actuator nets.
Earlier, the DC motor clipping was not working.
* Fixed bug in applying actuator model in the
`omni.isaac.orbit.asset.Articulation` class. The new
implementation caches the outputs from the explicit actuator model into
the `_joint_pos_*_sim` buffer to
  avoid feedback loops in the tensor operation.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

This MR adds support for adding semantic tag labels to the spawner
config. It uses the format provided by replicator to label something as
a class type name and class data name. For example: ("fruit",
"avocado").

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

Adds `add_app_launcher_args` function to the `AppLauncher` class, which
can be used to add AppLauncher-specific arguments to an existing
ArgumentParser instance.

Because everything we pass is then passed to SimulationApp as a config,
the MR also adds the `check_config()` function. This compares the key
values of a dict and raises a ValueError in the following cases:
* if they have a key reserved for a SimulationApp config parameter but
incorrect value types
* if the value type is correct, it informs the user if a dict item they
passed will be interpreted as a SimulationApp config parameter.
Non-SimulationApp relevant keys are cleaned from the dict before it is
passed to SimulationApp.

Also separated out the giant `AppLauncher.__init__` function into a few
sub-functions to make things more readable.

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------
Signed-off-by: AutonomousHansen <50837800+AutonomousHansen@users.noreply.github.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description
Docker was failing to build with: `./container.sh start orbit`, because
there was a missing `;` inside the Dockerfile. The failure was:
```
 => ERROR [orbit 3/9] RUN if [[ "${ISAACSIM_VERSION}" == "2022.2"* ]]; then         sed -i 's/\("omni.isaac.quadruped"\s=\s{}\)/"omni.isaac.quadruped" = {order = 10}/g'         /isaac-sim/apps/omni.isaac.sim.python.kit     fi                                   0.4s
------                                                                                                                                                                                                                                                                   
 > [orbit 3/9] RUN if [[ "${ISAACSIM_VERSION}" == "2022.2"* ]]; then         sed -i 's/\("omni.isaac.quadruped"\s=\s{}\)/"omni.isaac.quadruped" = {order = 10}/g'         /isaac-sim/apps/omni.isaac.sim.python.kit     fi:
0.350 /bin/sh: 1: Syntax error: end of file unexpected (expecting "fi")
------
failed to solve: process "/bin/sh -c if [[ \"${ISAACSIM_VERSION}\" == \"2022.2\"* ]]; then         sed -i 's/\\(\"omni.isaac.quadruped\"\\s=\\s{}\\)/\"omni.isaac.quadruped\" = {order = 10}/g'         ${ISAACSIM_PATH}/apps/omni.isaac.sim.python.kit     fi" did not complete successfully: exit code: 2
```

This PR adds in the `;`.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] 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 `config/extension.toml` file

# Description

From Isaac Sim 2023.X onwards (Kit 105.X onwards), there are various
noticeable changes that include renaming certain extensions and
upgrading to the latest USD.

This MR ensures that Orbit remains compatible with the coming release of
Isaac Sim while still supporting 2022.2.1.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] 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 `config/extension.toml` file

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Nikita Rudin <nrudin@nvidia.com>
Co-authored-by: AutonomousHansen <hhansen@theaiinstitute.com>
Co-authored-by: jsmith-bdai <142246516+jsmith-bdai@users.noreply.github.com>

Minor fix to have the task being setup correctly in docker/ngc.
Otherwise it might complain that python3 does not exist.
Signed-off-by: David Hoeller <dhoeller@ethz.ch>

# Description

This MR simplifies the `DifferentialInverseKinematics` to expect that
the user gives the right frame for the end-effector pose as inputs.
Additionally, it adds the action term corresponding to the controller.

