Tracking issue

[mjlbach]

• [ ] many methods define a wrapper (step() that trivially calls _step()). This type of abstraction can be valuable but adds cognitive overhead, and since all of these wrapper functions don't currently do anything I think we should remove
• [ ] Registerable is a little hard to follow, it would be easier to just use a registration function
• [ ] Too many nested inheritance chains split function definitions across several files
• [ ] Missing config attribute in termination/reward functions (may or may not be necessary, but I personally miss
• [ ] switch to omegaconf
• [ ] missing USD conversion script for iG objects
• [ ] Dummy task has default_x and _create termination condition?
• [ ] Make rendering settings configurable per sensor
• [ ] rendering artifact with pathtracing
• [ ] Fix performance regression with contact sensors
• [ ] Add env.render() for gym compatibility

[ChengshuLi]

• [x] create a material class to wrap around the material prim

[cremebrule]

closing since ~1 year ago, most of this is outdated