# Description

This MR updates broken links in the documentation and code references.

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.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 `./isaaclab.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

Fixes #475 

## 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
`./isaaclab.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 `./isaaclab.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

Fixes Isaac Sim docker tag

## Type of change

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

- Fix CartpoleDepthCameraEnvCfg
- Add option to save images to file

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.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 `./isaaclab.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

The event reset_root_state_uniform had two different logics for setting position and orientation:
```
positions = root_states[:, 0:3] + env.scene.env_origins[env_ids] + rand_samples[:, 0:3]
orientations = math_utils.quat_from_euler_xyz(rand_samples[:, 3], rand_samples[:, 4], rand_samples[:, 5])
```
where the position is set by adding the random samples to the default root states, but the orientation was set as an absolute value.

Both orientation and position are now relative offsets.

## 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
`./isaaclab.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 `./isaaclab.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

Improves the `omni.isaac.lab.assets.RigidObjectData` and
`omni.isaac.lab.assets.ArticulationData` buffers to update their data
lazily. Before, all the data was always updated at every step, even if
it was not used by the task. This improves performance for all the
tasks.

## Type of change

- New feature

## Screenshots

For the Cartpole task, blue is before, red is this MR.

![image](https://github.com/isaac-sim/IsaacLab/assets/11162199/99cbe73d-fa89-4de9-a94c-306cc7e0766f)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.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 `./isaaclab.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

Updates pip installation instructions

# Description

Fixes articulation indexing.

Fixes # [472](https://github.com/isaac-sim/IsaacLab/issues/472)

## 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
`./isaaclab.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 `./isaaclab.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

Added Unitree G1 locomotion example

## Type of change

- New feature

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.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 `./isaaclab.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

Fixes typo in docs/source/features/actuators.rst

- Update Automator instructions
- Update URL links
- Update rsl_rl inference example
- Add tiled rendering memory note

Adds a new reward for Spot's gait, which is based on the foot body name

## 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
`./isaaclab.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 `./isaaclab.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

Fixes installation and documentation:
- Now installs torch with cuda support on Windows
- Fixes some links in the documentation

Fixes #404 

## Type of change

- Bug fix

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.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 `./isaaclab.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

Removes hardcoded IsaacLab folder path in docker compose.

## Type of change

- Bug fix

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.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 `./isaaclab.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

Adds the training task for the Spot robot.  


## Type of change

- New feature

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.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 `./isaaclab.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

Fixed the path issue during the export IsaacSim 4.0 location path. 
After installing the new IsaacSim 4.0 it creates a folder with
isaac-sim-4.0.0 name by default.

Fixes https://github.com/isaac-sim/IsaacLab/issues/448

## 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
`./isaaclab.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 `./isaaclab.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

Updates code to Isaac Lab release

## Type of change

- New feature
- Breaking change

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.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 `./isaaclab.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

Adds CI hooks

# Description

Renames the project to Isaac Lab:
- All the references to Orbit have been renamed to Isaac Lab
- The script `orbit.sh` has been renamed to `isaaclab.sh`
- `omni.isaac.orbit` has been renamed to `omni.isaac.lab`
- `omni.isaac.orbit_tasks` has been renamed to `omni.isaac.lab_tasks`
- `omni.isaac.orbit_assets` has been renamed to `omni.isaac.lab_assets`

## Type of change

- Breaking change

## 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 current onnx exporter does not export the empirical normalization
layer. This MR adds the empirical normalization exporting to the JIT
and ONNX exporters for RSL-RL.

- 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] 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
(some did timeout)
- [x] 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

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

# Description

The link to Allegro Hand Environment is broken in the documentation and
is incorrect. This MR fixes the link.

Fixes #418 

## Type of change

- This change requires a documentation update

## Screenshots

No, visual change, but link now works!

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

# Description

Restricts the protobuf version to <5.0.0 in setup.py and closes
https://github.com/NVIDIA-Omniverse/orbit/issues/412

## Type of change

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

## Screenshots

| Before | After |
| ------ | ----- |
|
![image](https://github.com/NVIDIA-Omniverse/orbit/assets/17403324/cc41ae19-a22c-472b-8ab8-aa21d2b0b55d)
|
![image](https://github.com/NVIDIA-Omniverse/orbit/assets/17403324/eabf360b-5205-4eb6-a6ca-9403a94ad6d5)
|


## Checklist

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

# Description

This MR initializes `self._body_physx_view = None` in the init method of the
`ContactSensor` class.

This is needed to use ContactSensors with `debug_vis=True` while running
Orbit as an extension, such as EvalSim.

Currently, `ContactSensor._initialize_impl` initializes and sets the
value of `self._body_physx_view`. However, when running in extension
mode, `ContactSensor._initialize_impl` is called _after_
`ContactSensor._debug_vis_callback`, which causes an error to appear
upon loading an environment because `ContactSensor._debug_vis_callback`
references `self._body_physx_view` that have not been initialized.

With `self._body_physx_vew` initialized to None in the init method of
`ContactSensor`, it allows `ContactSensor._debug_vis_callback` to be
safely called before `ContactSensor._initialize_impl`.

## Type of change

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

## Checklist

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

Fixes configclass shared references to keep compound objects independent across subclass instances (#528)

# Description

There is currently an issue with `configclass.py`'s function
`_return_f`, which produces `default_factory` functions for
`configclass` classes.

`configclass` instances which have member variables that are compound
objects, (such as `BaseEnvCfg` and its member `SimulationCfg`) currently
share a reference to a common members (in the example of `BaseEnvCfg`,
its inheriting classes would share a common reference to `self.sim.dt`)

When such classes are inherited, compound objects which have their
member variables changed in the __post_init__ function will be changed
for all subclass instances. I have solved this by changing the non-field
return to be a `deepcopy`

The issue was observed in orbit.eval_sim and was reported this way on
the Institute's JIRA:
> EvalSim will hold the Environment parameters that are set from the
first environment that is loaded in unless it is otherwise explicitly
overridden in the post init or reset EnvCfg member fields by the next
environment.
> 
> Example: 
>
>If EnvironmentCfg A gets loaded first and sets sim.dt = 0.1 followed by
loading EnvironmentCfg B, then Environment B will get the sim.dt set in
Environment A if it does not explicitly set sim.dt in the post_init. Any
fields defined inside BaseEnvCfg that are not redefined inside the Cfg
inheriting BaseEnvCfg will take after the configuration set in the first
environment that gets loaded.

I have added a condition to the test
`test_configclass.test_config_inheritance` which tests this value. Those
wishing to demonstrate that this issue exists can simply change the line
in `configclass.py` back to an assignment and observe the test failing.

## 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`
- [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

---------
Signed-off-by: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

BaseEnv currently is missing unit tests. To address this problem a
initial test class is create using the unittest framework. This test
checks the initialization of an empty BaseEnv for both cpu and cuda
devices. It also checks for proper dimension of action and observation
manager terms.

Finally this adds James Tigue to the contributor list.

- Adds Unit Test

- [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 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