diff --git a/.github/workflows/license-exceptions.json b/.github/workflows/license-exceptions.json index 27b3b9c6552..8be7741529a 100644 --- a/.github/workflows/license-exceptions.json +++ b/.github/workflows/license-exceptions.json @@ -240,6 +240,11 @@ "package": "certifi", "license": "Mozilla Public License 2.0 (MPL 2.0)" }, + { + "package": "nvidia-sphinx-theme", + "license": null, + "comment": "BSD" + }, { "package": "rl_games", "license": "UNKNOWN", diff --git a/docs/Makefile b/docs/Makefile index 0bff236671c..2d0d08b5ad1 100644 --- a/docs/Makefile +++ b/docs/Makefile @@ -10,8 +10,13 @@ BUILDDIR = _build .PHONY: multi-docs multi-docs: + @echo "Generating version switcher..." + @python3 generate_switcher.py + @echo "Building multi-version documentation..." @sphinx-multiversion "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) + @echo "Copying redirect page..." @cp _redirect/index.html $(BUILDDIR)/index.html + @echo "Documentation built successfully!" .PHONY: current-docs current-docs: diff --git a/docs/README.md b/docs/README.md index 69a77a48d90..5768561bd72 100644 --- a/docs/README.md +++ b/docs/README.md @@ -1,6 +1,6 @@ # Building Documentation -We use [Sphinx](https://www.sphinx-doc.org/en/master/) with the [Book Theme](https://sphinx-book-theme.readthedocs.io/en/stable/) for maintaining and generating our documentation. +We use [Sphinx](https://www.sphinx-doc.org/en/master/) with NVIDIA's modified version of the [PyData Sphinx Theme](https://pydata-sphinx-theme.readthedocs.io/en/stable/) for maintaining and generating our documentation. > **Note:** To avoid dependency conflicts, we strongly recommend using a Python virtual environment to isolate the required dependencies from your system's global Python environment. @@ -22,6 +22,7 @@ make current-docs # 3. Open the current docs xdg-open _build/current/index.html ``` +
Windows @@ -37,8 +38,8 @@ make current-docs :: 3. Open the current docs start _build\current\index.html ``` -
+ ## Multi-Version Documentation @@ -72,4 +73,5 @@ make multi-docs :: 3. Open the multi-version docs start _build\index.html ``` + diff --git a/docs/_templates/versioning.html b/docs/_templates/versioning.html deleted file mode 100644 index eb67be60e1c..00000000000 --- a/docs/_templates/versioning.html +++ /dev/null @@ -1,21 +0,0 @@ -{% if versions %} - -{% endif %} diff --git a/docs/conf.py b/docs/conf.py index 248e14c3f89..b986146cf5f 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -17,9 +17,12 @@ # import os import sys +from datetime import datetime sys.path.insert(0, os.path.abspath("../source/isaaclab")) sys.path.insert(0, os.path.abspath("../source/isaaclab/isaaclab")) +sys.path.insert(0, os.path.abspath("../source/isaaclab_contrib")) +sys.path.insert(0, os.path.abspath("../source/isaaclab_contrib/isaaclab_contrib")) sys.path.insert(0, os.path.abspath("../source/isaaclab_assets")) sys.path.insert(0, os.path.abspath("../source/isaaclab_assets/isaaclab_assets")) sys.path.insert(0, os.path.abspath("../source/isaaclab_tasks")) @@ -28,13 +31,11 @@ sys.path.insert(0, os.path.abspath("../source/isaaclab_rl/isaaclab_rl")) sys.path.insert(0, os.path.abspath("../source/isaaclab_mimic")) sys.path.insert(0, os.path.abspath("../source/isaaclab_mimic/isaaclab_mimic")) -sys.path.insert(0, os.path.abspath("../source/isaaclab_contrib")) -sys.path.insert(0, os.path.abspath("../source/isaaclab_contrib/isaaclab_contrib")) # -- Project information ----------------------------------------------------- project = "Isaac Lab" -copyright = "2022-2025, The