# Description

This MR simplifies the `DifferentialInverseKinematics` to expect that
the user gives the right frame for the end-effector pose as inputs.
Additionally, it adds the action term corresponding to the controller.

## Type of change

- New feature (non-breaking change which adds functionality)
- 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`
- [ ] 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

# Description

Propogates the try-except-finally paradigm from the unit tests to all
the scripts. This ensures a cleaner exit of the script and allows a
better traceback print.

```python
import traceback

import carb

if __name__ == "__main__":
    try:
        # Run the main function
        main()
    except Exception as err:
        carb.log_error(err)
        carb.log_error(traceback.format_exc())
        raise
    finally:
        # close sim app
        simulation_app.close()
```

## 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

# Description

In Python, memory management is based on reference counts, where an
object isn't "truly" deleted if it has variables referring to the memory
address. More details:
https://www.pythontutorial.net/advanced-python/python-references/

In Orbit code, we provide "self" to various callbacks, which increments
the reference counts since they "refer" to the object. This means that
when we do:
```python
robot = Articulation(cfg=ANYMAL_C_CFG)
```
The reference count is 3: one for the `robot` variable and two for the
callbacks we launched on separate threads.

Now, if we try to delete the object by doing `del robot`, the reference
count becomes 2. These correspond to the callbacks that were launched.
However, the destructor `__del__()` isn't called yet because it is only
done when all the reference counts are 0.

As a fix, this MR uses a proxy weak reference to "self" when passing it
to underlying callbacks or other classes. This does not increment the
reference count for the object; thereby, when the main object is
deleted, all ts proxy references become invalid as well.

## Type of change

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

## Checklist

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

# Description

* This MR fixes the `VisualizationMarkers` class to use the
`SpawnerCfg`. This makes it consistent with how assets are spawned and
allows more variations.
* The markers also support instanceable meshes. This is done by
disabling their instancing (as PointInstancer does not support
pre-instanced assets) and removing any rigid body APIs from the asset.

Fixes #144 

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## Screenshots

https://github.com/isaac-orbit/orbit/assets/12863862/9d1b095b-99ee-4759-ba30-6175cc3b7d78

## 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 updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

Currently, the code has a mix of `cls_name` and `cls` in the
configuration classes. Since `cls` is a reserved key from Python, we
should avoid using this name for attributes. This MR changes all the
occurrences to become `class_type` instead.

Fixes #141 

## 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 updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

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

# Description

Adds `from __future__ import annotations`, cleans up old annotations
(`List` -> `list`, `Tuple` -> `tuple`, etc) to conform with formatter,
and removes duplicated type hints in docstrings.

Fixes #140

## 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 updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

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

# Description

This MR adds the `InteractiveScene` interface, as the central unit that
contains all simulation elements (or as we call "scene entitites") under
the same umbrella. By parsing the configuration object, it helps spawn
different prims and create relevant handles for them to read/write their
data. Based on the above, it modifies how the managers work. The terms
expect to extract the entities from the scene for different computations
(randomizations, rewards, actions, observations, etc.).

The scene and managers together define the `BaseEnv` and `RLEnv` where
the difference between the two is that the latter includes additional
managers that are RL specific (rewards, terminations).

Besides these, the MR includes the following improvements:
* Makes debug visualization of commands consistent by adding them into
callbacks
* Handles the simulation pause/play in the `SimulationContext` itself to
simplify standalone scripts
* Cleanups and documentation fixes to all the MDP terms

## Type of change

- New feature (non-breaking change which adds functionality)
- 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`
- [ ] 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

# Description

This PR checks that all the existing scripts in the codebase work as
expected. The last few merges led to the deletion of some files that
were no longer available to import in the unit tests. Also renamed files
in the test to follow the following convention:

* `test_*.py` : A script that tests a feature using unittest fixture
* `check_*.py`: A script that runs the feature but doesn't necessarily
put them as a unittest fixture.

## Type of change

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

## Checklist

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

# Description

This MR allows coloring a mesh using its vertex colors. Right now it
only demonstrates how to do this based on height but one could use it in
more creative ways. For example, coloring boxes in a different color.

It also updates the `TerrainImporter` to use the visual and physics
material configuration classes.

