diff --git a/docs/source/deployment/cluster.rst b/docs/source/deployment/cluster.rst index d564a5a1ce..a5a83c0891 100644 --- a/docs/source/deployment/cluster.rst +++ b/docs/source/deployment/cluster.rst @@ -174,6 +174,6 @@ The above will, in addition, also render videos of the training progress and sto .. _Singularity: https://docs.sylabs.io/guides/2.6/user-guide/index.html .. _ETH Zurich Euler: https://scicomp.ethz.ch/wiki/Euler .. _apptainer: https://apptainer.org/ -.. _documentation: www.apptainer.org/docs/admin/main/installation.html#install-ubuntu-packages -.. _SLURM documentation: www.slurm.schedmd.com/sbatch.html +.. _documentation: https://www.apptainer.org/docs/admin/main/installation.html#install-ubuntu-packages +.. _SLURM documentation: https://www.slurm.schedmd.com/sbatch.html .. _forum post: https://forums.docker.com/t/trouble-after-upgrade-to-docker-ce-25-0-1-on-debian-12/139613 diff --git a/docs/source/how-to/import_new_asset.rst b/docs/source/how-to/import_new_asset.rst index 65d1f711d7..e6dbc2d2cf 100644 --- a/docs/source/how-to/import_new_asset.rst +++ b/docs/source/how-to/import_new_asset.rst @@ -169,7 +169,7 @@ of gravity. .. _instanceable: https://openusd.org/dev/api/_usd__page__scenegraph_instancing.html -.. _documentation: https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_gym_tutorials/tutorial_gym_instanceable_assets.html +.. _documentation: https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_lab_tutorials/tutorial_instanceable_assets.html .. _MJCF importer: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_mjcf.html .. _URDF importer: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_urdf.html .. _anymal.urdf: https://github.com/isaac-orbit/anymal_d_simple_description/blob/master/urdf/anymal.urdf diff --git a/docs/source/how-to/master_omniverse.rst b/docs/source/how-to/master_omniverse.rst index 113b123248..80385f1b89 100644 --- a/docs/source/how-to/master_omniverse.rst +++ b/docs/source/how-to/master_omniverse.rst @@ -54,7 +54,7 @@ Using Omniverse USD Composer Materials and MDL - `Five Things to Know About Materials in NVIDIA Omniverse `__ -- `How to apply materials? `__ +- `How to apply materials? `__ Omniverse Physics and PhysX SDK @@ -120,5 +120,5 @@ Part 3: More Resources - `Omniverse Glossary of Terms `__ - `Omniverse Code Samples `__ - `PhysX Collider Compatibility `__ -- `PhysX Limitations `__ +- `PhysX Limitations `__ - `PhysX Documentation `__. diff --git a/docs/source/migration/migrating_from_isaacgymenvs.rst b/docs/source/migration/migrating_from_isaacgymenvs.rst index e30f26a471..432e9361d3 100644 --- a/docs/source/migration/migrating_from_isaacgymenvs.rst +++ b/docs/source/migration/migrating_from_isaacgymenvs.rst @@ -231,7 +231,7 @@ The terrain can then be added to the scene in ``_setup_scene(self)`` by referenc Actors ------ -Isaac Lab and Isaac Sim both use the `USD (Universal Scene Description) `_ library for describing the scene. Assets defined in MJCF and URDF formats can be imported to USD using importer tools described in the `Importing a New Asset <../../how-to/import_new_asset.rst>`_ tutorial. +Isaac Lab and Isaac Sim both use the `USD (Universal Scene Description) `_ library for describing the scene. Assets defined in MJCF and URDF formats can be imported to USD using importer tools described in the `Importing a New Asset <../how-to/import_new_asset.html>`_ tutorial. Each Articulation and Rigid Body actor can also have its own config class. The :class:`~omni.isaac.lab.assets.ArticulationCfg` can be used to define parameters for articulation actors, including file path, simulation parameters, actuator properties, and initial states. diff --git a/docs/source/migration/migrating_from_orbit.rst b/docs/source/migration/migrating_from_orbit.rst index 883391681c..f066784d49 100644 --- a/docs/source/migration/migrating_from_orbit.rst +++ b/docs/source/migration/migrating_from_orbit.rst @@ -93,7 +93,7 @@ have been renamed to ``--enable_cameras`` and ``ENABLE_CAMERAS`` respectively. Event term distribution configuration ------------------------------------- -Some of the event functions in `events.py `_ +Some of the event functions