# Description

This MR adds a new button to the UI which allows you to record the
transforms of the prims into an animation file. This file can then be
opened in the simulator and played back easily.

## Type of change

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

## Screenshot

Video Tutorial:


https://github.com/isaac-orbit/orbit/assets/12863862/55ddc2b0-5217-4e21-8276-911fce36da6b

## 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
- [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

In line 106 of the `check_instanceable.py` script, there is a typo
error.

The line goes as:

```python
prim_utils.create_prim("/World/envs/env_0/Asset", "Xform", usd_path=os.path.abspath(args_cli.usd_path))
```

but should be:

```python
prim_utils.create_prim("/World/envs/env_0/Asset", "Xform", usd_path=os.path.abspath(args_cli.input))
```

Fixes #242 

## 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

Note: These 5 symbols that I changed do not require putting my name on
the contributors list.

Updates the workflow integration for `skrl>=1.1.0`.

- 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 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 PR adds the functionality to set up the view camera with respect to
different frames: world center, Environment Center, and an assets root
frame. In the last case, if the asset moves, the camera will track it.
This is a useful feature for recording videos during the training
logging.

## Type of change

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

## Screenshots

Base Env:

https://github.com/isaac-orbit/orbit/assets/142246516/9b4f1580-2bd8-4d6c-b405-843b66a2d0b0

RL Env:

https://github.com/isaac-orbit/orbit/assets/3355155/4f51d6fa-3dfb-4d58-a83b-2845a5a80fe2


## 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

---------
Signed-off-by: Farbod Farshidian <ffarshidian@theaiinstitute.com>
Co-authored-by: James Smith <jsmith@theaiinstitute.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description

Adds string checking to the functions which accept path-types, casting
them to a `str` if they are not already. Closing #421 in favor of this
fix, see discussion for initial rationale. This solution is superior
because this addresses all of the changes, not just the one causing a
test to fail.

Fixes #420 

## 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
- [ ] 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: AutonomousHansen <50837800+AutonomousHansen@users.noreply.github.com>

# Description

Previously, the contact sensor only measured the air time (last_air_time
and current_air_time). In this PR, the book keeps both the air-time and
contact time. Moreover, the arbitrary thresholding for detecting contact
is changed to a config parameter.

This is currently a non-breaking feature. But I suggest renaming
`ContactSensorCfg.track_air_time` to `ContactSensorCfg.track_intervals`.
This will make the PR a breaking feature.

## 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
- [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: Farbod Farshidian <ffarshidian@theaiinstitute.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description

When I updated `run_all_tests.sh` to be runnable from any dir (#406),
some debugging prints accidentally made it into the commit 😅
These make it quite hard to read the test output. This PR removes the
debugging `print()` calls and replaces a few others with `logging` calls
for consistency.

<!-- 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`
- [ ] 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

<!--
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- [ ] I have not done this task
-->

# Description

Currently `test_scipy.py` fails with the following error:
```
======================================================================
ERROR: test_interpolation (test_scipy.TestScipyOperations)
Test scipy interpolation 2D method.
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/workspace/orbit/source/extensions/omni.isaac.orbit/test/deps/test_scipy.py", line 58, in test_interpolation
    func_RectBiVariate = interpolate.RectBivariateSpline(y, x, height_field_downsampled)
  File "/isaac-sim/exts/omni.pip.compute/pip_prebundle/scipy/interpolate/_fitpack2.py", line 1494, in __init__
    raise ValueError('x dimension of z must have same number of '
ValueError: x dimension of z must have same number of elements as x

----------------------------------------------------------------------
Ran 1 test in 0.003s

FAILED (errors=1)
There was an error running python
```
#426 changed the argument in `test_scipy.py` but did not change the
ordering to be the correct `(x,y)`. This fixes that.

## 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

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# Description

Fixed the configuration parsing to give an instanced config instead of
just a non-instanced class.

## 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
- [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: Nikita Rudin <48368649+nikitardn@users.noreply.github.com>

# Description

Fixes the shape of arguments in random_uniform_terrain. Previously the
function would crash if the sizes x and y were different.

## Type of change

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

## Checklist

- [ ] 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
- [ ] 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: Nikita Rudin <48368649+nikitardn@users.noreply.github.com>

# Description

Enables running `orbit -t` from any directory

Fixes #405 

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

# Description

For the cluster deployment, the latest docker version (25.xx) is not yet
compatible with the latest apptainer version. This PR adds a check
before building the singularity image and adds a warning to the docs.
Also the NOHTTPS warning has been resolved.

