# Description

This PR introduces a `variants` attribute in the `UsdFileCfg` which can
be used to set different variants when loading an asset from a USD file.

- New function `set_usd_variants` which applies variant sets to a prim
- New, optional `variants` attribute in the `UsdFileCfg` to specify the
attributes to be set
- Add variant setting in the `_spawn_from_usd_file` function

Fixes #401

## 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 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

Fixes typo introduced to Dockerfile.base which created wrong directory

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

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

## Checklist

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

# Description

~Adds a new package `orbit_hooks` to `/orbit/docker/orbit_hooks`. This
is a small library of `setuptools.Command` child classes, built at the
beginning of `Dockerfile.base`. They can be referenced in the `setup.py`
of extensions which want hooks, such as ROS or apt packages installed at
Dockerfile build time.~

~The currently existing hooks are `InstallAptDeps` and `InstallRosDeps`.
These will automatically perform certain installation processes:~

~`InstallAptDeps` looks in the extension's `extension.toml` for an
`orbit_hooks` `apt_deps` list, which will be installed during the
`Dockerfile.base` build procedure.~

~`InstallRosDeps` looks in the extension's `extension.toml` for an
`orbit_hooks` `ros_ws` path. In building `Dockerfile.ros2`, we will
perform a `rosdep` installation of any dependencies in ros packages
beneath `ros_ws`.~

~Additionally, I have added the script `check_and_install_deps.py`,
which scans all subdirs in `orbit/source/extensions` for the existence
of certain setup.py cmdclasses (`install_apt_deps`,`install_ros_deps`)
and calls them if they exist.~

~For an extension to make use of this optional install procedure, they
will need to `import orbit_hooks` in their `setup.py` the relevant
command class dict (`INSTALL_ALL_DEPS`, `INSTALL_APT_DEPS`,
`INSTALL_ROS_DEPS`) and to have the corresponding values in their
`extension.toml`. For an example, [this
PR](https://github.com/bdaiinstitute/orbit.eval_sim/pull/36) has the
related modifications to its `extension.toml` and its `setup.py`.~

**Update**:
Adds a new script `/tools/install_deps.py` which has commands for
installing ros and apt dependencies in extensions via options set in the
`extension.toml`.

`install_apt_packages` looks in the extension's `extension.toml` for an
`orbit_settings` `apt_deps` list, which will be installed during the
`Dockerfile.base` build procedure.

`install_rosdep_packages` looks in the extension's `extension.toml` for
an `orbit_settings` `ros_ws` path. In building `Dockerfile.ros2`, we
will perform a `rosdep` installation of any dependencies in ros packages
beneath `ros_ws`.

Added section about this in `developers.rst`, as well as reference to it
in the this [draft
PR](https://github.com/isaac-orbit/orbit.ext_template/pull/18) for
`orbit.ext_template`

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have run all the tests with `./orbit.sh --test` and they pass
- [ ] 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: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>

PhysX view classes expect the expressions to be in "Glob" format instead
of "Regex". While we did this conversion for the body views, it was
missing for the filter prim paths expressions. This MR fixes this issue.

Fixes https://github.com/NVIDIA-Omniverse/orbit/issues/364

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

# Description

The declaration of `ArticulationPropertiesCfg` is not found in orbit. I
guess it should be `ArticulationRootPropertiesCfg`. This MR fixes the
typing.

## Type of change

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

## Checklist

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

# Description

The `cassie.py` under the `omni.isaac.orbit` extension looks duplicated
with the one under `omni.isaac.orbit_assets`, and after a search in the
folder, I found that it's not being used or referenced at all. This MR
removes it to avoid potential confusion.

## Type of change

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

## Checklist

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

# Description

This MR adds an attribute to fix the root link of an articulation. It
also fixes the docstrings to mention how to fix a rigid body in the
scene.

Fixes https://github.com/NVIDIA-Omniverse/orbit/issues/181,
https://github.com/NVIDIA-Omniverse/orbit/issues/365

## 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 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
Added a check that the tmp.xauth file exists on the host when setting
up, or else replace it. This makes the x11 procedure robust to
accidental shutdowns/unintentional modifications to .container.yaml.
Shoutout @jtigue-bdai for uncovering this flaw!