## Type of change

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

## Screenshots

| Random Color | Color by Height |
| ------ | ----- |
|
![color](https://github.com/isaac-orbit/orbit/assets/12863862/b2c8fa13-aa6f-44ff-a195-509d422a62b6)
|
![tough](https://github.com/isaac-orbit/orbit/assets/12863862/edc14879-8f14-4ebd-9578-a7eaa26eae26)
|

## 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

# Description

This MR adapts all the sensor classes to follow a structure similar to
the `assets` classes. This removes the need to worry about the spawning
and initialization of sensors manually by the users. It removes the
`debug_vis` function since that is now handled by a render callback
automatically (based on the passed configuration for the `debug_vis`
flag).

Additionally, the camera poses can now be set and obtained different
conventions:

* `opengl`: the camera is looking down the -Z axis with the +Y axis
pointing up
* `ros`: the camera is looking down the +Z axis with the +Y axis
pointing down
* `world`: the camera is looking along the +X axis with the -Z axis
pointing down

## Type of change

- New feature (non-breaking change which adds functionality)
- 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`
- [ ] 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

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

# Description

This MR introduces a new set of asset interfaces. These interfaces
simplify the spawning of assets into the scene and initializing the
physics handle by hiding that into post-startup physics callbacks.
Essentially, users no longer need to worry about the `spawn()` and
`initialize()` calls themselves. The only interface they need to work
with are the configuration objects. This makes the code more flexible
and usable.

The assets use the following conventions for function names:
* `set_xxx()`: this implies that values are set into data buffers (but
not into the simulator)
* `write_xxx_to_sim()`: writes data into the simulator
* `update()`: update all data from the simulator

The above isn't an "ideal" function naming since there is no duality of
functions (a write has a read method, or a setter has a getter). But I
think they convey their functionality clearly from the naming. All data
is accessible only through the `data` class for the asset.

As a side note, the MR also renames all "dof" to "joint" to make it
consistent with the terminology in robotics.

## Type of change

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

- New feature (non-breaking change which adds functionality)
- 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`
- [ ] 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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Co-authored-by: jsmith-bdai <142246516+jsmith-bdai@users.noreply.github.com>

# Description

* Added new parameters to the `SimulationContext` for setting other
quantities that can be set using the `PhyxSceneAPI`
* Added compatibility check to support flatcache/fabric naming in Isaac
Sim 2022.2 and 2023.1 versions

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Co-authored-by: jsmith-bdai <142246516+jsmith-bdai@users.noreply.github.com>

# Description

This MR includes various utility functions for spawning different prims
in the stage. There are five types of prims one usually wants to spawn:

* **from files**: load an XForm prim from URDF/USD files
* **shapes**: create prims using USD API for primitive shapes (capsules,
cuboids, cones, etc.)
* **materials**: create visual or physics-based materials
* **lights**: create different types of light sources
*  **sensors**: create prim for sensors using USD API (example: cameras)

The spawning functions spawn a single prim and clone the spawned prim
using a cloner decorator based on the regex resolution of the passed
prim path.

```python
import omni.isaac.orbit.sim as sim_utils

cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_ORBIT_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")

# spawns single prim
cfg.func("/World/Robot", cfg)
# spawns multile prim
cfg.func("/World/envs/env_.*/Robot", cfg)
```

## 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
- [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

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

# Description

This is a follow-up to PR #110. It adds additional methods that allow
defining i.e. creating the schemas at the specified prim path. This is
useful when creating your own meshes or prims procedurally. The methods
also check if there are any conflicting schemas on the prim to which we
want to apply a new schema. This makes sure that schemas are defined on
a prim gracefully.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [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

# Description

Created a new module called `omni.isaac.orbit.sim.loaders`. The goal is
to put all the asset from file loaders into that directory to make it a
single module instead of many different ones with different file
loaders.

## 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`
- [ ] I have made corresponding changes to the documentation
- [ ] 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

# Description

This MR introduces wrappers around different [USD
Physics](https://openusd.org/dev/api/usd_physics_page_front.html) and
[PhysX
solver](https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/index.html)
schemas. The functions allow modifying the properties on an asset prim
using configuration objects.