Fixes #371 

## 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`
- [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: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Adds remaining compat tests to `tests_to_skip.py` in response to [this
conversation
](https://github.com/isaac-orbit/orbit/pull/401#discussion_r1489481352).
When we are ready to full deprecate `/compat`, we should then fully
remove these tests from the code base.

Fixes #400 

## 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

---------
Signed-off-by: AutonomousHansen <50837800+AutonomousHansen@users.noreply.github.com>

# Description

Reduces the number of steps in `test_environments.py` to prevent timeout
at 600s

Fixes #404 

## 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 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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- [ ] I have not done this task
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# Description

Specifies that the `--timeout` argument to `run_all_tests.py` is an int

Fixes #407 

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

# Description

The flat ground size is not set based on the config file. The PR passes
this config to `spawn_ground_plane`

## Type of change

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

| Before | After |
| ------ | ----- |
| ![Screenshot from 2024-02-14
20-58-46](https://github.com/isaac-orbit/orbit/assets/3355155/790ef3d3-d734-469c-b109-bf312d310012)|
![Screenshot from 2024-02-14
20-19-54](https://github.com/isaac-orbit/orbit/assets/3355155/2be3b453-65f0-4f88-98a6-f5649a9f6459)
|


## 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

# Description

A user had a typo in their input prim path to the asset class. They did
"World/Robot" instead of "/World/Robot". The error message they got
because of this was out-of-index which is confusing.

This MR adds a check for global paths and gives a cleaner error message.

## 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
- [ ] 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 PR fixes divide by zero issue when setting gravity to (0, 0, 0).

It was causing unintended effects - position and linear velocity
remained nan even when modifying root state via
`RigidObject.write_root_state_to_sim()`.

Fixes #398

## 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 the issue with printing articulation joint information
with the `Articulation` class. When the number of joints are 1, the
`squeeze(0).tolist()` operation makes the tensor a float item instead of
a list.

This MR removes the squeeze operation and adds a unit test to check that
single-joint articulations work.

Fixes https://github.com/NVIDIA-Omniverse/orbit/issues/238

## 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

Previously, if you had two environments named `orbit` and `orbit_2024`.
If you delete the environment `orbit` to rename it, the grep search
would try to match `orbit_2024` with `orbit` and say the environment
exists.

This MR fixes the grep matching in `orbit.sh` to return success only if
the entire word matches.

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

# Description

This MR replaces `#!/bin/bash` with `#!/usr/bin/env bash`. This fetches
the executable from the `PATH` instead of having the path fixed. This
makes it more robust on different Unix systems. It should also allow you
to use bash scripts with zshell as well.

Fixes #384

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

# Description

As we are dropping support for Isaac Sim 2022.2, this MR updates the
pre-commit and setup.py to check for Python 3.10 language. Notable
changes when the formatter was run:

* `typing-extensions` has been merged to `typing`
* `collections.abc` is favored over `typing` for importing generic
types. The latter will be deprecated in future Python releases.

## 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
- [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 an `enableEnhancedDeterminism` flag to have improved
deterministic behavior from the physics engine. By default, this is
False to remain performant. However, it should be set to true for
imitation learning-like applications where you want to replay the
demonstrations.

## 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
- [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

As pointed out in #234 and #240, the environment returns stale values on
reset. Since there is no immediate fix for this, this MR adds the issue
to "Known issues" page in the documentation.

## 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
- [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 frequently reinstall pip packages when building the docker, even when
the downloaded packages have not changed between builds. This allows us
to look in `/root/.cache/pip` (on the image) for cached pip packages.
This speeds up our build significantly.

Adds a [mount cache
](https://docs.docker.com/build/cache/#use-the-dedicated-run-cache)to
the Dockerfile for the line `${ORBIT_PATH}/orbit.sh --install --extra`,
significantly increasing speeds by preventing repeated downloads of
large packages

## 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

Recently, tests were discovered that import from `utils`: `from
omni.isaac.orbit.utils` cause a `ModuleNotFoundError` for `warp` within
a container workflow fail as they weren't starting up the simulation
app.

This PR fixes this issue by setting up simulation app in any tests that
need it.

Fixes #372

## 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

The articulations, objects, and sensors were not cleared properly when
closing the environment. As a result, the invalidation callbacks were
not called, leading to problems if you want to open another environment
right after closing one.

Fixes #342

## 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
- [ ] 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

Adds the "Acceptance Criteria" section to existing issue templates.
Also, the MR cleans up any unnecessary fields to avoid bloating in the
templates.

Fixes #359 

## 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

# Description

This MR pins the torch version to 2.0.1 in installing the `orbit` and
`orbit_tasks` extensions. This helps fix the torch and typing_extensions
version incompatibility reported in #373.