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

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

## Checklist

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

The line `'unalias ORBIT_PATH &>/dev/null'` inside `setup_conda_env()`
prevents `orbit.sh --conda` to successfully exit. The "`unset`" command
rather than "`unalias`" should be used for environment variables (e.g.,
`ORBIT_PATH`). This is a problem, e.g., when a custom dockerfile is used
to directly install conda during the image build process: the image
build process is interrupted.

Fixes #377

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

Before:

https://github.com/NVIDIA-Omniverse/orbit/blob/a642b8e32cf07efa11a583e8db3680d971922e1e/orbit.sh#L148
After:
`'unset ORBIT_PATH' \`

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

# Description

Removes a typo which causes `container.sh` to 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 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 updates the docs for versioning of the framework to 0.3.0.

## 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 run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This MR adds the dexterous cube manipulation environment from
IsaacGymEnvs. The implementation is mostly based on the standard
AllegroHand environment. However, it includes the following components
from the Dextreme work:

* Randomization of mass, joint PD gains, friction, and initial state
distribution
* Tuning of RL-Games from Dextreme work
* Exponential moving average (bounded joint position) action term

However, it does the following differently since it led to better
convergence:

* Changes the way out-of-reach termination is computed. Original work
seems to do it w.r.t. the goal position, but that seems unnecessary
* Removed goal position racking reward. It was tuned too high, which
made learning difficult and is not needed

## Type of change

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

## Screenshots

Trained with RSL-RL


https://github.com/isaac-orbit/orbit/assets/12863862/8f51e468-2d93-4520-9689-f1e8f1a898e6

## 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
- [x] I have run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This MR adds a test to check all the asset configurations in the
`omni.isaac.orbit_assets` class work as expected. This is useful since
we keep adding new checks and updates. It is good to automatically know
that the assets can be initialized successfully.

## 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 run all the tests with `./orbit.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This PR adds the capability to opt-into and use X11 Forwarding from
within the container. All of the configuration for the compose network
is in `x11.yaml`, the preparation happens in `./container.sh`.

Deeper explanation: Instead of attempting to mount an .Xauth directly,
we create one ourselves. The `Xauth` cookie is extracted and merged into
a new .tmp file which is created on the local user's system. This file
is then mounted inside the container,as is the X11 unix socket, and the
DISPLAY envvar (as well as a few others to avoid problems) are passed
from the host machine into the container.

This should work reliably on a container running locally, and it has
worked for me over ssh. However, given that ssh can make this quite a
bit more complicated, this PR only seeks to support local x11
forwarding.

**UPDATE**:
I've also added some state persistence through `yq` and the file
`.container.yaml`. I am using this to store settings we only want to ask
once (`__ORBIT_X11_FORWARDING_ENABLED`) and state that needs to be used
by multiple functions (`__ORBIT_TMP_XAUTH`). I added a few helper
functions and and installation function to install `yq` for yaml
operations.

## Type of change

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

## Checklist

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

---------
Signed-off-by: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>

# Description

Earlier, the error message for initializing asset classes (with invalid
prims) only checked "length != 1". However, the error messages are
clearer if we separate them for the null and many cases, respectively.
This MR fixes this for better error messages.

## Type of change

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

## Checklist

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

With remove of many future imports, it seems Sphinx doc generation was
sensitive to it. Hence, the docs were not building anymore. This MR
makes sure that those issues are resolved properly.

Built the docs locally and they work fine.

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

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./orbit.sh --test` and they pass
- [ ] 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 does the following:

* Adds the function `omni.isaac.orbit.utils.math.quat_unique` to
standardize quaternion representations, i.e.
  always have a non-negative real part.
* Adds events terms for randomizing mass by scale, simulation joint
properties (stiffness, damping, armature,
  and friction)
* Adds clamping of joint positions and velocities in event terms for
resetting joints. The simulation does not
throw an error if the set values are out of their range. Hence, users
are expected to clamp them before setting.
* Fixes
`omni.isaac.orbit.envs.mdp.ExponentialMovingAverageJointPositionAction`
to smoothen the actions
  at environment frequency instead of simulation frequency.

## 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)

## Checklist

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

# Description

The function `check_file_exists` is slow since it tries to access the
Nucleus server for the file, which can take time. This function uses the
stage resolver to see if the file exists instead.

## 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 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

Earlier, we used Isaac Sim's sim context, which set the backend to torch
on CPU. However, we want to make sure things work fine on GPU. This MR
uses Orbit's sim context class for better integration testing.