Isaac Lab Project Developers." +copyright = f"2022-{datetime.now().year}, The Isaac Lab Project Developers." author = "The Isaac Lab Project Developers." # Read version from the package @@ -227,11 +228,8 @@ # -- Options for HTML output ------------------------------------------------- -import sphinx_book_theme - -html_title = "Isaac Lab Documentation" -html_theme_path = [sphinx_book_theme.get_html_theme_path()] -html_theme = "sphinx_book_theme" +html_title = "Isaac Lab" +html_theme = "nvidia_sphinx_theme" html_favicon = "source/_static/favicon.ico" html_show_copyright = True html_show_sphinx = False @@ -243,56 +241,59 @@ html_static_path = ["source/_static/css"] html_css_files = ["custom.css"] +html_context = { + "github_user": "isaac-sim", + "github_repo": "IsaacLab", + "github_version": "main", + "doc_path": "docs", +} html_theme_options = { - "path_to_docs": "docs/", + "pygments_light_style": "tango", + "pygments_dark_style": "monokai", "collapse_navigation": True, - "repository_url": "https://github.com/isaac-sim/IsaacLab", - "use_repository_button": True, - "use_issues_button": True, + "copyright_override": {"start": 2022}, + "github_url": "https://github.com/isaac-sim/IsaacLab", + "secondary_sidebar_items": ["page-toc", "edit-this-page"], "use_edit_page_button": True, - "show_toc_level": 1, - "use_sidenotes": True, - "logo": { - "text": "Isaac Lab Documentation", - "image_light": "source/_static/NVIDIA-logo-white.png", - "image_dark": "source/_static/NVIDIA-logo-black.png", + "navigation_depth": 2, + "switcher": { + "json_url": "https://isaac-sim.github.io/IsaacLab/main/_static/switcher.json", + "version_match": os.environ.get("SMV_CURRENT_VERSION", "main"), }, + "check_switcher": False, # Disable switcher check during local builds "icon_links": [ { - "name": "GitHub", - "url": "https://github.com/isaac-sim/IsaacLab", - "icon": "fa-brands fa-square-github", + "name": "Docker", + "url": "https://catalog.ngc.nvidia.com/orgs/nvidia/containers/isaac-lab", + "icon": "fa-brands fa-docker", "type": "fontawesome", }, { - "name": "Isaac Sim", - "url": "https://developer.nvidia.com/isaac-sim", - "icon": "https://img.shields.io/badge/IsaacSim-5.1.0-silver.svg", - "type": "url", - }, - { - "name": "Stars", - "url": "https://img.shields.io/github/stars/isaac-sim/IsaacLab?color=fedcba", - "icon": "https://img.shields.io/github/stars/isaac-sim/IsaacLab?color=fedcba", - "type": "url", + "name": "PyPI", + "url": "https://pypi.org/project/isaaclab", + "icon": "fa-brands fa-python", + "type": "fontawesome", }, ], - "icon_links_label": "Quick Links", + "footer_links": {}, } templates_path = [ "_templates", ] -# Whitelist pattern for remotes +# -- Sphinx-multiversion configuration -------------------------------------- + +# Whitelist pattern for remotes (branches/tags from which remote to include) smv_remote_whitelist = r"^.*$" # Whitelist pattern for branches (set to None to ignore all branches) -smv_branch_whitelist = os.getenv("SMV_BRANCH_WHITELIST", r"^(main|devel|release/.*)$") +smv_branch_whitelist = os.getenv("SMV_BRANCH_WHITELIST", r"^(main)$") # Whitelist pattern for tags (set to None to ignore all tags) smv_tag_whitelist = os.getenv("SMV_TAG_WHITELIST", r"^v[1-9]\d*\.\d+\.\d+$") -html_sidebars = { - "**": ["navbar-logo.html", "versioning.html", "icon-links.html", "search-field.html", "sbt-sidebar-nav.html"] -} +# Output directory format for each version +smv_outputdir_format = "{ref.name}" +# Prefer remote refs over local refs +smv_prefer_remote_refs = False # -- Advanced configuration ------------------------------------------------- diff --git a/docs/generate_switcher.py b/docs/generate_switcher.py new file mode 100755 index 00000000000..647e3b9a76c --- /dev/null +++ b/docs/generate_switcher.py @@ -0,0 +1,130 @@ +#!