Previously, torch version 2.2 was getting downloaded on a fresh
installation, which caused an error when trying to import it after
launching Isaac Sim: `NameError: name '_C' is not defined. Did you mean:
'_'?`

Fixes #373 

## 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
- [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

On termination of an episode, three conditions arise:

1. **bad** terminations (terminated dones): the agent gets a termination
penalty
2. **timeout** terminations (truncated dones):
* infinite-horizon: bootstrapping by the agent based on terminal state
    * finite-horizon: no penalty or bootstrapping

Currently, we have not handled the last case, which leads to issues when
training RL tasks with a finite horizon (for instance, Nikita's agile
locomotion work).

This MR adds a flag to the RLTaskEnvCfg called `is_finite_horizon` that
helps deal with this case. The flag is consumed by the env wrappers to
decide how they want to specifically handle the finite horizon problem.

## 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 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

From Isaac `2023.1.0-hotfix.1` to `2023.1.1`, `/app/livestream/enabled`
started to default to True. This breaks our logic w/r/t
`SimulationContext.render()`, which is now treating a headless instance
as one that needs full rendering. This causes problems with multiple
SimulationContext calls, and ultimately this bottoms out with this
[line](https://github.com/isaac-orbit/orbit/blob/670a8c97db645d50a3ea89b06f7366fc2212fc06/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/simulation_context.py#L563)
sending us into an infinite rendering cycle from which i.e. unittest
cannot exit.

I fix this problem by setting `/app/livestream/enabled` to explicitly
False in AppLauncher unless otherwise requested. This corrects the hang.

Ultimately, the answer to this is #238, but in the meantime we need a
fix or this is a showstopper for unit testing.

Fixes #323

- 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
- [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

Adds an optional argument to the height-scan obs term defining the
offset. Previously, it was hardcoded to 0.5.

## 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

Adds torque computation to implicit actuators. Previously the reported
torque was always zero.

## 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
- [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 minor issue where the max raycast distance in the config was ignored
in the raycaster sensor.

## 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: Pascal <roth.pascal@outlook.de>

After reporting binding issues on the cluster, this fix mentions the
`apptainer version 1.2.5-1.el7` used in our workflow in the cluster
documentation.

- 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
- [ ] 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 changed the shape of
`omni.isaac.orbit.sensors.contact_sensor.ContactSensorData.force_matrix_w`
in
[ContactSensor#L215-L217](https://github.com/NVIDIA-Omniverse/orbit/blob/963f3045367be3ccdac4f0902ac2103fcbb6070f/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor.py#L215-L217)
from `(num_envs, num_bodies, num_shapes, num_filters, 3)` to `(num_envs,
num_bodies, num_filters, 3)`. This makes the returned tensor shape valid
with the data obtained from PhysX.

Fixes #193 

## Type of change

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

## Videos

I have implemented this in an ORBIT environment and now get the expected
behaviour
Before | After (resets only the robot collides with obstacles) 
--|--
<video
src="https://github.com/NVIDIA-Omniverse/orbit/assets/56405924/96dee42f-d84b-4a52-9480-77e800ab7f23"
width="600" />|<video
src="https://github.com/NVIDIA-Omniverse/orbit/assets/56405924/4112a941-87e2-43fd-a63b-19154cf6040f"
width="600" />

## 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

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

# Description

This MR fixes running of single environments (`num_envs=1`). Previously,
in the `InteractiveScene` class, physics cloning happened when the
`replicate_physics` flag was set to True even if there was only one
environment.

Fixes [#199](https://github.com/NVIDIA-Omniverse/orbit/issues/199) and
[#203](https://github.com/NVIDIA-Omniverse/orbit/issues/203)

## 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
- [ ] 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

We currently have X11 forwarding enabled by default. This is convenient
for certain users who want graphical displays (including IsaacSim
itself) to be forwarded from within the container. However, it is also
partially dependent upon the configuration of the host system and
requires a valid .Xauthority file which may or may not have been
created. Because this has introduced difficulties for several of our
users, I submit that we comment this portion out be default, until a
solution which allows either a `./container.sh` option, a variable in
`.env`, or both can be used to conveniently enable this option on an
affirmative basis.

If we can agree on this change, I will update the documentation
correspondingly.

## 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
- [ ] 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 FrameTransformer sensor always assumed that the source frame index
is 0 in the parsed regex expression. However, a recent issue appeared
where this is not the case, and it led to a bug due to the hard-coded
value. This MR fixes the source frame index in the sensor and also adds
a unit test to check this behavior.

Fixes: https://github.com/NVIDIA-Omniverse/Orbit/issues/170

## 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

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