The schemas supersede the current `omni.isaac.orbit.utils.kit.py` which
did the same job but had duplication in the implementations.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Previously, the configclass was overwriting a user-defined configclass
which isn't desirable. This MR adds a function to allow configclasses to
support
[`__post_init__`](https://docs.python.org/3/library/dataclasses.html#post-init-processing).

## Type of change

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

## Checklist

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

---------
Co-authored-by: Nikita Rudin <nrudin@nvidia.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description

This PR adds support for callable classes to the `term_cfg.func`
attribute. This is needed for complex behaviors where users may want to
define certain persistent behaviors as part of the terms.

The callable class should take in the term configuration object and the
environment instance as inputs to its constructor. Additionally, they
should implement the `__call__` function with the signature expected by
the manager.

For example, in the case of observation terms, this looks like:

```python
class complex_function_class:
    def __init__(self, cfg: ObservationTermCfg, env: object):
        self.cfg = cfg
        self.env = env
        # define some variables
        self.history_length = 2
        self._obs_history = torch.zeros(self.env.num_envs, self.history_length, 2, device=self.env.device)

    def __call__(self, env: object) -> torch.Tensor:
        new_obs = torch.rand(env.num_envs, 2, device=env.device)
        # update history
        self._obs_history[:, 1:] = self._obs_history[:, :1].clone()
        self._obs_history[:, 0] = new_obs
        # return obs
        return new_obs
```

## 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
- [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

# Description

Previously, the visualization markers would get rendered in the camera
images. However, this is often undesirable since the markers are only
used for debug visualizations. This behavior turns these off by default.

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

# Description

This MR adds our own `SimulationContext` class that inherits the one
from Isaac Sim. This is motivated by two reasons:

* We want to make the configuration of the simulation context consistent
with the rest of the APIs.
* We want to override some of the functions from the `SimulationContext`
that suit our needs better.

## Type of change

- New feature (non-breaking change which adds functionality)
- 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 updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

This MR adds some missing documentation to the actuator module. It also
splits the `actuator.py` file into `actuator_base.py` and
`actuator_pd.py` files to make it clear where the base class exists.

## 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`
- [ ] 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

# Description

Earlier the `TerrainGeneratorCfg` and `TerrainImporterCfg` were in the
same file. However, this leads to some issues with circular dependencies
when referring to the `TerrainImporter` as an attribute of the
`TerrainImporterCfg` (i.e. providing the class name as a member of the
config object).

The MR fixes the above circular dependency. Also, it moves all the
terrain parameters to its configuration object to make the terrain
initialization consistent with the other asset constructors.

## 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
- [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

# Description

Previously, while launching the simulation app, there were warnings at
the start of the file that complained that:

```
[Warning] [omni.isaac.kit.simulation_app] Modules: ['omni.isaac.orbit', 'omni.isaac.orbit.app', 'omni.isaac.kit.app_framework'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
```

This is because of a manual check inside the `SimulationApp` class where
they check the `sys.modules` against "accepted" packages that are
hardcoded. The PR fixes this issue by removing the orbit packages from
`sys.modules` before launching the simulation app.

## 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

# Description

Missing comma in the `setup.py` of the extension led to installation
errors when calling `./orbit.sh -i`.

## 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

# Description

This MR merges all the refactorings done to make the legged locomotion
environment training work. It includes the following:
* `ActionManager` class: To handle various action terms and provide
flexibility for HRL.
* Actuator simplification: We no longer have actuator groups. All that
is handled externally to the robot.
* Sensor optimization: Lazy sensor updates (only updated when `data` is
called)
* Update to new RSL-RL library
* TerrainImporter: It does import on initialization instead of expecting
input from users.

This MR breaks the behavior of the following (many of which need to be
fixed):
* `RobotBase` : Now there are two methods `write_commands_to_sim` and
`refresh_sim_data` that dictate sim read/write.
* `ActuatorGroups`: Doesn't exist anymore.
* `SensorBase`: Drop for the support of different backends (was not
supported earlier but now more explicit)

Fixes #37 , #36 

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## Checklist

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

---------
Co-authored-by: David Hoeller <dhoeller@ethz.ch>
Co-authored-by: Nikita Rudin <nrudin@nvidia.com>
Co-authored-by: Farbod Farshidian <ffarshidian@theaiinstitute.com>

# Description

* Changed the behavior of the
`omni.isaac.orbit.terrains.TerrainImporter` class. It now expects the
terrain type to be specified in the configuration object. This allows
the user to specify everything in the configuration object and not have
to do an explicit call to import a terrain.
* Fixed setting of quaternion orientations inside the
`omni.isaac.orbit.markers.Visualizationmarkers` class. Earlier, the
orientation was being set into the point instancer in the wrong order
(`wxyz` instead of `xyzw`).