/usr/bin/env python3 +# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Generate switcher.json for version dropdown from git tags and branches.""" + +import json +import os +import re +import subprocess +from pathlib import Path + + +def get_git_tags_and_branches(): + """Get all tags and branches matching the sphinx-multiversion patterns.""" + # Get tag whitelist pattern from environment or use default + tag_pattern = os.getenv("SMV_TAG_WHITELIST", r"^v[1-9]\d*\.\d+\.\d+$") + branch_pattern = os.getenv("SMV_BRANCH_WHITELIST", r"^(main)$") + + versions = [] + + # Get all tags + try: + result = subprocess.run(["git", "tag", "-l"], capture_output=True, text=True, check=True) + tags = result.stdout.strip().split("\n") + tags = [t for t in tags if t and re.match(tag_pattern, t)] + + # Sort tags by version (newest first) + def version_key(tag): + # Extract version numbers from tag like v1.2.3 + match = re.match(r"^v?(\d+)\.(\d+)\.(\d+)", tag) + if match: + return tuple(int(x) for x in match.groups()) + return (0, 0, 0) + + tags.sort(key=version_key, reverse=True) + + # remove tags older than version 2.0.2 + tags = [t for t in tags if version_key(t) >= (2, 0, 2)] + + for tag in tags: + version_num = tag.lstrip("v") + versions.append({ + "version": version_num, + "name": f"v{version_num}", + "url": f"https://isaac-sim.github.io/IsaacLab/{tag}/", + }) + + except subprocess.CalledProcessError: + print("Warning: Could not get git tags") + + # Mark the latest tag as stable/preferred + if versions: + versions[0]["name"] = f"{versions[0]['name']} (stable)" + versions[0]["preferred"] = True + + # Get all branches + try: + result = subprocess.run(["git", "branch", "-r"], capture_output=True, text=True, check=True) + branches = result.stdout.strip().split("\n") + # Clean up branch names (remove origin/ prefix and whitespace) + branches = [b.strip().replace("origin/", "") for b in branches if b.strip()] + # Filter by pattern and exclude HEAD + branches = [b for b in branches if b and re.match(branch_pattern, b) and "HEAD" not in b] + + for branch in branches: + if branch == "main": + versions.insert( + 0, + { + "version": "main", + "name": "main (latest)", + "url": "https://isaac-sim.github.io/IsaacLab/main/", + }, + ) + elif branch == "devel": + versions.insert( + 1 if "main" in [v["version"] for v in versions] else 0, + { + "version": "dev", + "name": "devel (development)", + "url": "https://isaac-sim.github.io/IsaacLab/devel/", + }, + ) + else: + versions.append({ + "version": branch, + "name": branch, + "url": f"https://isaac-sim.github.io/IsaacLab/{branch}/", + }) + + except subprocess.CalledProcessError: + print("Warning: Could not get git branches") + + return versions + + +def main(): + """Generate switcher.json file.""" + # Get the docs directory + docs_dir = Path(__file__).parent + static_dir = docs_dir / "source" / "_static" + static_dir.mkdir(parents=True, exist_ok=True) + + # Generate version list + versions = get_git_tags_and_branches() + + if not versions: + print("Warning: No versions found!") + versions = [{ + "version": "main", + "name": "main (latest)", + "url": "https://isaac-sim.github.io/IsaacLab/main/", + "preferred": True, + }] + + # Write switcher.json + switcher_file = static_dir / "switcher.json" + with open(switcher_file, "w") as