# Description

This MR adds the locomotion velocity task for the Cassie robot.

## Type of change

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

## Checklist

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

# Description

Adds read_file() step to scripts which check_file_path() but don't load
the file

Fixes #299 

## Type of change

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

## Checklist

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

# Description

Fixes raycaster visualizer prim path.

## Type of change

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

## Checklist

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

# Description

This MR changes several sensor tutorial scripts to make correct use of the AppLauncher

## Type of change

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

## Checklist

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

In `AppLauncher`, added self._livestream >= 1 to the list of conditions
which can cause omni.kit.widget.toolbar to be loaded, as this extension
is loaded later based in AppLauncher startup to remove the 'stop'
button, and this will cause a crash if not omni.kit.widget.toolbar is
not already loaded.

This is reproducible by using any 'experience' without toolbar enabled
while having LIVESTREAM=1. An example is the `--headless` execution in
our 'Training with an RL Agent' tutorial:
`./orbit.sh -p source/standalone/workflows/sb3/train.py --task
Isaac-Cartpole-v0 --num_envs 64 --headless`

## Type of change

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

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

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
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-->

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

# Description

Creates nested dropdowns in the sidebar for Tutorials. I also eliminated
the redundant titles and placed the the links above their respective
descriptions on the page clicking Tutorials directly returns. Aesthetic
NITs welcome! 😄

## 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 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 2 repeated quadrupeds and increased scaling factor of random joint
movements so that they are visually apparent

## Type of change

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

## Checklist

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

This MR makes the following changes:

* Re-organizes the docs to have somewhat a better story
* Renames all the scripts to start with "VERB_ACTION.py" -- Previous
namings like articulation.py was causing file-search conflicts

- This change requires a documentation update

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

# Description

Adds a `TZ` envar which corresponds to the timezone of the host
computer. This is in order to preempt an issue caused by behavior in the
babel function
[_get_localzone()](https://github.com/python-babel/babel/blob/a8505a4de1d365d7eac6313908cac6dda2708a05/babel/localtime/_unix.py#L24)
where the existence of an [empty `/etc/localtime` file
](https://github.com/isaac-orbit/orbit/blob/af6447c8fab3d551789272bfb94aad5c88a2ad51/docker/Dockerfile#L62)
causes our in-container docs compilation to choke with the following
error:

```
root@hhansen-1xl4-500gb:/workspace/orbit# orbit -d
[INFO] Building documentation...                                                                                                                        
WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv
WARNING: You are using pip version 21.2.1+nv1; however, version 23.3.1 is available.
You should consider upgrading via the '/isaac-sim/kit/python/bin/python3 -m pip install --upgrade pip' command.
Traceback (most recent call last):
  File "/isaac-sim/kit/python/lib/python3.10/runpy.py", line 196, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "/isaac-sim/kit/python/lib/python3.10/runpy.py", line 86, in _run_code
    exec(code, run_globals)
  File "/isaac-sim/kit/python/lib/python3.10/site-packages/sphinx/__main__.py", line 3, in <module>
    from sphinx.cmd.build import main
  File "/isaac-sim/kit/python/lib/python3.10/site-packages/sphinx/cmd/build.py", line 20, in <module>
    from sphinx.application import Sphinx
  File "/isaac-sim/kit/python/lib/python3.10/site-packages/sphinx/application.py", line 25, in <module>
    from sphinx.config import Config
  File "/isaac-sim/kit/python/lib/python3.10/site-packages/sphinx/config.py", line 14, in <module>
    from sphinx.util.i18n import format_date
  File "/isaac-sim/kit/python/lib/python3.10/site-packages/sphinx/util/i18n.py", line 12, in <module>
    import babel.dates
  File "/isaac-sim/kit/python/lib/python3.10/site-packages/babel/dates.py", line 34, in <module>
    from babel import localtime
  File "/isaac-sim/kit/python/lib/python3.10/site-packages/babel/localtime/__init__.py", line 41, in <module>
    LOCALTZ = get_localzone()
  File "/isaac-sim/kit/python/lib/python3.10/site-packages/babel/localtime/__init__.py", line 37, in get_localzone
    return _get_localzone()
  File "/isaac-sim/kit/python/lib/python3.10/site-packages/babel/localtime/_unix.py", line 96, in _get_localzone
    return _get_tzinfo_from_file(tzpath)
  File "/isaac-sim/kit/python/lib/python3.10/site-packages/babel/localtime/_helpers.py", line 41, in _get_tzinfo_from_file
    return pytz.tzfile.build_tzinfo('local', tzfile)
  File "/isaac-sim/kit/exts/omni.kit.pip_archive/pip_prebundle/pytz/tzfile.py", line 28, in build_tzinfo
    typecnt, charcnt) = unpack(head_fmt, fp.read(head_size))
struct.error: unpack requires a buffer of 44 bytes
There was an error running python
```
The relevant babel function prefers to read timezone information from
the envar `TZ`, and so setting it in a Docker user's session prevents
this issue.