## 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`
- [ ] 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

# Description

So far we have only been able to run the training script in headless
mode. However, this has posed limitations in our workflows since we
always want to check the policy in between the training iterations and
not just at the end.

This MR creates a simple UI that allows toggling between full rendering
and no rendering.
* In full-rendering, the environment is rendered at every `env.step()`
call, i.e. it happens at the environment frequency (not the physics dt
or rendering dt).
* In no-rendering, the environment rendering is disabled. However, we
still throttle the UI at every five environment steps to still allow UI
interactions (otherwise keyboard and mouse interactions get blocked).

Additionally, the MR fixes the behavior of UI interactions when hitting
the pause/stop buttons:
* When paused: the environment blocks itself and waits for play to
happen.
* When stopped: the environment closes itself and shutdowns the
simulation app, instead of just throwing an error.

However, there is no free cost here. Running with the GUI still causes
some slowdowns. For training `Isaac-Ant-v0` with RL-Games, the following
numbers are obtained:
* headless: ~170,000 FPS (sim), ~98,000 FPS (total)
* UI with no-rendering: ~150,000 FPS (sim), 88,000 FPS (total)
* UI with full-rendering: ~40,000 FPS (sim), 25,000 FPS (total)

## Type of change

- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## Screenshots

https://github.com/isaac-orbit/orbit/assets/12863862/2bc61fdc-c392-43ed-bbd5-12c743ca3150

## 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

# Description

This MR fixes the issue with multiple inheritances in the
`omni.isaac.orbit.utils.configclass` decorator. Earlier, if the
inheritance tree was more than one level deep and the lowest-level
configuration class was not updating its values from the middle-level
classes.

This was happening because in the middle-level classes, the default
values were being updated to dataclass fields and were not visible
anymore in the dictionary of the class itself. The configclass now
checks for their values in the `__dataclass_fields__` of the class as
well.

This was a regression in behavior but has been fixed now with a unit
test to capture deeper inheritance in configclass.

## Type of change

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

## Checklist

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

# Description

This MR adds checks to the `dataclass` wrapper called `configclass` to extend its support for types.  This supports type hinting annotations such as `type`, `Type[Myclass]`, and `ClassVar[type]`.

It also adds a method called `replace` to the configclass that calls the [`dataclasses.replace`](https://docs.python.org/3/library/dataclasses.html#dataclasses.replace) function. This has been added for the convenience of users.

## 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 updated the changelog and the corresponding version in the extension's `config/extension.toml` file

# Description

This PR adds the following managers similar to how we currently handle
observation and reward terms.

* **Termination Manager**: Iterates over all the configured terms and
computes the done signals as an OR operator over each term's output.
Additionally, `time_outs` are handled separately as they are optional
(i.e. only used in fixed-length episodic learning).
* **Randomization Manager**: Handles various randomization (such as
resetting the state of the environments, and modifying various physics
attributes).
* **Curriculum Manager**: Iterates over all the configured terms and
sets the curriculum setting into the environment accordingly.

## Type of change

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

## Checklist

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

---------
Co-authored-by: David Hoeller <dhoeller@ethz.ch>
Co-authored-by: Nikita Rudin <nrudin@nvidia.com>

Modifies `ObservationManager` and `RewardManager` to take functions in each term's configuration (#61)

# Description

This PR modifies the `ObservationManager` and `RewardManager` to change
their default behavior. Earlier they expected that users inherit from
the class and define member functions inside it to compute the terms.
The function name was resolved from the term name itself. However, this
prevented the reuse of common terms and the rewriting of a lot of code
across environments.

