## Description

This MR improves the documentation:

- fix typo: "For completion" with "For completeness" 
- fix typo: reset 
- fix typo: blocks 
- fix typo: remove "is"

Fixes #302, #303, #304

## 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 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 logic for grid cloning in Isaac Sim GridCloner (func:
`get_clone_transforms()`) and in TerrainImporter.py (func:
`_compute_env_origins_grid()`) are different. Consequently, they give
inconsistent values.

This PR fixes the TerrainImporter by updating the logic of
`_compute_env_origins_grid()` to make it consistent with IsaacSim.

Fixes #287

- 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
- [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: Shafeef Omar <shafeef901@gmail.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

in `NonHolonomicAction.apply_actions()` the velocity command was
incorrectly named `self.joint_vel` instead of `self._joint_vel_command`
as initialized in `NonHolonomicAction.__init__()`. This causes an error
when trying to instantiate the action config. I have corrected
and tested that it works.

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

# Description

<!--
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to check the contribution guidelines.

Link: https://isaac-orbit.github.io/orbit/source/refs/contributing.html
-->

Currently, InteractiveScene declares several of its entities
(articulation, sensor, and rigid bodies) as class variables. This causes
the variables to be shared across **all** instances of the class, which
is not desired behavior if there is ever a case when `InteractiveScene`
is used more than once.

This fix changes the following: 

1. All class variables in `InteractiveScene` defined above the
constructor is now moved inside the constructor as instance variables.
2. Adds `@property` getters to access the entities. 
3. Rolls back the fix introduced in #380, which changes the `__del__`
magic method to clear out the class variables that persisted, but ended
up breaking #464.

Fixes #465 

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## 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

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# Description

This is a simple fix of unused parameter in
omni/isaac/orbit./sensors/camera/utils.py

The parameter `keep_invalid` was not used and, by default, only returns
valid points, which causes an issue when trying to do an RGB-D image to
point cloud cconversion. This leads to an array size mismatch if depth
has inf or nan.

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

# Description

With Isaac Sim 2023.1.1, the main asset file stores all the meshes as
well (even for instanceable case) when using the URDF improter. However,
the referenced paths to materials are absolute which does not allow
moving the asset around freely. This MR adds a fix to make sure all
paths are relative in the converted USD file.

## 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

This adds a ROS2 Humble installation to the Dockerfile. It also adds
several relevant environment variables.

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

# Description

This PR fixes the imitation learning workflow in that
`collect_demonstrations`, `train` and `play` scripts all don't throw
exceptions. I haven't validated that the training actually generates a
successful policy, only that the loss decreased within the first few
iterations.

A follow up task might be to make sure that the chosen observation terms
can still result in a good policy, but that's outside of the scope of
updating this workflow to API changes in Orbit and Robomimic.

Fixes #387 

## Type of change

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

## Screenshot

## 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

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

# Description

Renames the `RandomizationManager` to `EventManager` for clarity as the
manager takes care of all kind of events that go beyond pure
randomization (such as resets).

Fixes #413

## Type of change

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

## Checklist

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

Many users in a single organization mistakenly push large files to the
repository. However, they should be using Git LFS for such purposes.
This MR adds a pre-commit check to complain if a file is more than 2 MB.

It also upgrades pre-commit for all. This is needed due to some
[security reasons with black
formatter](https://github.com/psf/black/releases/tag/24.3.0).

## 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`
- [ ] 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

I noticed this test was failing when running in a container, because it
was not set to run in `headless` mode.

## 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

This MR adds configuration for allegro and shadow hands. The shadow hand
asset is a bit tricky because it has fixed tendons and the joints need
the drive properties.

## Type of change

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

## Screenshots

The following script moves the hand from their lower to upper joint
limits (simulate a power grasp and release motion):

```bash
./orbit.sh -p source/standalone/demos/hands.py
```


https://github.com/isaac-orbit/orbit/assets/12863862/e0e5df7b-e049-407f-9f40-c24958a1faa3

## 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 an issue with the `Articulation` class. The indexing of
body names inside the articulation view is not the same as in the body
view. This affects any quantity of bodies (such as Jacobians) you try to
get directly from the articulation view.