## Type of change

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

## Checklist

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

# Description

This MR adds the locomotion velocity task configuration for Go1 and Go2
robots. These are based completely on the Unitree A1 robot's task.

## 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 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 started with fixing the Unitree A1 environment configuration.
The asset has the name "trunk" instead of "base" so had to be adapted in
the code.

Additionally, all the ANYmal environments were following a different
hierarchy system. This MR makes the inheritance tree more consistent
across all environments.

## Type of change

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

## Screenshots

All the new quadrupeds together:

![leg-suite](https://github.com/isaac-orbit/orbit/assets/12863862/3721e66b-249d-4bee-9ec5-2026c7654bc5)

## Checklist

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

# Description

This MR adapts the environment tutorials. It reorganizes the tutorials
for them and also modify the content to make them more complete.

## Type of change

- This change requires a documentation update

## Checklist

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

# Description

This MR goes over the scene tutorial and makes it consistent with the
articulation tutorial.

## 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
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This MR simplifies the current tutorials on rigid objects and
articulations. It introduces the rigid object first as that is a simpler
example. The articulation builds on top of that tutorial to explain the
joints-related details.

## Type of change

- This change requires a documentation update

## Checklist

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

# Description

Earlier the application was continuing to play when an exception was
raised. This is because we had a "while" loop in the simulation stop
callback. This MR makes sure that the while-loop is only called when it
is truly needed. Otherwise, the program should exit.

## Type of change

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

## Checklist

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

# Description

Adds two options to the `docker/container.sh` file:

- `push`: which will export the latest docker container to a singluarity
image and scp it on some compute cluster
- `job`: which will launch automatically a job on a SLURM compute
cluster

Had to make minimal changes to the `Dockerfile`, the
`docker_compose.yaml`, and `env.py` which at the moment contains the
parameters for these operations. For the job settings can be formulated
in `docker/cluster/job_submit.sh`.

Currently, this setup has been tested on ETH Zurich Euler cluster.

Fixes #146

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

# Description

Adds a tutorial explaining how to use the AppLauncher class and
corresponding script. Also slightly modifies AppLauncher by removing -1
from the list of argument choices for --livestream and --ros, as these
are options used internally and which should never be entered by a user.

Fixes #229 (partially)

## 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 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 tutorial for using Orbit Docker image at 00_sim/docker.rst, also
adds the corresponding script.

Fixes #229 (partially)

## 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 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

Fix dependencies on `orbit_assets` in some tests that use a policy which
is now included in the Isaac Nucleus server.

## Type of change

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

## Checklist

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

# Description

Previously, we did not add the Orbit repo to the RSL-RL git repositories
list. This resulted in the git state of the runs not being logged when
using RSL-RL. This MR allows RSL-RL to log the git state of the orbit
repository.

If the argument `--run_name` is passed with the command line interface,
it overrides the default `run_name` in the agent cfg.

Additionally, the MR adds support for different logging types. These
changes were suggested in #36.

If the argument `--logger` is passed with the command line interface, it
overrides the default `logger` in the agent cfg to be one of
tensorboard, wandb or neptune.

## 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 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>

As we pushed all the assets to the Nucleus, this MR now adapts all the
paths to the assets to make sure they work correctly.

Fixes #166

- 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 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 tutorials to the latest version of Orbit. It
introduced a new structure for them. They cover basic sim elements,
assets, sensors, scenes, and envs.

Fixes #190 , #149 , #148 , #147 , #151, #152, #155, #156, #157

## Type of change

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

## Checklist

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

# Description

This MR tunes the A1 locomotion environment.

Fixes # (issue)

## 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
- [ ] 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 command manager terms so that it is possible to apply
multiple types of commands in the same environment. Before, you could
only use one. Now you can add multiple, for example, to generate a base
velocity command and an end effector pose command simultaneously.

## 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

---------
Signed-off-by: David Hoeller <dhoeller@ethz.ch>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description

For a long time, we have been seeing a slow simulation setup time (i.e.
time spent in `sim.reset` call). It takes around 70-75 seconds to set up
the simulation for ANYmal locomotion task with the new USD asset for it.
This number is only increasing with other more complex robots we have
been trying to import.