The changes made in this PR add another argument `func` to the term
dictionary which now expects a function directly. This way users can use
the same function multiple times for different terms. Example:

```python
def get_contact_force(env, bodies):
   ....
   
class ObservationManagerCfg:

   term_1 = {"func": get_contact_force, "bodies": "base"}
   term_2 = {"func": get_contact_force, "bodies": ".*_FOOT"}
```

The older class implementations have been moved to
`omni.isaac.orbit.compat.utils.mdp` for compatibility.

Additionally, we include `ManagerBase` and `ManagerBaseTermCfg` as a
base class to ensure a better signature on how configuration terms are
handled.

## 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
- [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

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

# Description

This PR introduces the concept of command generators that can be used
for goal-conditioned environments. The idea is that these classes can be
used for task specification and the same environment can be configured
for different task logics (position-based locomotion vs velocity based
control).

Currently, the included command generators are specific to locomotion
(SE(2) control). They have their own visualization schemes (arrows,
boxes etc.) that can be useful for debugging.

## Type of change

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

## Checklist

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

# Description

* Fixes the `omni.isaac.orbit.utils.math.quat_apply_yaw` to compute the
yaw quaternion correctly.
* Adds functions to convert string and callable objects in the
`omni.isaac.orbit.utils.string` module. The function can deal with both
module functions and lambda expressions.

## 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 updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

Previously, type annotation was always required to make the terms follow
the order in which they are defined in the configclass. If this was not
done, then the terms were getting sorted alphabetically which made it
different from the expected behavior (user-defined order).

On further inspection, turned out that in our wrappers for configclass,
we were using `dir(cls)` to parse the class members, which sorts all the
members of the class alphabetically. Changing it to `cls.__dict__` fixed
this issue since in Python 3.7 onwards, dictionaries follow the
user-defined ordering.

Since this behavior changes the way config terms are parsed, the old
configclass still exists inside the
`omni.isaac.orbit.compat.utils.configclass` module so that people can
still run policies trained with the old ordering.

## 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

# Description

The `launch.json` file is very user-specific. Previously this was always
getting pushed along with other commits which led to merge conflicts
when merging branches from different users.

Now, the `launch.json` is generated from a template if it doesn't
already exist in the `.vscode` directory. The users can modify the
`.vscode/launch.json` as they please afterward, but their changes won't
get pushed to git itself.

Fixes #46

## 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 updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

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

As a step towards supporting sensors as "Views", this PR upgrades the
`SensorBase` class to follow a similar definition as `RobotBase` and
updates the sensor implementations as well. Now, the following sensors
are supported:

* `Camera`: This spawns a USD camera object and instantiates it with
replicator OmniGraph for different synthetic data
* `RayCaster`: This is a virtual sensor that uses a warp kernel for
raycasting against static meshes.
* `ContactSensor`: This wraps around the `RigidContactView` from PhysX
to provide the contact forces on encapsulated prims.

Note: Currently camera rendering is not truly parallelized. They are
called sequentially inside the `Camera` to fetch their data.
Additionally, some camera data such as bounding boxes are not possible
to get in the torch backend. Due to this, they are not supported in the
new `Camera` class.

Old the old sensor implementations have been moved to the
`omni.isaac.orbit.compat.sensors` module for backwards compatibility. We
will remove them once we have moved to v1.0.

Fixes #3

<!-- As a practice, it is recommended to open an issue to have
discussions on the proposed pull request.
This makes it easier for the community to keep track of what is being
developed or added, and if a given feature
is demanded by more than one party. -->

## Type of change

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

- New feature (non-breaking change which adds functionality)
- 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 updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

<!--
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putting an x character in it

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# Description

Adds a directory `docker` in the root of the repo, containing a
`Dockerfile`, `dockerfile-compose.yaml`, `.env`, and utility script
`container.sh` that wraps docker-compose CLI commands. The instructions
in the documentation specify the installation steps and how to get the
Isaac Sim docker image for completeness.

To run a container, the user needs to create NGC credentials via the
NVIDIA Developers program. After that they can run the script to launch
the container:

```bash
./docker/container.sh start
./docker/container.sh enter
```

Also added an argument `-o` or `--docker` to the `orbit.sh` that calls
the above script. The above then becomes:

```bash
./orbit.sh -o start 
./orbit.sh -o enter
```

Fixes #23 

## 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

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