The MR changes the `Articulation` class to follow the internal PhysX
articulation-view ordering of the link names. It deals internally with
re-ordering the articulation-link indices to body-view indices where
needed.

With this change, users no longer need to work with `body_physx_view` as
it will lead to unexpected behaviors. The MR removes this property from
the `RigidObject` and `Articulation` class.

Fixes #453

## 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

This MR removes `compat` submodule since we don't use/need it anymore.

## 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
- [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
We want to expand our test coverage, so this PR aims to increase
coverage of rigid object.

This PR ensures the following test cases are covered by unit tests for
rigid_object.py:
* external forces are applied correctly
* friction/mass/collider offsets randomization works correctly
* setting states work correctly
* reset works correctly

All test cases pass 👍 

Note: I wasn't able to find `collider offsets` in the code base but
happy to add a test for this too if someone can point me in the right
direction.

Fixes #363 

## 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

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---------
Signed-off-by: jsmith-bdai <142246516+jsmith-bdai@users.noreply.github.com>
Signed-off-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: AutonomousHansen <50837800+AutonomousHansen@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

The camera sensor no longer worked for semantic types with Isaac Sim
2023.1 update. This was because of various Replicator pipeline changes
that directly affected the camera.

This MR fixed the Camera sensor for the new Replicator APIs. It has a
few breaking changes listed in the changelog.

Additionally, the sensor tutorial `run_usd_camera.py` had a couple of
issues. It still used the old method of directly creating RigidPrims,
NVIDIA debug API for drawing markers, and had some bugs. This MR also
updates it to use Orbit's APIs closely and adds an option to specify
which camera to use for `--save` and `--draw`.

Fixes https://github.com/NVIDIA-Omniverse/orbit/issues/225

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [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: AutonomousHansen <50837800+AutonomousHansen@users.noreply.github.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description

With commit d682c8dd, the code stopped working. Somehow, the tests did not
catch the issue, but it shows up when you run the workflows. Anyway, this
MR makes the fix necessary to deal with slices.

Fixes https://github.com/NVIDIA-Omniverse/orbit/issues/277 ,
https://github.com/NVIDIA-Omniverse/orbit/issues/276

## 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

With Isaac Sim 2023.1, it seems we no longer need to have try-catch
blocks in the scripts. This allows us to simplify all the scripts and
test runners. Along with that, it enables VSCode debugger support which
is crucial for many developers.

## 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
- [ ] 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

Somehow, when running the app headless, the script does not exit
properly when you press `Ctrl+C`. This MR adds a signal interrupt
handler to close the app gracefully when keyboard events happen.

## 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

This MR adds the following:

1. Observations: Adds observations for root state (pos, quat, linear
vel, and angular vel) in the environment frame. Important for assets
such as objects during manipulation.

2. Randomizations: Adds random orientation randomization for assets
(such as objects) and joint position randomization for articulations.

3. Rewards: Adds a termination reward function for specific termination
terms. Needed if terminations are to be weighted individually, for eg,
if successful termination reward should have a different weighting
factor than illegal state termination reward.

Tested for functionality.

## 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

This MR adds the cabinet environment from IsaacGymEnvs. The training is
checked for RSL-RL and RL-Games

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [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: zrene <rene.zurbruegg@gmail.com>

# Description

Added option to get specific term by name from the action manager.

## 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

* Added functionality to sample flat patches on a generated terrain.
Added separate normal and terrain-based position commands. Terrain-based
commands rely on the terrain to sample flat patches.
* Added a terrain-based root reset function to reset the robot to a
random flat patch.

The MR includes the following fixes:

* Fixed command resample termination function.