The MR dives into the possible causes and gets rid of costly operations.
Many of these are coming from Isaac Sim itself, particularly related to
the initialization of views. Hence, the following breaking changes:

* We no longer depend on Isaac Sim for `RigidPrimView` and
`ArticulationView`. Instead, we directly create underlying PhysX views
for them.
* We add faster reimplementations of functions that are used for regex
matching.

With these changes, the simulation load time is reduced from up to 80
sec to 15 sec. A bulk of the time is still going to setting up the
simulation step for the first time.

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## Screenshots

| Before | After |
| ------ | ----- |
|
![orig-fg](https://github.com/isaac-orbit/orbit/assets/12863862/c13f1634-bd2c-4daf-97e0-3b5776b5cd37)
|
![ref-fg](https://github.com/isaac-orbit/orbit/assets/12863862/b509049d-4cbd-45d6-a4f4-6082f4caf7f2)
|

## 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 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

Sets 'orbit.sh -d' back to using 'extract_python_exe' rather than hardcoded 'python3'

Return the python used in orbit -d to the one derived by 'extract_python_exe' rather than hardcoded python3

This MR specifies the sphinxcontrib-bibtex==2.5.0 to prevent hanging upon
building docs with python3.10. When the version is greater than this, it causes
pip to hang on requirements.txt installation such that building docs is
impossible.

## Type of change

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

## Checklist

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

# Description
Updated IsaacSim version in docker .env file to be the latest available
version (2023.1.0-hotfix.1).

## Type of change

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

## Checklist

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

# Description

The Nucleus directory for materials has changed in 2023.1. They are now
directly inside `NVIDIA/Materials` instead of `NVIDIA/Assets/Materials`.
This MR fixes the referenced directory.

## Type of change

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

## Screenshots

This is how the rough terrain looks like now:

![shingle_ground](https://github.com/isaac-orbit/orbit/assets/12863862/c561f664-22bb-45d1-a713-9d95ec48feda)

## Checklist

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

# Description

This MR fixes `RayCasterCamera` demo where initialization failed in
headless mode. It also remove a print statement within the `Se2GamePad`

## Type of change

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

## Checklist

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

# Description

Adds the Franka lift RL environment. It also checks that the reach
environment is working.

## 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 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

Quick fix for actuator config parsing.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have 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: David Hoeller <dhoeller@ethz.ch>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description

This MR does the following:

* Addresses some of the build issues related to docs and migrates to the latest sphinx
* Also updates the API references

## Type of change

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

## Checklist

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

# Description

This MR does the following:

* Fixes pose computation in the `omni.isaac.orbit.sensors.Camera` class
to obtain them from XFormPrimView instead of using the
`UsdGeomCamera.ComputeLocalToWorldTransform` method. The latter is not
updated correctly during GPU simulation.
* Fixes initialization of the annotator info in the `Camera`.
Previously, all info dicts had the same memory address, which caused all
annotators to have the same info.
* Fixes the conversion of `uint32` warp arrays inside the
`omni.isaac.orbit.utils.array.convert_to_torch` method. PyTorch does not
support this type, so it is converted to `int32` before converting to
PyTorch tensor. This is needed to work with the replicator's output for
semantic segmentation images.
* Adds render call inside `omni.isaac.orbit.sim.SimulationContext.reset`
to initialize Replicator buffers when the simulation is reset.

## Type of change

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

## Checklist

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

# Description

Currently, the joint parameters must always be specified from the
user-defined configurations. Setting them to None makes them go to zero
(for stiffness and damping) and infinity (for limits). This is not great
since many assets may have some values in the USD file that they have
tuned using inspection tools in Omniverse.

This MR changes the behavior of `None` in the actuator configuration to
load default values provided as inputs to the actuator class. It also
loads other joint drive parameters such as friction and armature.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## Checklist

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

# Description

This MR fixes the MuJoCo-style Humanoid and Ant environments to use the new structure. The MR also includes some fixes in the core APIs.

## 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`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my feature works
- [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there

# Description

This MR ensures that the sensor buffers are always updated in
visualization mode. Otherwise, the sensors are not visualizable without
someone accessing the `data` property.

## 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

This MR fixes the behavior of
`omni.isaac.orbit.sim.SimulationCfg.shutdown_app_on_stop` to not close
the app when the flag is False. Earlier, it would throw an error
(invalid physics handles) when the stop button was pressed in the GUI
and the flag was False.

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

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