# Description

This MR does the following fixes:

* Adds a clone operator to the observation manager term computation to
prevent shared data between terms
* Fixes the flushing of data for imitation learning worklow

Fixes https://github.com/NVIDIA-Omniverse/orbit/issues/356

## 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 run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This MR fixes a regression introduced in 0.15.1. The term values were
assigned using an OR operator. However, since they were never being
cleared, the values were incorrect.

## 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 run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Cluster workflow did not work with the different profiles and introduced
names. This PR fixes the workflow and in addition, introduces additional
checks that the profile can be selected. In detail:

- checks whether a profile can be selected depending on whether a
`.env.$container_profile` exists
- allows for `job` to have multiple arguments, also without a profile,
for all other options, the second argument has to be the profile
- check if a docker image exists before building the singularity image
- check if the path for the singularity image exists on the cluster,
otherwise create it
- check if the path for orbit exists on the cluster, otherwise create it


## 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
- [ ] I have run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Co-authored-by: Leul Tesfaye <lst26@cornell.edu>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Remove the root requirement to build a singularity image for the cluster
workflow by using the `--fakeroot` flag. Also added a note that this
flag can be removed in the case of issues.

## 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
- [ ] I have run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

The AppLauncher has a bug where it fails to fact the `app.folder` is
pointing to a directory higher than it should be. This leads to a file
not being found in the `_get_version` call from `omni.isaac.version`
module.

Updated app.folder to point to `"${exe-path}/"` instead of
`"${exe-path}/../"` in the following files:

- orbit/source/apps/orbit.python.headless.kit
- orbit/source/apps/orbit.python.headless.multicam.kit
- orbit/source/apps/orbit.python.kit

Fixes #339

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

- [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 run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This MR adds the following new asset configs:

* `KINOVA_JACO2_N6S300_CFG`: Kinova Jaco2 (6-Dof) arm with three-finger
gripper
* `KINOVA_JACO2_N7S300_CFG`: Kinova Jaco2 (7-Dof) arm with three-finger
gripper
* `KINOVA_GEN3_N7_CFG`: Kinova Gen3 (7-Dof) arm with no gripper
* `SAWYER_CFG`: Sawyer arm with no gripper

## Type of change

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

## Screenshots

![arm_ok](https://github.com/isaac-orbit/orbit/assets/12863862/18c98444-ce00-4324-a131-0cde9cd3afe0)

## 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 run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Commit 3acff1be missed update for a
ContactSensor override to find_bodies

## 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 run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

The experience files that we host in Orbit rely upon an expression
`${exe-path}`, specifically to resolve the location of the `VERSION`.
From our `orbit.python.headless.kit`:
```
app.versionFile = "${exe-path}/../VERSION"
app.folder = "${exe-path}/../"
```
This resolves to the full path of the calling exe, which is the `kit`
application in isaac-sim.

Currently this is broken in the container because we set
`ISAACSIM_PATH=/isaac-sim`, which is broken during the path operations
done on it. This PR fixes that by making
`ISAACSIM_PATH=/workspace/orbit/_isaac_sim` as well as mapping other
aliases (`python`, `python3`) through this path.

I have also added `not self._livestream` as a precondition of enabling
the `orbit.python.headless.kit` experience file, because otherwise we do
not render to livestream.

I also added fixes for all the newly failing tests, except for
`test_urdf_converter.py`. I will add a fix for that to this branch as
soon as I have one.

UPDATE:
It appears that `test_urdf_converter.py` was broken at least as far back
as commit `a30d764d`, which precedes the experience file commit. I will
therefore merge this without fixing that test.

Fixes [#339](https://github.com/NVIDIA-Omniverse/orbit/issues/339),
[#338](https://github.com/NVIDIA-Omniverse/orbit/issues/338)

## 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 run all the tests with `./orbit.sh --test` and they pass
(except `test_urdf_converter.py`)
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Allow changing of the indexing mode for the grid pattern of the
RayCaster. Possible options are:

- “xy”: the points are ordered with their y-dimension iterated over
first.
- “yx”: the points are ordered with their x-dimension iterated over
first.

## 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`
- [ ] 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 run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

The `SceneEntityCfg` always return the `joint_ids` and `body_ids` in the
simulation order even if a different order was specified when passing
the names to the `SceneEntityCfg`. This fix changes the behavior, to
always return the ids in the specified order by introducing the flag
`simulation_order` that is true per default for everything within orbit
but false for the `SceneEntityCfg`.

Fixes #461 

## 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 run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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

# Description

This MR automates the configuring of kit app files based on the settings
passed to the app launcher.

The experience file to load when launching the SimulationApp. If a
relative path is provided, it is resolved relative to the ``EXP_PATH``
environment variable. If provided as an empty string, the experience
file is determined based on the headless flag:

* If headless is True, the experience file is set to
``orbit.python.headless.kit``.
* If headless is False, the experience file is set to
``orbit.python.kit``.