## Type of change

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

## Screenshots

![poses](https://github.com/isaac-orbit/orbit/assets/12863862/678d3cde-63da-4c57-8aae-4c84440f55e3)

## 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

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

# Description

This PR introduces a context manager wrapper to `SimulationContext` that
can be reused by any future simulation scripts that require a similar
set up and tear down functionality. This enables using the `with`
keyword like:
```
for i in range(10):
    with build_sim_context(sim_cfg) as sim:
        # Do something with sim context
        # State will be cleaned up at the end of this with block
```

Fixes #130 

## 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

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

# Description

As reported in [this
issue](https://github.com/NVIDIA-Omniverse/orbit/issues/252), we have a
mismatch between the behavior described in the documentation and the
actual behavior of `orbit.utils.math.axis_angle_from_quat`. We currently
only accept tensors of the form (N,4), but this PR allows us to accept
(...,4) as described. A corresponding change has been made to
`orbit.utils.math.quat_error_magnitude` as it is a reasonable extension
requested in the original issue.

I have also added tests for these functions.

## Type of change

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

## Checklist

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

Adds checks that the default joint states are within the limits, and
raises an Error for out-of-limit situations.

## 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
- [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

Replaces the default values for `joint_ids` and `body_ids` from `None`
to `slice(None)` in the `SceneEntityCfg` and adapted rewards and
observations so that the user can query a sub-set of joints and 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
- [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

With recent upgrade to Python 3.10, the linter was forcing changing of
types to use the new syntax that uses "|" operator.

This means that the line in `base_env.py` was getting converted to this
type as well:

```python
# old
VecEnvObs = Dict[str, torch.Tensor | Dict[str, torch.Tensor]]

# new
VecEnvObs = dict[str, torch.Tensor | dict[str, torch.Tensor]]
```

Unfortunately, Pytorch does not support this type of alias yet. This
leads to errors when building the documentation. The MR reverts to the
old setting and disables `pyupgrade` linter check for that file
(currently not possible to disable the linter for a line itself).

Fixes #432

## 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

# Description

Fully deprecates Isaac 2022.2 and Python3.7. Removes all
checks/accommodations for 2022.2, defaults to 2023.1 behavior. Also
changes `.env` to default to `ISAACSIM_VERSION` 2023.1.1.

Fixes #393 

## 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`
- [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

<!--
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---------
Signed-off-by: AutonomousHansen <50837800+AutonomousHansen@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>

Added relative joint position actions and moving average joint actions.
These are useful for "smoothened" out action spaces for environments
such as in-hand manipulation.

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

- [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

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

# Description

This MR adds a new button to the UI which allows you to record the
transforms of the prims into an animation file. This file can then be
opened in the simulator and played back easily.

## Type of change

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

## Screenshot

Video Tutorial:


https://github.com/isaac-orbit/orbit/assets/12863862/55ddc2b0-5217-4e21-8276-911fce36da6b

## 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
- [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

In line 106 of the `check_instanceable.py` script, there is a typo
error.

The line goes as:

```python
prim_utils.create_prim("/World/envs/env_0/Asset", "Xform", usd_path=os.path.abspath(args_cli.usd_path))
```

but should be:

```python
prim_utils.create_prim("/World/envs/env_0/Asset", "Xform", usd_path=os.path.abspath(args_cli.input))
```

Fixes #242 

## 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

Note: These 5 symbols that I changed do not require putting my name on
the contributors list.

Updates the workflow integration for `skrl>=1.1.0`.

- 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
- [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 the functionality to set up the view camera with respect to
different frames: world center, Environment Center, and an assets root
frame. In the last case, if the asset moves, the camera will track it.
This is a useful feature for recording videos during the training
logging.

## Type of change

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

## Screenshots

Base Env:

https://github.com/isaac-orbit/orbit/assets/142246516/9b4f1580-2bd8-4d6c-b405-843b66a2d0b0

RL Env:

https://github.com/isaac-orbit/orbit/assets/3355155/4f51d6fa-3dfb-4d58-a83b-2845a5a80fe2


## 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

---------
Signed-off-by: Farbod Farshidian <ffarshidian@theaiinstitute.com>
Co-authored-by: James Smith <jsmith@theaiinstitute.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description

Adds string checking to the functions which accept path-types, casting
them to a `str` if they are not already. Closing #421 in favor of this
fix, see discussion for initial rationale. This solution is superior
because this addresses all of the changes, not just the one causing a
test to fail.

Fixes #420 

## 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
- [ ] 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

---------
Signed-off-by: AutonomousHansen <50837800+AutonomousHansen@users.noreply.github.com>