## Type of change

- 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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

Propogates the try-except-finally paradigm from the unit tests to all
the scripts. This ensures a cleaner exit of the script and allows a
better traceback print.

```python
import traceback

import carb

if __name__ == "__main__":
    try:
        # Run the main function
        main()
    except Exception as err:
        carb.log_error(err)
        carb.log_error(traceback.format_exc())
        raise
    finally:
        # close sim app
        simulation_app.close()
```

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] 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 `config/extension.toml` file

# Description

In Python, memory management is based on reference counts, where an
object isn't "truly" deleted if it has variables referring to the memory
address. More details:
https://www.pythontutorial.net/advanced-python/python-references/

In Orbit code, we provide "self" to various callbacks, which increments
the reference counts since they "refer" to the object. This means that
when we do:
```python
robot = Articulation(cfg=ANYMAL_C_CFG)
```
The reference count is 3: one for the `robot` variable and two for the
callbacks we launched on separate threads.

Now, if we try to delete the object by doing `del robot`, the reference
count becomes 2. These correspond to the callbacks that were launched.
However, the destructor `__del__()` isn't called yet because it is only
done when all the reference counts are 0.

As a fix, this MR uses a proxy weak reference to "self" when passing it
to underlying callbacks or other classes. This does not increment the
reference count for the object; thereby, when the main object is
deleted, all ts proxy references become invalid as well.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

* This MR fixes the `VisualizationMarkers` class to use the
`SpawnerCfg`. This makes it consistent with how assets are spawned and
allows more variations.
* The markers also support instanceable meshes. This is done by
disabling their instancing (as PointInstancer does not support
pre-instanced assets) and removing any rigid body APIs from the asset.

Fixes #144 

## Type of change

- 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

https://github.com/isaac-orbit/orbit/assets/12863862/9d1b095b-99ee-4759-ba30-6175cc3b7d78

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

Currently, the code has a mix of `cls_name` and `cls` in the
configuration classes. Since `cls` is a reserved key from Python, we
should avoid using this name for attributes. This MR changes all the
occurrences to become `class_type` instead.

Fixes #141 

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description

Adds `from __future__ import annotations`, cleans up old annotations
(`List` -> `list`, `Tuple` -> `tuple`, etc) to conform with formatter,
and removes duplicated type hints in docstrings.

Fixes #140

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description

This MR adds the `InteractiveScene` interface, as the central unit that
contains all simulation elements (or as we call "scene entitites") under
the same umbrella. By parsing the configuration object, it helps spawn
different prims and create relevant handles for them to read/write their
data. Based on the above, it modifies how the managers work. The terms
expect to extract the entities from the scene for different computations
(randomizations, rewards, actions, observations, etc.).

The scene and managers together define the `BaseEnv` and `RLEnv` where
the difference between the two is that the latter includes additional
managers that are RL specific (rewards, terminations).

Besides these, the MR includes the following improvements:
* Makes debug visualization of commands consistent by adding them into
callbacks
* Handles the simulation pause/play in the `SimulationContext` itself to
simplify standalone scripts
* Cleanups and documentation fixes to all the MDP terms

## Type of change

- 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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

This PR checks that all the existing scripts in the codebase work as
expected. The last few merges led to the deletion of some files that
were no longer available to import in the unit tests. Also renamed files
in the test to follow the following convention:

* `test_*.py` : A script that tests a feature using unittest fixture
* `check_*.py`: A script that runs the feature but doesn't necessarily
put them as a unittest fixture.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

This MR allows coloring a mesh using its vertex colors. Right now it
only demonstrates how to do this based on height but one could use it in
more creative ways. For example, coloring boxes in a different color.

It also updates the `TerrainImporter` to use the visual and physics
material configuration classes.

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Screenshots

| Random Color | Color by Height |
| ------ | ----- |
|
![color](https://github.com/isaac-orbit/orbit/assets/12863862/b2c8fa13-aa6f-44ff-a195-509d422a62b6)
|
![tough](https://github.com/isaac-orbit/orbit/assets/12863862/edc14879-8f14-4ebd-9578-a7eaa26eae26)
|

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

This MR adapts all the sensor classes to follow a structure similar to
the `assets` classes. This removes the need to worry about the spawning
and initialization of sensors manually by the users. It removes the
`debug_vis` function since that is now handled by a render callback
automatically (based on the passed configuration for the `debug_vis`
flag).