Moreover, it adds the app experience file to use when running
multi-camera setup. This is taken from OIGE:
>
https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/blob/main/docs/examples/training_with_camera.md#working-with-cameras

Fixes #238

## 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
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

@Mayankm96 recently found that tests failures weren't properly reporting
in runs of `orbit -t`. This is because we were previously relying on
individual test's main to exit with 1 if the test failed, but this
recently changed when we stopped them from exiting with `exit=False`
argument to `unittest.main()` to ensure the simulation app could be
closed properly.
 
We no longer call `simulation_app.close()` as this will cause the exit to not reach `run_all_tests.py`. The downside here is a bit more console spam.

Fixes #474

## 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 run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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

# Description

As of [docker compose
2.24.7](https://docs.docker.com/compose/release-notes/#2247), using the
same name between containers is disallowed even if the profiles that
launch them are mutually exclusive.

This PR alters `docker-compose.yaml` such that containers will now be
appended with their image extension (orbit-base, orbit-ros2). I've also
added `resolve_image_extension` to the logic in `./container.sh` in
order to handle the image_extension arguments.

Fixes Public[
#325](https://github.com/NVIDIA-Omniverse/orbit/issues/325)

## 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
- [ ] I have run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
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---------
Signed-off-by: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>

# Description

This choice is related to the [deep history of docker
compose](https://docs.docker.com/compose/intro/history/). Previously we
had a `version` specification in the `docker-compose.yaml`. While I did
this initially to ensure support for extensions, I think it could
confuse users about which version of docker compose is supported. I
believe we should only support the most modern version of docker compose
(this is what we direct people to install), which is the plugin version
of docker compose (invoked in the cli as `docker compose` rather than
`docker-compose`) and the [Compose
Specification](https://github.com/compose-spec/compose-spec) which is
backwards compatible with much of versions 2+3, but which is its own
format.

This hasn't yet caused a problem per-se, but could mislead people about
which Docker setup we support.

## 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)

## 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 run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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## Description

This MR improves the documentation:

- fix typo: "For completion" with "For completeness" 
- fix typo: reset 
- fix typo: blocks 
- fix typo: remove "is"

Fixes #302, #303, #304

## Type of change

- 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
- [ ] I have run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

The logic for grid cloning in Isaac Sim GridCloner (func:
`get_clone_transforms()`) and in TerrainImporter.py (func:
`_compute_env_origins_grid()`) are different. Consequently, they give
inconsistent values.

This PR fixes the TerrainImporter by updating the logic of
`_compute_env_origins_grid()` to make it consistent with IsaacSim.

Fixes #287

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

- [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 run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Shafeef Omar <shafeef901@gmail.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

in `NonHolonomicAction.apply_actions()` the velocity command was
incorrectly named `self.joint_vel` instead of `self._joint_vel_command`
as initialized in `NonHolonomicAction.__init__()`. This causes an error
when trying to instantiate the action config. I have corrected
and tested that it works.

## 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 run all the tests with `./orbit.sh --test` and they pass
- [X] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# 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
-->

Currently, InteractiveScene declares several of its entities
(articulation, sensor, and rigid bodies) as class variables. This causes
the variables to be shared across **all** instances of the class, which
is not desired behavior if there is ever a case when `InteractiveScene`
is used more than once.

This fix changes the following: 

1. All class variables in `InteractiveScene` defined above the
constructor is now moved inside the constructor as instance variables.
2. Adds `@property` getters to access the entities. 
3. Rolls back the fix introduced in #380, which changes the `__del__`
magic method to clear out the class variables that persisted, but ended
up breaking #464.

Fixes #465 

<!-- 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)

## 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 run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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# Description

This is a simple fix of unused parameter in
omni/isaac/orbit./sensors/camera/utils.py

The parameter `keep_invalid` was not used and, by default, only returns
valid points, which causes an issue when trying to do an RGB-D image to
point cloud cconversion. This leads to an array size mismatch if depth
has inf or nan.

## 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 run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

With Isaac Sim 2023.1.1, the main asset file stores all the meshes as
well (even for instanceable case) when using the URDF improter. However,
the referenced paths to materials are absolute which does not allow
moving the asset around freely. This MR adds a fix to make sure all
paths are relative in the converted USD file.

## 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 run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This adds a ROS2 Humble installation to the Dockerfile. It also adds
several relevant environment variables.

## 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
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>

# Description

This PR fixes the imitation learning workflow in that
`collect_demonstrations`, `train` and `play` scripts all don't throw
exceptions. I haven't validated that the training actually generates a
successful policy, only that the loss decreased within the first few
iterations.

A follow up task might be to make sure that the chosen observation terms
can still result in a good policy, but that's outside of the scope of
updating this workflow to API changes in Orbit and Robomimic.

Fixes #387 

## Type of change

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

## Screenshot

## 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 run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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

# Description

Renames the `RandomizationManager` to `EventManager` for clarity as the
manager takes care of all kind of events that go beyond pure
randomization (such as resets).

