# Description

This MR does the following:

* Addresses some of the build issues related to docs and migrates to the latest sphinx
* Also updates the API references

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

# Description

This MR does the following:

* Fixes pose computation in the `omni.isaac.orbit.sensors.Camera` class
to obtain them from XFormPrimView instead of using the
`UsdGeomCamera.ComputeLocalToWorldTransform` method. The latter is not
updated correctly during GPU simulation.
* Fixes initialization of the annotator info in the `Camera`.
Previously, all info dicts had the same memory address, which caused all
annotators to have the same info.
* Fixes the conversion of `uint32` warp arrays inside the
`omni.isaac.orbit.utils.array.convert_to_torch` method. PyTorch does not
support this type, so it is converted to `int32` before converting to
PyTorch tensor. This is needed to work with the replicator's output for
semantic segmentation images.
* Adds render call inside `omni.isaac.orbit.sim.SimulationContext.reset`
to initialize Replicator buffers when the simulation is reset.

## 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

Currently, the joint parameters must always be specified from the
user-defined configurations. Setting them to None makes them go to zero
(for stiffness and damping) and infinity (for limits). This is not great
since many assets may have some values in the USD file that they have
tuned using inspection tools in Omniverse.

This MR changes the behavior of `None` in the actuator configuration to
load default values provided as inputs to the actuator class. It also
loads other joint drive parameters such as friction and armature.

## 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
- [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

This MR fixes the MuJoCo-style Humanoid and Ant environments to use the new structure. The MR also includes some fixes in the core APIs.

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

# Description

This MR ensures that the sensor buffers are always updated in
visualization mode. Otherwise, the sensors are not visualizable without
someone accessing the `data` property.

## 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

This MR fixes the behavior of
`omni.isaac.orbit.sim.SimulationCfg.shutdown_app_on_stop` to not close
the app when the flag is False. Earlier, it would throw an error
(invalid physics handles) when the stop button was pressed in the GUI
and the flag was False.

- 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

Previously, while the manager classes supported "functional" class
terms, they only implemented `__call__` attribute. However, more
frequently, the class terms will keep some history in them which we
would want to clear out.

This MR introduces a `ManagerTerm` class for class terms which serves as
a protocol for how manager terms that are classes should be implemented.
The `ActionTerm` inherits from this `ManagerTerm`.

## 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 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

To resolve all environment indices, the previous implementation used
`self._ALL_INDICES`. However, this is not broadcastable when tensors are
indexed with two lists, for example:

```python
import torch

x = torch.zeros(100, 25)
x[[0, 2, 3, 4], [1, 2, 3]]
```

This MR fixes this bug (introduced in #248).

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

This MR fixes a bug in `RaycasterCamera` where the drift was not being
initialized correctly.

- 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

Previously, the `Asset` classes assumed that the root prim existed at
the spawn prim location. This means that when the robot is spawned at
`/World/Robot`, the articulation root prim is also at `/World/Root`.
However, this is not safe operation as many assets will have the root
defined under the spawn location.

The MR safely checks if there are prims under the spawn location that
have the API defined for them. If they do, then it uses that prim path
for initializing the views.

## 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
- [ ] 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

This MR makes a critical fix for the assets classes `reset` mechanism.
Particularly, the `write_` methods for the physics handles.

Before, the root and joint states were reset for all environments rather
than the specific `env_ids` concerned with the reset. This caused
instabilities in the dynamics, but it was not necessarily perceivable in
environments with spread-out resets like ANYmal.

## 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 reach environment for end-effector pose tracking to
the new structure. It adds support for two robots: Franka-Panda and
UR10. The training works with 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`
- [ ] 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

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

# Description

The current `omni.isaac.orbit.envs.BaseEnv` does not include the methods
to `reset` and `step`, while the `RLTaskEnv` adds those functionalities.
This PR unifies the structure of an `Env` and adds these core components
to the `BaseEnv` as well.


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

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

# Description

This MR changes the `AssetBase` and `SensorBase` classes to use
time-line events instead of physics events for initializing and
invalidating physics-based handles. This is needed for cases where we
have to wait for physics mesh cooking to finish before the handles are
available.

For instance, with the previous code, when trying to initialize the
views for deformable objects, the following error happens:

```bash
2023-11-11 00:18:06 [17,966ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2023-11-11 00:18:06 [17,966ms] [Error] [omni.physx.plugin] PhysX error: SynchronizeStreams cuStreamWaitEvent failed with error 700
, FILE /buildAgent/work/74336105e89c4a74/source/gpucommon/include/PxgCudaUtils.h, LINE 59
2023-11-11 00:18:06 [17,966ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2023-11-11 00:18:06 [17,967ms] [Error] [omni.physx.plugin] PhysX error: memcpy failed fail!
  700, FILE /buildAgent/work/74336105e89c4a74/source/gpunarrowphase/src/PxgNarrowphaseCore.cpp, LINE 1444
2023-11-11 00:18:06 [17,967ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2023-11-11 00:18:06 [17,967ms] [Error] [omni.physx.plugin] PhysX error: GPU clampMaxValues fail to launch kernel!!
, FILE /buildAgent/work/74336105e89c4a74/source/gpusimulationcontroller/src/PxgSoftBodyCore.cpp, LINE 484
2023-11-11 00:18:06 [17,967ms] [Error] [omni.physx.plugin] Cuda context manager error, simulation will be stopped and new cuda context manager will be created.
2023-11-11 00:18:06 [17,968ms] [Error] [omni.physx.plugin] PhysX error: GPU sortSoftBodyContacts fail to launch kernel!!
```

## 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

Previously, there was a bug that was setting stiffness to damping values
when configuration was passed as dictionaries. This MR fixes 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
- [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 adds raising of import errors in the `omni.isaac.orbit_tasks` package. Previously,
these were getting caught and ignored which made debugging difficult.

- 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 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>

# Description

This MR fixes naming and shape issues in binary action commands. Previously the action term was not working.

## Type of change

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

## Screenshots

## Checklist

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`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
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- [ ] I have added tests that prove my fix is effective or that my
feature works
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extension's `config/extension.toml` file
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exists there

# Description

Fixes action indexing for multiple actions. Currently all successive
actions mimic the first one due to an indexing error.

## 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
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feature works
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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 provides the Cartpole environment reimplemented with the new
RLTaskEnv.

Replaces #177

## Type of change

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

## Screenshot

Training results with SB-3 (orange), RSL-RL (purple) and RL-Games
(black)


![sb3](https://github.com/isaac-orbit/orbit/assets/12863862/c4b7a50e-099a-4391-8142-e2924e633429)

![rslr-l](https://github.com/isaac-orbit/orbit/assets/12863862/aa223a46-d4a8-454a-b26d-b6359e173bbc)

![rlg](https://github.com/isaac-orbit/orbit/assets/12863862/2f20d837-40af-4fa2-ac58-7f520c4a3517)


## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
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feature works
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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 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
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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
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- [ ] 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