in `events.py `_ accepted a ``distribution`` parameter and a ``range`` to sample from. In an effort to support arbitrary distributions, we have renamed the input argument ``AAA_range`` to ``AAA_distribution_params`` for these functions. Therefore, event term configurations whose functions have a ``distribution`` argument should be updated. For example, diff --git a/docs/source/refs/license.rst b/docs/source/refs/license.rst index 7c9b908f64..4619970952 100644 --- a/docs/source/refs/license.rst +++ b/docs/source/refs/license.rst @@ -7,7 +7,7 @@ NVIDIA Isaac Sim is available freely under `individual license `_. For more information about its license terms, please check `here `_. The license files for all its dependencies and included assets are available in its -`documentation `_. +`documentation `_. The Isaac Lab framework is open-sourced under the diff --git a/docs/source/setup/developer.rst b/docs/source/setup/developer.rst index 3a8d2e6c4f..3263c6b79f 100644 --- a/docs/source/setup/developer.rst +++ b/docs/source/setup/developer.rst @@ -11,6 +11,7 @@ using VSCode. Setting up Visual Studio Code ----------------------------- +The following is only applicable for Isaac Sim installed via the Omniverse Launcher. The ``Isaac Lab`` repository includes the VSCode settings to easily allow setting up your development environment. These are included in the ``.vscode`` directory and include the following files: @@ -50,7 +51,7 @@ For more information on VSCode support for Omniverse, please refer to the following links: * `Isaac Sim VSCode support `__ -* `Debugging with VSCode `__ +* `Debugging with VSCode `__ Configuring the python interpreter diff --git a/docs/source/setup/faq.rst b/docs/source/setup/faq.rst index b68b5ffb9c..f088854cf9 100644 --- a/docs/source/setup/faq.rst +++ b/docs/source/setup/faq.rst @@ -82,6 +82,6 @@ to Isaac Lab, please reach out to us. .. _Isaac Gym: https://developer.nvidia.com/isaac-gym .. _IsaacGymEnvs: https://github.com/isaac-sim/IsaacGymEnvs .. _OmniIsaacGymEnvs: https://github.com/isaac-sim/OmniIsaacGymEnvs -.. _Orbit: https://isaac-orbit.github.io/orbit +.. _Orbit: https://isaac-orbit.github.io/ .. _Isaac Automator: https://github.com/isaac-sim/IsaacAutomator .. _migration guides: ../migration/index.html diff --git a/docs/source/setup/sample.rst b/docs/source/setup/sample.rst index 48db4b5d7e..68494c1b3b 100644 --- a/docs/source/setup/sample.rst +++ b/docs/source/setup/sample.rst @@ -122,7 +122,7 @@ Imitation Learning Using the teleoperation devices, it is also possible to collect data for learning from demonstrations (LfD). For this, we support the learning -framework `Robomimic `__ and allow saving +framework `Robomimic `__ (Linux only) and allow saving data in `HDF5 `__ format. diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py index ec23ed9ed5..1414144cac 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py @@ -35,7 +35,7 @@ class Se2Gamepad(DeviceBase): .. seealso:: - The official documentation for the gamepad interface: `Carb Gamepad Interface `__. + The official documentation for the gamepad interface: `Carb Gamepad Interface `__. """ @@ -111,7 +111,7 @@ def add_callback(self, key: carb.input.GamepadInput, func: Callable): """Add additional functions to bind gamepad. A list of available gamepad keys are present in the - `carb documentation `__. + `carb documentation `__. Args: key: The gamepad button to check against. @@ -136,7 +136,7 @@ def _on_gamepad_event(self, event: carb.input.GamepadEvent, *args, **kwargs): """Subscriber callback to when kit is updated. Reference: - https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html?highlight=gamepadeventtype#carb.input.GamepadInput + https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html """ # check if the event is a button press diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py index a299709d73..c74070447d 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py @@ -43,7 +43,7 @@ class Se3Gamepad(DeviceBase): .. seealso:: - The official documentation for the gamepad interface: `Carb Gamepad Interface `__. + The official documentation for the gamepad interface: `Carb Gamepad Interface `__. """ @@ -118,7 +118,7 @@ def add_callback(self, key: carb.input.GamepadInput, func: Callable): """Add additional functions to bind gamepad. A list of available gamepad keys are present in the - `carb documentation `__. + `carb documentation `__. Args: key: The gamepad button to check against. @@ -150,7 +150,7 @@ def _on_gamepad_event(self, event, *args, **kwargs): """Subscriber callback to when kit is updated. Reference: - https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html?highlight=gamepadeventtype#carb.input.Gamepad + https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html """ # check if the event is a button press cur_val = event.value diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py index 287a6f1725..79add43667 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py @@ -35,7 +35,7 @@ class Se2Keyboard(DeviceBase): .. seealso:: - The official documentation for the keyboard interface: `Carb Keyboard Interface `__. + The official documentation for the keyboard interface: `Carb Keyboard Interface `__. """ @@ -98,7 +98,7 @@ def add_callback(self, key: str, func: Callable): """Add additional functions to bind keyboard. A list of available keys are present in the - `carb documentation `__. + `carb documentation `__. Args: key: The keyboard button to check against. @@ -123,7 +123,7 @@ def _on_keyboard_event(self, event, *args, **kwargs): """Subscriber callback to when kit is updated. Reference: - https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html?highlight=keyboardeventtype#carb.input.KeyboardInput + https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html """ # apply the command when pressed if event.type == carb.input.KeyboardEventType.KEY_PRESS: diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py index 6985676914..77428d9981 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py @@ -43,7 +43,7 @@ class Se3Keyboard(DeviceBase): .. seealso:: - The official documentation for the keyboard interface: `Carb Keyboard Interface `__. + The official documentation for the keyboard interface: `Carb Keyboard Interface `__. """ @@ -108,7 +108,7 @@ def add_callback(self, key: str, func: Callable): """Add additional functions to bind keyboard. A list of available keys are present in the - `carb documentation `__. + `carb documentation `__. Args: key: The keyboard button to check against. @@ -136,7 +136,7 @@ def _on_keyboard_event(self, event, *args, **kwargs): """Subscriber callback to when kit is updated. Reference: - https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html?highlight=keyboardeventtype#carb.input.KeyboardInput + https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html """ # apply the command when pressed if event.type == carb.input.KeyboardEventType.KEY_PRESS: diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py index 499aa19c69..16f847145d 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py @@ -243,7 +243,7 @@ def has_rtx_sensors(self) -> bool: For more information, please check `NVIDIA RTX documentation`_. - .. _NVIDIA RTX documentation: https://www.nvidia.com/design-visualization/solutions/rendering/ + .. _NVIDIA RTX documentation: https://developer.nvidia.com/rendering-technologies """ return self._settings.get_as_bool("/isaaclab/render/rtx_sensors") diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/__init__.py index ec2f039ffa..c84baa2b59 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/__init__.py @@ -7,7 +7,7 @@ There are various different kinds of lights that can be spawned into the USD stage. Please check the Omniverse documentation for `lighting overview -`_. +`_. """ from .lights import spawn_light diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py index c3722ba6f2..ddb10acb50 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py @@ -499,9 +499,6 @@ def quat_box_minus(q1: torch.Tensor, q2: torch.Tensor) -> torch.Tensor: Returns: The difference between the two quaternions. Shape is (N, 3). - - Reference: - https://docs.leggedrobotics.com/kindr/cheatsheet_latest.pdf """ quat_diff = quat_mul(q1, quat_conjugate(q2)) # q1 * q2^-1 re = quat_diff[:, 0] # real part, q = [w, x, y, z] = [re, im]