# Description

This MR goes over the current implementations of Stable-Baselines3 and
RL-Games wrapper. It fixes the wrapper implementations as well as the
checkpoint loader to work for the logging format of these wrappers.

The changes have been tested against the `Isaac-Cartpole-v0` environment
from MR #241.

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

# Description

Earlier we were copying the whole `ArticulationView.initialize()` method
from Isaac Sim since it doesn't work with our initialization callback
hooks. Since this was bulking up the code and requires us to keep
duplicating their function, this MR replaces the current fix with some
tricks that work in a less bulky way.

Additionally, the MR fixes the property name `default_root_state_w` to
`default_root_state` since the latter is more correct (environment
origin instead of world origin).

## 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`
- [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

This MR fixes a typo in `RigidObject` where for a rigid object, the private member `_body_view` is not defined (since it should be using the `root_view`). The fix changes the reference to be the public `body_view` property.

- 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
- [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

Fixes the dtype of the environment origins when obtained from cloner to be `float32` instead of the `float64`.

## 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 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

Currently, we are downgrading many libraries to be able to use the Gym
0.21.0 version. However, this is not great and is causing issues
installing new Python packages, as highlighted in #204. It is becoming a
more significant issue with Python 3.10 in Isaac Sim 2023.1.

This MR upgrades the repository to use the Gymnasium Environment class.

## 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`
- [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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: David Hoeller <dhoeller@ethz.ch>

# Description

This MR fixes:
- FrameTransformer crashing when `debug_vis` is set to true
- Hard-coding of visualization configs inside the sensor implementation

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

# Description

This MR fixes the test scripts inside the `omni.isaac.orbit_tasks`
extension. The tests were previously crashing since they weren't updated
to latest changes in the core framework.

Additionally, the tests helped in realizing that the environment did not
close properly, i.e. some managers do not get destroyed properly and
still hold references to certain scene entities. The MR now explicitly
calls all `del` operators over all the managers to delete them in the
right-order.

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

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

# Description

The null-command generator class sets the resampling time as
`(-math.inf, math.inf)`. However, on execution, the random ampler does
not like this range and throws a RuntimeError as the operation becomes
out of bounds for float.

To deal with this issue, the MR just overrides all the functions of the
base class and leaves them "empty".

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

# Description

Since there is a lot of confusion and debate around what is a scene vs.
environment vs. task, this MR makes it explicit that Gym/RL-related
definitions are always called "tasks". Thus, the corresponding
extensions are renamed from `orbit_envs` to `orbit_tasks`.

Fixes #143

## 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

This MR adds the `CONTRIBUTORS.md` file, which lists the following three
categories:

* **Developers**: Individuals or organizations that are actively
maintaining and developing the project. They have "ownership" of the
project.
* **Contributors**: Individuals or organizations who are providing
contributions to the project but are not directly involved in its maintenance.
* **Acknowledgements**: Individuals or organizations who are involved in
discussions but have not contributed through code to the project.

All files henceforth use the copyright to the "ORBIT Project Developers"
instead of individuals or organizations.

When sending an MR, the user needs to add their name to this list. This
is mandatory for license agreements and is meant to protect
organizations.

## 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 updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

This MR adds the `RayCasterCamera` as a ray-cast-based camera for
"distance_to_camera", "distance_to_image_plane" and "normals"
annotations. It has the same interface and functionalities as the USD
Camera wrapper, while it is, on average, 30% faster.

Fixes #131

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

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

# Description

This MR does the following:

* Changes the way environment and agent configs are handled. These are
now moved to their respective `env` folder.
* Replaces YAML file with configclasses for rsl_rl library
* Adds examples of other robots for locomotion-velocity task: anymal-b,
unitree-a1, and anymal-d (placeholder)

The new environment folder structure is as follows:

```
my_task (folder)
   |- mdp  (folder where all user's task-specific terms are stored)
   |- config
       |- robot_name_1  (folder)
            |- robot_specific_env_cfg.py
            | agents (folder)
                |- rsl_rl_cfg.py
                |- sb3_cfg.py
                |- ....
            |- __init__.py (register robot-specific tasks)
       |- robot_name_2 (folder)  
   |- my_task_env_cfg.py (base env config)
   |- my_task_env.py (base env -- optional -- should normally use RLEnv)
```

Fixes #142 

## 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)

## 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

---------
Co-authored-by: Nikita Rudin <nrudin@nvidia.com>

# Description

With at least Isaac Sim 2023.1 (not checked on 2022.2.1), the URDF
importer from Isaac Sim seems to save the material paths as absolute
when trying to save the asset in its instanceable format. The material
paths are relative when the USD is generated as non-instanceable.

This MR fixes this behavior by adding a post-processing step that
iterates over the instanced mesh file and resolves all paths to become
relative.

You can use the tool by running the following:

```bash
./orbit.sh -p source/tools/convert_urdf.py ~/git/anymal_d_simple_description/urdf/anymal.urdf source/extensions/omni.isaac.orbit_assets/data/Robots/ANYbotics/ANYmalD/anymal_instanceable.usda --merge-joints --make-instanceable
```

## 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`
- [ ] 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 fixes the color of the ground in Orbit. It is now black since we
like that color more.

