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>

Fixes AttributeError in position_command.py and adds a dummy function to TerrainImporter for sampling target locations.

Fixes #189

- 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

This PR adds a script to run all the unit tests (any Python script named
`test_*.py`) and report on the success rate and timing. It also enables
the skipping of known breaking tests via tests_to_skip.py. The tests can
be run via `orbit -t`, and the test output will be printed to both a log
(`test_results.log`) and to the console.

This can be used for CI/CD but also can be temporarily used to run each
test without invoking them manually one by one until we have a better
solution.

A few tests are currently broken; for now, these are added to
tests_to_skip - I will put follow-up issues + PRs to fix these as soon
as possible. I recommend we add running tests as a requirement before
merging PRs until the CI/CD project is complete, too. One way to help
facilitate this is to have PR authors copy/paste the results at the end
of the test run to the PR description.

Fixes #309 

## Type of change

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

## Screenshots

An example test result summary with timeout set to 60 seconds running on
my workstation:

```
===================
Test Result Summary
===================
Total: 39
Passing: 29
Failing: 0
Skipped: 8
Timing Out: 2
Passing Percentage: 94.87%
Total Time Elapsed: 0.0h31.0m52.38s
```

## 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 updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This MR fixes our license to incorporate the new year.

## 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

This MR adds a bunch of online resources and tutorials that users can
find useful for mastering Omniverse. This is not a complete list, but I
found them useful when I started.

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

# Description

This PR fixes three issues related to cluster deployment:

- remove the explicit copy of `orbit_assets` directory in the
`container.sh` file
- Direct bind the `logs` directory in the `run_singularity.sh` file to
make sure that the logs are copied when the run crashed
- Create an additional file in the docker to make sure it exists when
binded when the singularity is run

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

# Description

Currently, the very first tutorial for users is the app launcher. This
might be a bit overwhelming to start with. This MR iterates over the app
launcher tutorial and puts it later in the part 1 of the tutorials.

## 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
- [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

This MR fixes the code highlighting in the troubleshooting docs. It was
referring to Isaac Sim stuff which we don't need to do anymore.

## 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 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 current environments to the docs with a description, an image, and
a link to the environment.

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

# Description

Ensures that a viewport is available when `--livestream/LIVESTREAM > 0`
in AppLauncher. See [this
PR](https://github.com/isaac-orbit/orbit/pull/310) for more details.

## 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

Adjust the line numbers in the tutorials and how-to's to account for
latest changes in the code files.

## 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

After the great tutorial refactor of 2023, the installation guide wasn't
updated. This PR updates the path there.

Please include a summary of the change and which issue is fixed. Please
also include relevant motivation and context.
List any dependencies that are required for this change.

Fixes #334 

<!-- 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

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

# Description

Moves the robot configs from orbit core to orbit assets.

## Type of change

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

## Checklist

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

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

# Description

Since we now handle the PhysX views directly, we need to make sure they
are deleted properly when the simulation is stopped. This MR adds the
missing implementation for invalidating the views in all sensors and
asset classes.

## 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 adds the documentation on how to import an asset into USD
format.

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

# Description

This MR fixes the minor issues to ensure the data collection and
environment tests work.

## 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

Add a dependency to resolve an opencv-python error when trying to log
runs with weight and biases in a singularity setup on a SLURM cluster.

## 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

# Description

Currently, the command to play a trained RL model is lacking the flag
that will make it use the latest checkpoint, despite that behavior
being described as expected in the surrounding text. This MR adds the flag.

It also removes a statement that 'by default' the above command will
load the latest checkpoint, because it could be potentially confusing as
that behavior is only 'by default' when you use the flag.

## 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

# Description

This MR reviews the how-tos documentation and ensures they are all
somewhat consistent.

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

# Description

This MR makes sure the IK example works properly again. It adds the IK
action space to the lift environment. Additionally, it fixes the state
machine for the lift environment.

## 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
- [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

Our previous reasoning of not updating the sensors since the 'scene' is
not updated does not work well on resets. It was done assuming the
update is called right after reset. However, nowhere in the code, this
seems to be the case anymore.

This MR makes sure sensors are always updated when they are reset. The
reset method should set values to zeros or defaults when the sensor data
is invalid.

## 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`
- [ ] 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 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 will cause the carb logs to be also be captured by the isaac-logs
volume.

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

# Description

Currently, the ray-cast and camera sensors don't support having regex
expression in the leaves. While we must address this (#313), we add this
to our future plans.

For now, this MR adds a check to make sure users are aware and don't do
a wrong operation.

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

# Description

Earlier, the markers set "invisible" to secondary rays on the
wrong prim (XForm instead of mesh). For context, this property is used
when we don't want to see the marker prims on secondary rendering
operations used to compute depth and semantic images. However,
the markers are still visible on RGB.

This MR makes sure that the marker prims are invisible to these rays by
setting the property on the correct prim.

## Type of change

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

## Screenshots

| Before | After |
| ------ | ----- |
|
![earlier](https://github.com/isaac-orbit/orbit/assets/12863862/140f0afb-86bc-48e9-9812-7e7d9489cecb)
|
![now](https://github.com/isaac-orbit/orbit/assets/12863862/643b1ed3-b454-4a94-b2e7-256aed012d13)
|

## 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 pull request fixes fetching actuator parameters from USD. Before,
when you had multiple actuator groups, each of which takes actuator
parameters directly from the articulation's USD, only the first actuator
group values were correctly set.

## 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

# Description

A few demo and tutorial doesn't use all of AppLauncher's CLI args,
supply their own --headless args, or still use SimulationApp-- 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
- [ ] 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 reorganizes the sensor tutorials. Hence, there is only one sensor
tutorial introducing spawning sensors to an `InteractiveScene` and
some minimal tutorials for other sensors. The USD camera tutorial is
converted into a how-to save camera image.

Note: the how-to has to be fixed in a separate PR as we have to see what
is the best way to save images efficiently, the Replicator Writer might
have been updated in the meantime.

## 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

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