Additionally, the camera poses can now be set and obtained different
conventions:

* `opengl`: the camera is looking down the -Z axis with the +Y axis
pointing up
* `ros`: the camera is looking down the +Z axis with the +Y axis
pointing down
* `world`: the camera is looking along the +X axis with the -Z axis
pointing down

## Type of change

- 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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description

This MR introduces a new set of asset interfaces. These interfaces
simplify the spawning of assets into the scene and initializing the
physics handle by hiding that into post-startup physics callbacks.
Essentially, users no longer need to worry about the `spawn()` and
`initialize()` calls themselves. The only interface they need to work
with are the configuration objects. This makes the code more flexible
and usable.

The assets use the following conventions for function names:
* `set_xxx()`: this implies that values are set into data buffers (but
not into the simulator)
* `write_xxx_to_sim()`: writes data into the simulator
* `update()`: update all data from the simulator

The above isn't an "ideal" function naming since there is no duality of
functions (a write has a read method, or a setter has a getter). But I
think they convey their functionality clearly from the naming. All data
is accessible only through the `data` class for the asset.

As a side note, the MR also renames all "dof" to "joint" to make it
consistent with the terminology in robotics.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- 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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] 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
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Co-authored-by: jsmith-bdai <142246516+jsmith-bdai@users.noreply.github.com>

# Description

* Added new parameters to the `SimulationContext` for setting other
quantities that can be set using the `PhyxSceneAPI`
* Added compatibility check to support flatcache/fabric naming in Isaac
Sim 2022.2 and 2023.1 versions

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Co-authored-by: jsmith-bdai <142246516+jsmith-bdai@users.noreply.github.com>

# Description

This MR includes various utility functions for spawning different prims
in the stage. There are five types of prims one usually wants to spawn:

* **from files**: load an XForm prim from URDF/USD files
* **shapes**: create prims using USD API for primitive shapes (capsules,
cuboids, cones, etc.)
* **materials**: create visual or physics-based materials
* **lights**: create different types of light sources
*  **sensors**: create prim for sensors using USD API (example: cameras)

The spawning functions spawn a single prim and clone the spawned prim
using a cloner decorator based on the regex resolution of the passed
prim path.

```python
import omni.isaac.orbit.sim as sim_utils

cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")

# spawns single prim
cfg.func("/World/Robot", cfg)
# spawns multile prim
cfg.func("/World/envs/env_.*/Robot", cfg)
```

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: jsmith-bdai <142246516+jsmith-bdai@users.noreply.github.com>

# Description

This is a follow-up to PR #110. It adds additional methods that allow
defining i.e. creating the schemas at the specified prim path. This is
useful when creating your own meshes or prims procedurally. The methods
also check if there are any conflicting schemas on the prim to which we
want to apply a new schema. This makes sure that schemas are defined on
a prim gracefully.

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

Created a new module called `omni.isaac.orbit.sim.loaders`. The goal is
to put all the asset from file loaders into that directory to make it a
single module instead of many different ones with different file
loaders.

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

This MR introduces wrappers around different [USD
Physics](https://openusd.org/dev/api/usd_physics_page_front.html) and
[PhysX
solver](https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/index.html)
schemas. The functions allow modifying the properties on an asset prim
using configuration objects.

The schemas supersede the current `omni.isaac.orbit.utils.kit.py` which
did the same job but had duplication in the implementations.

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Previously, the configclass was overwriting a user-defined configclass
which isn't desirable. This MR adds a function to allow configclasses to
support
[`__post_init__`](https://docs.python.org/3/library/dataclasses.html#post-init-processing).

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------
Co-authored-by: Nikita Rudin <nrudin@nvidia.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description

This PR adds support for callable classes to the `term_cfg.func`
attribute. This is needed for complex behaviors where users may want to
define certain persistent behaviors as part of the terms.