It also fixes the setting of the translation of the ground plane.
Earlier, it was taking z height from the configuration. Instead, now it
expects to get the full translation as an argument to its function. This
is needed to make it consistent with interactive scene designing API.

## 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)

## Screenshot


![new_ground](https://github.com/isaac-orbit/orbit/assets/12863862/8e729cb4-875f-476f-aa32-39cab38ad925)

## 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 does the following:
* Removes the default value for argument `camel_case` in the USD setter
functions. This was causing confusion when reading code.
* Fixed the UI behavior that material was getting selected on spawning
* Fixed the unit tests under `sim`

## 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
Adds in a new `Sensor` that performs frame transforms.

No tests as part of this initial PR as this feature is needed by
developers. Tests will be added in with the improvements:
https://github.com/isaac-orbit/orbit/issues/202.

Fixes #133 

## Type of change
- New feature (non-breaking change which adds functionality)

## Screenshots

![image](https://github.com/isaac-orbit/orbit/assets/142246516/d4e2ebde-377f-4e22-9c14-8ec19b7b7498)

## 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

---------
Signed-off-by: jsmith-bdai <142246516+jsmith-bdai@users.noreply.github.com>

# Description

When having agent-environment interaction, it is important to ensure
that PyTorch constructs no computational graph. Otherwise, it will keep
allocating memory for gradients and result in out-of-memory error.

This MR wraps all scripts with `torch.inference_mode()` to prevent this
issue.

## 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

This MR implements a long-awaited feature of separating out the UI and
UI-related operations outside the environment class.

The user can also set the UI window class themselves through the
configuration. This makes the UI window modular and provides more
freedom for future additions.

## Type of change

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

## Screenshots

Also updated the GUI with various functionalities. This was kind of the
motivation to separate out the UI into a different window.


![new-gui](https://github.com/isaac-orbit/orbit/assets/12863862/813bc39f-a968-4222-a1d9-d5c4df72653d)

## 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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: David Hoeller <dhoeller@ethz.ch>

# Description

Earlier the UI was disabling buttons for which the config object set
`debug_vis` flag as False. This wasn't an elegant behavior as users may
want to enable the visualization from the GUI at runtime. This MR
modifies the behavior of all classes that provide debug visualization to
support this behavior.

## 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 fixes a bug introduced in #207 which was assigning tuples to the
`invalidate_handle` member in `AssetBase` and `SensorBase`.

## 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
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

Meshes such as "box", "cylinder" and "cone" are defined in
`omni.isaac.orbit.terrains.trimesh.utils.py` and can be used in configs
such as
[here](https://github.com/isaac-orbit/orbit/blob/17fc724de7386c919f6f0367980c1d8e9855c446/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/trimesh/mesh_terrains_cfg.py#L187).
In the example, their definition as a string is allowed but as they are
not explicitly imported, the general statement cannot capture the
missing functions. This PR makes sure that all mesh helper functions in
`utils.py` are imported and that the string format can be used.

## 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

As discussed in the past, the `BaseEnv` should only contain an
observation-action interface, while `RlEnv` should contain also the
task-specific interface. Based on this, the MR introduces the following
changes:

* Moves randomization manager to the `BaseEnv` class with the default
settings to reset the scene to the defaults specified in the
configurations of assets.
* Moves command generator to `RlEnv` class
* Adds a `NullCommandGenerator` for no command environments: This is
easier to work with than having checks for None.

## 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 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

Updates pre-commit to latest hooks to deal with flake8 upgrades.

## 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

Tiny PR to fix bash evaluation of ISAACSIM_VERSION in Dockerfile.
Before, it would fail and streaming from Isaac2022.2.1 would fail.

## 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

Fixes the environment standalone scripts and rough terrain locomotion
training.


## 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

- Made SimulationContext correctly report RenderMode for streaming
- Changed language about HEADLESS in RenderMode to instead be NO_GUI,
because headlessness still requires rendering when livestreaming is
active, whereas NO_GUI is unambiguous. Also did some reordering of
docstrings for clarity.
- Removed unnecessary RENDER and VIEWPORT class vars from LauncherApp,
now that this signal is being taken from SimulationContext.

I will propagate this change to all standalone scripts/update docs once
I have conceptual approval.

Fixes #90, #145 

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

# Description

Adds missing observation and action spaces to the `RLEnv` class. Some
standalone scripts were using these and were erroring out since they
were not implemented.

## 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 PR enables users to convert meshes from OBJ, STL or FBX format to
USD with a few options:
- Asset instanceable
- Mass properties
- Rigid body properties
- Collision properties - including mesh approximation method

The layer hierarchy is as follows;
```
/World/
     [MESH_OBJECT_NAME] - Xform
         [INPUT_MESH_NAME]_xform - Xform
                /Looks/ - Material
                [MESH] - Mesh
```

Fixes #34. 

## Type of change

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

## Screenshots

The screenshot below shows this with a duck example.


![image](https://github.com/isaac-orbit/orbit/assets/142246516/142afb96-7e35-427b-94a6-a066a2742b9b)

## 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: jsmith-bdai <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description

This MR adds new operations to the various managers. These include:

* Adds a method `compute_group` to compute observations based on
group-names
* Adds methods to retrieve and set term configurations into some of the
managers
* Adds a method to modify reward term's weights as a curriculum

## 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 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