# 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