## Type of change

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

## Checklist

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

# Description

With Python 3.10, we don't need future imports at many places. This MR
removes such cases. Future imports are still needed for the following:

* Circular imports (where we use `TYPE_CHECKING`)
* Modules where we have the file name the same as module name. Example:
`schemas` directory has `schemas.py` file

Fixes #390

## Type of change

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

## Checklist

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

# Description

Previously, rendering of RTX-related sensors was not happening within
the step call of the environment. Instead, it was expected that users
call `env.render()` instead. However, this was unintuitive when sensors
are involved.

Fixes https://github.com/NVIDIA-Omniverse/orbit/discussions/291

## 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
- [ ] I have run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Adds in unittests for terrain importers. check that all three import
function work and generate meshes of correct size and the balls dropped
on mesh do not fall through it.

Fixes #54

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

---------
Signed-off-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: James Smith <jsmith@theaiinstitute.com>

# Description

This MR moves all environment tasks names into `with.subTest()` context
manager to report per sub test 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`
- [ ] 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

---------
Co-authored-by: David Hoeller <dhoeller@ethz.ch>

# Description

This MR makes sure that the function ordering is consistent with their
call order in the command terms.

## Type of change

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

## Checklist

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

# Description

Adds a unit test for the the data reported by ContactSensor over
different contact primitives, ground surfaces, contact times, and
devices. This test spawns in a contact primitive, and sets the contact
primitive in contact in the ground or in the air for a pre-determined
amount of time, then checks that the ContactSensor data agrees with the
expected values.

Note: 

Although this unit test uses all available primitive shapes in Isaac
Sim, `[box, capsule, cylinder, cone, sphere]`, only test cases where
exact collision models (capsule, sphere, box) are available are used.
This is because ContactSensor does not work on Cylinder<->Mesh
collisions and Cone<->Mesh collisions unfortunately.

Update:

Capsule<->Mesh collisions also do not work in certain cases, see #470.
Capsule tests have also been removed from this unit test.

## Type of change

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

## Screenshots

Please attach before and after screenshots of the change if applicable.
![Screenshot from 2024-03-20
17-49-13](https://github.com/isaac-orbit/orbit/assets/156015326/bfff41a1-7c04-4824-aaed-3ce7e0bfd4bd)
![Screenshot from 2024-03-20
17-50-14](https://github.com/isaac-orbit/orbit/assets/156015326/f30e77d2-ff30-4805-96bd-6c7106a1db7b)
![Screenshot from 2024-03-20
17-51-03](https://github.com/isaac-orbit/orbit/assets/156015326/7037dc4b-147b-4221-bcd5-8c39d39c4709)
![Screenshot from 2024-03-20
17-54-09](https://github.com/isaac-orbit/orbit/assets/156015326/ed40604b-67d9-4f81-8272-b36a7c92b21e)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./orbit.sh --test` and they pass
- [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

Replaced `contrib_tasks` with a reference to the `orbit.ext_template`
repository in the documentation.

## 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 run all the tests with `./orbit.sh --test` and they pass
- [x] **N/A** 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 does the following fixes:

* Adds a clone operator to the observation manager term computation to
prevent shared data between terms
* Fixes the flushing of data for imitation learning worklow

Fixes https://github.com/NVIDIA-Omniverse/orbit/issues/356

## Type of change

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

## Checklist

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

# Description

This MR fixes a regression introduced in 0.15.1. The term values were
assigned using an OR operator. However, since they were never being
cleared, the values were incorrect.

## 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 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

Cluster workflow did not work with the different profiles and introduced
names. This PR fixes the workflow and in addition, introduces additional
checks that the profile can be selected. In detail:

- checks whether a profile can be selected depending on whether a
`.env.$container_profile` exists
- allows for `job` to have multiple arguments, also without a profile,
for all other options, the second argument has to be the profile
- check if a docker image exists before building the singularity image
- check if the path for the singularity image exists on the cluster,
otherwise create it
- check if the path for orbit exists on the cluster, otherwise create it


## Type of change

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

## Checklist

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

---------
Co-authored-by: Leul Tesfaye <lst26@cornell.edu>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Remove the root requirement to build a singularity image for the cluster
workflow by using the `--fakeroot` flag. Also added a note that this
flag can be removed in the case of issues.

## Type of change

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

## Checklist

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

The AppLauncher has a bug where it fails to fact the `app.folder` is
pointing to a directory higher than it should be. This leads to a file
not being found in the `_get_version` call from `omni.isaac.version`
module.

