# 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

# Description

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

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

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

## Type of change

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

## Checklist

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

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

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

This PR adds in the `;`.

## Type of change

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

## Checklist

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

# Description

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

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

## Type of change

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

## Checklist

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

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

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

# Description

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

## Type of change

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

## Checklist

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

# Description

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

```python
import traceback

import carb

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

## Type of change

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

## Checklist

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

# Description

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

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

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

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

## Type of change

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

## Checklist

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

# Description

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

Fixes #144 

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## Screenshots

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

## Checklist

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

# Description

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

Fixes #141 

## Type of change

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

## Checklist

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

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

# Description

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

Fixes #140

## Type of change

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

## Checklist

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

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

# Description

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

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

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

## Type of change

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

## Checklist

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

# Description

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

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

## Type of change

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

## Checklist

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

# Description

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

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

## Type of change

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

## Screenshots

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

## Checklist

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