The callable class should take in the term configuration object and the
environment instance as inputs to its constructor. Additionally, they
should implement the `__call__` function with the signature expected by
the manager.

For example, in the case of observation terms, this looks like:

```python
class complex_function_class:
    def __init__(self, cfg: ObservationTermCfg, env: object):
        self.cfg = cfg
        self.env = env
        # define some variables
        self.history_length = 2
        self._obs_history = torch.zeros(self.env.num_envs, self.history_length, 2, device=self.env.device)

    def __call__(self, env: object) -> torch.Tensor:
        new_obs = torch.rand(env.num_envs, 2, device=env.device)
        # update history
        self._obs_history[:, 1:] = self._obs_history[:, :1].clone()
        self._obs_history[:, 0] = new_obs
        # return obs
        return new_obs
```

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

Previously, the visualization markers would get rendered in the camera
images. However, this is often undesirable since the markers are only
used for debug visualizations. This behavior turns these off by default.

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

This MR adds our own `SimulationContext` class that inherits the one
from Isaac Sim. This is motivated by two reasons:

* We want to make the configuration of the simulation context consistent
with the rest of the APIs.
* We want to override some of the functions from the `SimulationContext`
that suit our needs better.

## Type of change

- 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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

This MR adds some missing documentation to the actuator module. It also
splits the `actuator.py` file into `actuator_base.py` and
`actuator_pd.py` files to make it clear where the base class exists.

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

Earlier the `TerrainGeneratorCfg` and `TerrainImporterCfg` were in the
same file. However, this leads to some issues with circular dependencies
when referring to the `TerrainImporter` as an attribute of the
`TerrainImporterCfg` (i.e. providing the class name as a member of the
config object).

The MR fixes the above circular dependency. Also, it moves all the
terrain parameters to its configuration object to make the terrain
initialization consistent with the other asset constructors.

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

Previously, while launching the simulation app, there were warnings at
the start of the file that complained that:

```
[Warning] [omni.isaac.kit.simulation_app] Modules: ['omni.isaac.orbit', 'omni.isaac.orbit.app', 'omni.isaac.kit.app_framework'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
```

This is because of a manual check inside the `SimulationApp` class where
they check the `sys.modules` against "accepted" packages that are
hardcoded. The PR fixes this issue by removing the orbit packages from
`sys.modules` before launching the simulation app.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

Missing comma in the `setup.py` of the extension led to installation
errors when calling `./orbit.sh -i`.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

This MR merges all the refactorings done to make the legged locomotion
environment training work. It includes the following:
* `ActionManager` class: To handle various action terms and provide
flexibility for HRL.
* Actuator simplification: We no longer have actuator groups. All that
is handled externally to the robot.
* Sensor optimization: Lazy sensor updates (only updated when `data` is
called)
* Update to new RSL-RL library
* TerrainImporter: It does import on initialization instead of expecting
input from users.

This MR breaks the behavior of the following (many of which need to be
fixed):
* `RobotBase` : Now there are two methods `write_commands_to_sim` and
`refresh_sim_data` that dictate sim read/write.
* `ActuatorGroups`: Doesn't exist anymore.
* `SensorBase`: Drop for the support of different backends (was not
supported earlier but now more explicit)

Fixes #37 , #36 

## Type of change

- 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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] 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
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------
Co-authored-by: David Hoeller <dhoeller@ethz.ch>
Co-authored-by: Nikita Rudin <nrudin@nvidia.com>
Co-authored-by: Farbod Farshidian <ffarshidian@theaiinstitute.com>

# Description

* Changed the behavior of the
`omni.isaac.orbit.terrains.TerrainImporter` class. It now expects the
terrain type to be specified in the configuration object. This allows
the user to specify everything in the configuration object and not have
to do an explicit call to import a terrain.
* Fixed setting of quaternion orientations inside the
`omni.isaac.orbit.markers.Visualizationmarkers` class. Earlier, the
orientation was being set into the point instancer in the wrong order
(`wxyz` instead of `xyzw`).

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file