Updated app.folder to point to `"${exe-path}/"` instead of
`"${exe-path}/../"` in the following files:

- orbit/source/apps/orbit.python.headless.kit
- orbit/source/apps/orbit.python.headless.multicam.kit
- orbit/source/apps/orbit.python.kit

Fixes #339

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

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have run all the tests with `./orbit.sh --test` and they pass
- [ ] 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 adds the following new asset configs:

* `KINOVA_JACO2_N6S300_CFG`: Kinova Jaco2 (6-Dof) arm with three-finger
gripper
* `KINOVA_JACO2_N7S300_CFG`: Kinova Jaco2 (7-Dof) arm with three-finger
gripper
* `KINOVA_GEN3_N7_CFG`: Kinova Gen3 (7-Dof) arm with no gripper
* `SAWYER_CFG`: Sawyer arm with no gripper

## Type of change

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

## Screenshots

![arm_ok](https://github.com/isaac-orbit/orbit/assets/12863862/18c98444-ce00-4324-a131-0cde9cd3afe0)

## Checklist

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

# Description

Commit 3acff1be missed update for a
ContactSensor override to find_bodies

## Type of change

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

## Checklist

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

# Description

The experience files that we host in Orbit rely upon an expression
`${exe-path}`, specifically to resolve the location of the `VERSION`.
From our `orbit.python.headless.kit`:
```
app.versionFile = "${exe-path}/../VERSION"
app.folder = "${exe-path}/../"
```
This resolves to the full path of the calling exe, which is the `kit`
application in isaac-sim.

Currently this is broken in the container because we set
`ISAACSIM_PATH=/isaac-sim`, which is broken during the path operations
done on it. This PR fixes that by making
`ISAACSIM_PATH=/workspace/orbit/_isaac_sim` as well as mapping other
aliases (`python`, `python3`) through this path.

I have also added `not self._livestream` as a precondition of enabling
the `orbit.python.headless.kit` experience file, because otherwise we do
not render to livestream.

I also added fixes for all the newly failing tests, except for
`test_urdf_converter.py`. I will add a fix for that to this branch as
soon as I have one.

UPDATE:
It appears that `test_urdf_converter.py` was broken at least as far back
as commit `a30d764d`, which precedes the experience file commit. I will
therefore merge this without fixing that test.

Fixes [#339](https://github.com/NVIDIA-Omniverse/orbit/issues/339),
[#338](https://github.com/NVIDIA-Omniverse/orbit/issues/338)

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./orbit.sh --test` and they pass
(except `test_urdf_converter.py`)
- [ ] 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: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Allow changing of the indexing mode for the grid pattern of the
RayCaster. Possible options are:

- “xy”: the points are ordered with their y-dimension iterated over
first.
- “yx”: the points are ordered with their x-dimension iterated over
first.

## Type of change

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

## Checklist

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

# Description

The `SceneEntityCfg` always return the `joint_ids` and `body_ids` in the
simulation order even if a different order was specified when passing
the names to the `SceneEntityCfg`. This fix changes the behavior, to
always return the ids in the specified order by introducing the flag
`simulation_order` that is true per default for everything within orbit
but false for the `SceneEntityCfg`.

Fixes #461 

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

# Description

This MR automates the configuring of kit app files based on the settings
passed to the app launcher.

The experience file to load when launching the SimulationApp. If a
relative path is provided, it is resolved relative to the ``EXP_PATH``
environment variable. If provided as an empty string, the experience
file is determined based on the headless flag:

* If headless is True, the experience file is set to
``orbit.python.headless.kit``.
* If headless is False, the experience file is set to
``orbit.python.kit``.

Moreover, it adds the app experience file to use when running
multi-camera setup. This is taken from OIGE:
>
https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/blob/main/docs/examples/training_with_camera.md#working-with-cameras

Fixes #238

## 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 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

@Mayankm96 recently found that tests failures weren't properly reporting
in runs of `orbit -t`. This is because we were previously relying on
individual test's main to exit with 1 if the test failed, but this
recently changed when we stopped them from exiting with `exit=False`
argument to `unittest.main()` to ensure the simulation app could be
closed properly.
 
We no longer call `simulation_app.close()` as this will cause the exit to not reach `run_all_tests.py`. The downside here is a bit more console spam.

Fixes #474

## Type of change

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

## Checklist

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

---------
Signed-off-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>