# Description

Adds the class `AppLauncher` which takes configuration arguments to the
Isaac Sim `SimulationApp` and several environment variables. It launches
the SimulationApp and corresponding extensions in a controlled manner
allowing users to decide between different remote deployments, ROS
bridges, and viewport rendering.

AppLauncher can then be queried for logic on other SimulationApp
operations e.g. whether or not `SimulationContext.step()` should render
or not based on the resolved flags `AppLauncher.VIEWPORT` and
`AppLauncher.RENDER`.

Fixes #32 

## 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: Farbod Farshidian <ffarshidian@theaiinstitute.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description

Adds a helper class that converts a urdf description into an
instanceable usd file with separate meshes.

If a `usd_dir` is provided, the conversion is lazy: It only performs
conversion if the provided `UrdfLoaderCfg` or the main URDF file is
modified. The current implementation does not automatically trigger USD
generation if only mesh files are changed.

Fixes #35 

## 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

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

# Description

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Since many of us are working, it makes sense to have a spell checker to ensure we have the right words everywhere. The PR adds [codespell](https://github.com/codespell-project/codespell) to the pre-commit file that allows checking for typos/spellings in the repository.

The tool is available under a GPL-2.0 license and is fetched using its PyPi release. The repo's BSD-3 is compatible with  GNU-GPL family of licenses.  We do not modify any of the codespell's source code. The license file is included in the repository for the sake of completion.

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This makes it easier for the community to keep track of what is being developed or added, and if a given feature
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## Type of change

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

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

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## 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

<!--
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- [x] I have done this task
- [ ] I have not done this task
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Setuptools 67.0 onwards does not support malformed strings. As mentioned in their release notes, users must conform to PEP specifications strictly (i.e. will result in build errors if not complied). 

The MR fixes the `setuptools` package version to be <=66, so that the users can still continue using the gym==0.21.0. Though long-term we should switch to using Gymnasium. Additionally, it removes the malformed strings in Orbit packages to follow the new `setuptools`.

* adds info on orbit in isaac ecosystem
* simplifies developer guide
* updates roadmap
* adds isaacsim version note
* fixes the bibtex entry

* updates envs to pass all keyword args to isaac-env
* adds rendering modes to IsaacEnv
* fixes loading of extensions for viewport rendering
* adds unit test for recording videos of all envs
* adds physx spellings to vscode settings.json
* adds video logging to all workflow scripts
* updates changelog and version
* adds function to print callables in dict
* adds documentation on env wrappers

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

* adds initialize to rmpflow controller
* adds demo script to play rmpflow
* fixes bugs in dealing with multiple command types
* adds right end-effector frame for franka lula
* adds demo script for rmpflow
* updates config and changelog

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

* Enlarges the hard-coded success range from 0.002 to 0.02
* Updates observations in BC configs from `object_positions` to `object_relative_tool_positions`

* Adds `se3_gamepad` and `se2_gamepad`
* Update changelog and version
* Adds unsubscribing when destroying

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

add dataclass decorator to SingleArmCfg.DataInfoCfg class

* updates documentation for creating a new env
* updates gitignore for orbit_assets

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

* fixes sb3 configs for missing agent seed
* fixes encoding issue when loading yaml configs
* adds launch.json task for running environment

* dealing with negative w component in quat
* fix bug on subtract_fram_transform by applying the rotation
* update version and changelog

* fixes the feet air time in `LeggedRobot` class
* fixes set joint efforts on reset in `RobotBase` class
* fix gripper mimic duplication in `GripperActuatorGroup` class
* updates version and changelog

* adds creating conda envronment using orbit.sh (-c)
* fixes running of formatter in orbit.sh (-f)
* adds docs building to orbit.sh (-d)
* updates docs with orbit.sh help, vscode instructions and state machine sample

* adds physics material for tool sites in single arm
* adds collision props settings to robot base
* makes zero correspond to open command
* adds collision props to franka, anymal and a1
* cleans up the setting of prim cfg in object classes
* tunes lift env to work with rsl-rl
* enable self collisions in franka
* adds units for physics-related params
* tunes ppo for lift to work
* updates changelog
* adds warp-based state machine for lift environment

* fixes the indices used for arm quantities in mobile manipulator class
* updates changelog

* adds utility to generate vscode settings with extra python paths
* adds flag to create vscode settings in orbit.sh
* updates docs with vscode flag
* updates comment in gitignore

* adds kit utility to apply physics material on prims in a nested manner
* makes physics material cfg consistent across the assets classes
* adds function to sample from cylinder in the math utilities
* adds demo script to spawn ycb objects
* updates changelog