Fixes #413

## 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`
- [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 run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Many users in a single organization mistakenly push large files to the
repository. However, they should be using Git LFS for such purposes.
This MR adds a pre-commit check to complain if a file is more than 2 MB.

It also upgrades pre-commit for all. This is needed due to some
[security reasons with black
formatter](https://github.com/psf/black/releases/tag/24.3.0).

## 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`
- [ ] 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 run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

I noticed this test was failing when running in a container, because it
was not set to run in `headless` mode.

## 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 run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This MR adds configuration for allegro and shadow hands. The shadow hand
asset is a bit tricky because it has fixed tendons and the joints need
the drive properties.

## Type of change

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

## Screenshots

The following script moves the hand from their lower to upper joint
limits (simulate a power grasp and release motion):

```bash
./orbit.sh -p source/standalone/demos/hands.py
```


https://github.com/isaac-orbit/orbit/assets/12863862/e0e5df7b-e049-407f-9f40-c24958a1faa3

## 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 run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This MR fixes an issue with the `Articulation` class. The indexing of
body names inside the articulation view is not the same as in the body
view. This affects any quantity of bodies (such as Jacobians) you try to
get directly from the articulation view.

The MR changes the `Articulation` class to follow the internal PhysX
articulation-view ordering of the link names. It deals internally with
re-ordering the articulation-link indices to body-view indices where
needed.

With this change, users no longer need to work with `body_physx_view` as
it will lead to unexpected behaviors. The MR removes this property from
the `RigidObject` and `Articulation` class.

Fixes #453

## 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 run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This MR removes `compat` submodule since we don't use/need it anymore.

## 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
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description
We want to expand our test coverage, so this PR aims to increase
coverage of rigid object.

This PR ensures the following test cases are covered by unit tests for
rigid_object.py:
* external forces are applied correctly
* friction/mass/collider offsets randomization works correctly
* setting states work correctly
* reset works correctly

All test cases pass 👍 

Note: I wasn't able to find `collider offsets` in the code base but
happy to add a test for this too if someone can point me in the right
direction.

Fixes #363 

## 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`
- [ ] 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 run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
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
-->

---------
Signed-off-by: jsmith-bdai <142246516+jsmith-bdai@users.noreply.github.com>
Signed-off-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: AutonomousHansen <50837800+AutonomousHansen@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

The camera sensor no longer worked for semantic types with Isaac Sim
2023.1 update. This was because of various Replicator pipeline changes
that directly affected the camera.

This MR fixed the Camera sensor for the new Replicator APIs. It has a
few breaking changes listed in the changelog.

Additionally, the sensor tutorial `run_usd_camera.py` had a couple of
issues. It still used the old method of directly creating RigidPrims,
NVIDIA debug API for drawing markers, and had some bugs. This MR also
updates it to use Orbit's APIs closely and adds an option to specify
which camera to use for `--save` and `--draw`.

Fixes https://github.com/NVIDIA-Omniverse/orbit/issues/225

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- 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
- [ ] 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
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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

# Description

With commit d682c8dd, the code stopped working. Somehow, the tests did not
catch the issue, but it shows up when you run the workflows. Anyway, this
MR makes the fix necessary to deal with slices.

Fixes https://github.com/NVIDIA-Omniverse/orbit/issues/277 ,
https://github.com/NVIDIA-Omniverse/orbit/issues/276

## 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 run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

With Isaac Sim 2023.1, it seems we no longer need to have try-catch
blocks in the scripts. This allows us to simplify all the scripts and
test runners. Along with that, it enables VSCode debugger support which
is crucial for many developers.

## 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 run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Somehow, when running the app headless, the script does not exit
properly when you press `Ctrl+C`. This MR adds a signal interrupt
handler to close the app gracefully when keyboard events happen.

## 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 run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This MR adds the following:

1. Observations: Adds observations for root state (pos, quat, linear
vel, and angular vel) in the environment frame. Important for assets
such as objects during manipulation.

2. Randomizations: Adds random orientation randomization for assets
(such as objects) and joint position randomization for articulations.

3. Rewards: Adds a termination reward function for specific termination
terms. Needed if terminations are to be weighted individually, for eg,
if successful termination reward should have a different weighting
factor than illegal state termination reward.

Tested for functionality.

## 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
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This MR adds the cabinet environment from IsaacGymEnvs. The training is
checked for RSL-RL and RL-Games

## 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
- [ ] 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
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Co-authored-by: zrene <rene.zurbruegg@gmail.com>

# Description

Added option to get specific term by name from the action manager.

## 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
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

* Added functionality to sample flat patches on a generated terrain.
Added separate normal and terrain-based position commands. Terrain-based
commands rely on the terrain to sample flat patches.
* Added a terrain-based root reset function to reset the robot to a
random flat patch.

The MR includes the following fixes:

* Fixed command resample termination function.

## 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

## Screenshots

![poses](https://github.com/isaac-orbit/orbit/assets/12863862/678d3cde-63da-4c57-8aae-4c84440f55e3)

## 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 run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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