f: + json.dump(versions, f, indent=4) + + print(f"Generated {switcher_file} with {len(versions)} versions:") + for v in versions: + print(f" - {v['name']} ({v['version']})") + + +if __name__ == "__main__": + main() diff --git a/docs/licenses/dependencies/nvidia-sphinx-theme-license.txt b/docs/licenses/dependencies/nvidia-sphinx-theme-license.txt new file mode 100644 index 00000000000..809db98d338 --- /dev/null +++ b/docs/licenses/dependencies/nvidia-sphinx-theme-license.txt @@ -0,0 +1,84 @@ +NVIDIA LICENSE AGREEMENT + +This NVIDIA License Agreement (“AGREEMENT”) is a legal agreement between you and NVIDIA Corporation ("NVIDIA") and governs your use of the NVIDIA font, icons and other assets, and software, in each case if and when available (“Licensed Materials”). + +This AGREEMENT can be accepted only by an adult of legal age of majority in the country in which the Licensed Materials is used. 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Please direct your legal notices or other correspondence to NVIDIA Corporation, 2788 San Tomas Expressway, Santa Clara, California 95051, United States of America, Attention: Legal Department, with an emailed copy to legalnotices@nvidia.com. + +15. ENTIRE AGREEMENT. Regarding the subject matter of this Agreement, the parties agree that this Agreement constitutes the entire and exclusive agreement between the parties regarding the Licensed Materials and supersedes all prior and contemporaneous communications. If any provision of this Agreement is deemed invalid by a court of competent jurisdiction, the invalidity of such provision will not affect the validity of the remaining provisions of this Agreement, which will remain in full force and effect. + +(v. July 1, 2024) + +--- + +BSD 3-Clause License + +Copyright (c) 2018, pandas +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +* Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/docs/requirements.txt b/docs/requirements.txt index 13b2bfe9d69..2dc057ac721 100644 --- a/docs/requirements.txt +++ b/docs/requirements.txt @@ -1,5 +1,5 @@ # for building the docs -sphinx-book-theme==1.0.1 +nvidia_sphinx_theme myst-parser sphinxcontrib-bibtex==2.5.0 autodocsumm diff --git a/docs/source/_static/css/custom.css b/docs/source/_static/css/custom.css index 7f4f1601c6c..b3cbbe76662 100644 --- a/docs/source/_static/css/custom.css +++ b/docs/source/_static/css/custom.css @@ -3,86 +3,6 @@ * For colors: https://clrs.cc/ */ -/* anything related to the light theme */ -html[data-theme="light"] { - --pst-color-primary: #76B900; - --pst-color-secondary: #5b8e03; - --pst-color-secondary-highlight: #5b8e03; - --pst-color-inline-code-links: #76B900; - --pst-color-info: var(--pst-color-primary); - --pst-color-info-highlight: var(--pst-color-primary); - --pst-color-info-bg: #daedb9; - --pst-color-attention: #ffc107; - --pst-color-text-base: #323232; - --pst-color-text-muted: #646464; - --pst-color-shadow: #d8d8d8; - --pst-color-border: #c9c9c9; - --pst-color-inline-code: #76B900; - --pst-color-target: #fbe54e; - --pst-color-background: #fff; - --pst-color-on-background: #fff; - --pst-color-surface: #f5f5f5; - --pst-color-on-surface: #e1e1e1; - --pst-color-link: var(--pst-color-primary); - --pst-color-link-hover: #789841; - --pst-color-table-row-hover-bg: #daedb9; - --pst-color-accent: var(--pst-color-primary); -} - -/* anything related to the dark theme */ -html[data-theme="dark"] { - --pst-color-primary: #76B900; - --pst-color-secondary: #c2f26f; - --pst-color-secondary-highlight: #c2f26f; - --pst-color-inline-code-links: #b6e664; - --pst-color-info: var(--pst-color-primary); - --pst-color-info-highlight: var(--pst-color-primary); - --pst-color-info-bg: #3a550b; - --pst-color-attention: #dca90f; - --pst-color-text-base: #cecece; - --pst-color-text-muted: #a6a6a6; - --pst-color-shadow: #212121; - --pst-color-border: silver; - --pst-color-inline-code: #76B900; - --pst-color-target: #472700; - --pst-color-background: #121212; - --pst-color-on-background: #1e1e1e; - --pst-color-surface: #212121; - --pst-color-on-surface: #373737; - --pst-color-link: var(--pst-color-primary); - --pst-color-link-hover: #aee354; - --pst-color-table-row-hover-bg: #3a550b; - --pst-color-accent: var(--pst-color-primary); -} - -a { - text-decoration: none !important; -} - -/* for the announcement link */ -.bd-header-announcement a, -.bd-header-version-warning a { - color: #7FDBFF; -} - -/* for the search box in the navbar */ -.form-control { - border-radius: 0 !important; - border: none !important; - outline: none !important; -} - -/* reduce padding for logo */ -.navbar-brand { - padding-top: 0.0rem !important; - padding-bottom: 0.0rem !important; -} - -.navbar-icon-links { - padding-top: 0.0rem !important; - padding-bottom: 0.0rem !important; -} - /* showcase task tables */ .showcase-table { diff --git a/docs/source/_static/switcher.json b/docs/source/_static/switcher.json new file mode 100644 index 00000000000..064caca2350 --- /dev/null +++ b/docs/source/_static/switcher.json @@ -0,0 +1,43 @@ +[ + { + "version": "main", + "name": "main (latest)", + "url": "https://isaac-sim.github.io/IsaacLab/main/" + }, + { + "version": "2.3.1", + "name": "v2.3.1 (stable)", + "url": "https://isaac-sim.github.io/IsaacLab/v2.3.1/", + "preferred": true + }, + { + "version": "2.3.0", + "name": "v2.3.0", + "url": "https://isaac-sim.github.io/IsaacLab/v2.3.0/" + }, + { + "version": "2.2.1", + "name": "v2.2.1", + "url": "https://isaac-sim.github.io/IsaacLab/v2.2.1/" + }, + { + "version": "2.2.0", + "name": "v2.2.0", + "url": "https://isaac-sim.github.io/IsaacLab/v2.2.0/" + }, + { + "version": "2.1.1", + "name": "v2.1.1", + "url": "https://isaac-sim.github.io/IsaacLab/v2.1.1/" + }, + { + "version": "2.1.0", + "name": "v2.1.0", + "url": "https://isaac-sim.github.io/IsaacLab/v2.1.0/" + }, + { + "version": "2.0.2", + "name": "v2.0.2", + "url": "https://isaac-sim.github.io/IsaacLab/v2.0.2/" + } +] diff --git a/docs/source/api/lab/isaaclab.devices.rst b/docs/source/api/lab/isaaclab.devices.rst index 5f04c4733cf..2e3df24cd83 100644 --- a/docs/source/api/lab/isaaclab.devices.rst +++ b/docs/source/api/lab/isaaclab.devices.rst @@ -18,16 +18,16 @@ HaplyDevice OpenXRDevice ManusVive - isaaclab.devices.openxr.retargeters.GripperRetargeter - isaaclab.devices.openxr.retargeters.Se3AbsRetargeter - isaaclab.devices.openxr.retargeters.Se3RelRetargeter - isaaclab.devices.openxr.retargeters.GR1T2Retargeter + openxr.retargeters.GripperRetargeter + openxr.retargeters.Se3AbsRetargeter + openxr.retargeters.Se3RelRetargeter + openxr.retargeters.GR1T2Retargeter .. rubric:: Modules .. autosummary:: - isaaclab.devices.openxr.retargeters + ~openxr.retargeters Device Base ----------- @@ -116,25 +116,27 @@ Manus + Vive Retargeters ----------- -.. autoclass:: isaaclab.devices.openxr.retargeters.GripperRetargeter +.. currentmodule:: isaaclab.devices.openxr.retargeters + +.. autoclass:: GripperRetargeter :members: :inherited-members: :show-inheritance: :noindex: -.. autoclass:: isaaclab.devices.openxr.retargeters.Se3AbsRetargeter +.. autoclass:: Se3AbsRetargeter :members: :inherited-members: :show-inheritance: :noindex: -.. autoclass:: isaaclab.devices.openxr.retargeters.Se3RelRetargeter +.. autoclass:: Se3RelRetargeter :members: :inherited-members: :show-inheritance: :noindex: -.. autoclass:: isaaclab.devices.openxr.retargeters.GR1T2Retargeter +.. autoclass:: GR1T2Retargeter :members: :inherited-members: :show-inheritance: diff --git a/docs/source/api/lab_mimic/isaaclab_mimic.envs.rst b/docs/source/api/lab_mimic/isaaclab_mimic.envs.rst index ea8dc82d161..9b04d4c0066 100644 --- a/docs/source/api/lab_mimic/isaaclab_mimic.envs.rst +++ b/docs/source/api/lab_mimic/isaaclab_mimic.envs.rst @@ -7,20 +7,20 @@ .. autosummary:: - isaaclab_mimic.envs.franka_stack_ik_rel_mimic_env.FrankaCubeStackIKRelMimicEnv - isaaclab_mimic.envs.franka_stack_ik_rel_mimic_env_cfg.FrankaCubeStackIKRelMimicEnvCfg - isaaclab_mimic.envs.franka_stack_ik_abs_mimic_env.FrankaCubeStackIKAbsMimicEnv - isaaclab_mimic.envs.franka_stack_ik_abs_mimic_env_cfg.FrankaCubeStackIKAbsMimicEnvCfg - isaaclab_mimic.envs.galbot_stack_rmp_rel_mimic_env.RmpFlowGalbotCubeStackRelMimicEnv - isaaclab_mimic.envs.galbot_stack_rmp_rel_mimic_env_cfg.RmpFlowGalbotLeftArmGripperCubeStackRelMimicEnvCfg - isaaclab_mimic.envs.galbot_stack_rmp_rel_mimic_env_cfg.RmpFlowGalbotRightArmSuctionCubeStackRelMimicEnvCfg - isaaclab_mimic.envs.galbot_stack_rmp_abs_mimic_env.RmpFlowGalbotCubeStackAbsMimicEnv - isaaclab_mimic.envs.galbot_stack_rmp_abs_mimic_env_cfg.RmpFlowGalbotLeftArmGripperCubeStackAbsMimicEnvCfg - isaaclab_mimic.envs.galbot_stack_rmp_abs_mimic_env_cfg.RmpFlowGalbotRightArmSuctionCubeStackAbsMimicEnvCfg - isaaclab_mimic.envs.pick_place_mimic_env.PickPlaceRelMimicEnv - isaaclab_mimic.envs.pick_place_mimic_env.PickPlaceAbsMimicEnv - isaaclab_mimic.envs.agibot_place_upright_mug_mimic_env_cfg.RmpFlowAgibotPlaceUprightMugMimicEnvCfg - isaaclab_mimic.envs.agibot_place_toy2box_mimic_env_cfg.RmpFlowAgibotPlaceToy2BoxMimicEnvCfg + franka_stack_ik_rel_mimic_env.FrankaCubeStackIKRelMimicEnv + franka_stack_ik_rel_mimic_env_cfg.FrankaCubeStackIKRelMimicEnvCfg + franka_stack_ik_abs_mimic_env.FrankaCubeStackIKAbsMimicEnv + franka_stack_ik_abs_mimic_env_cfg.FrankaCubeStackIKAbsMimicEnvCfg + galbot_stack_rmp_rel_mimic_env.RmpFlowGalbotCubeStackRelMimicEnv + galbot_stack_rmp_rel_mimic_env_cfg.RmpFlowGalbotLeftArmGripperCubeStackRelMimicEnvCfg + galbot_stack_rmp_rel_mimic_env_cfg.RmpFlowGalbotRightArmSuctionCubeStackRelMimicEnvCfg + galbot_stack_rmp_abs_mimic_env.RmpFlowGalbotCubeStackAbsMimicEnv + galbot_stack_rmp_abs_mimic_env_cfg.RmpFlowGalbotLeftArmGripperCubeStackAbsMimicEnvCfg + galbot_stack_rmp_abs_mimic_env_cfg.RmpFlowGalbotRightArmSuctionCubeStackAbsMimicEnvCfg + pick_place_mimic_env.PickPlaceRelMimicEnv + pick_place_mimic_env.PickPlaceAbsMimicEnv + agibot_place_upright_mug_mimic_env_cfg.RmpFlowAgibotPlaceUprightMugMimicEnvCfg + agibot_place_toy2box_mimic_env_cfg.RmpFlowAgibotPlaceToy2BoxMimicEnvCfg Franka Environments ------------------- diff --git a/docs/source/refs/contributing.rst b/docs/source/refs/contributing.rst index 3b0f534b71e..e1ebc762968 100644 --- a/docs/source/refs/contributing.rst +++ b/docs/source/refs/contributing.rst @@ -65,7 +65,7 @@ for the documentation are located in the ``IsaacLab/docs`` directory. The docume `reStructuredText `__ format. We use `Sphinx `__ with the -`Book Theme `__ +NVIDIA's modified version of the `PyData Sphinx Theme `__ for maintaining the documentation. Sending a pull request for the documentation is the same as sending a pull request for the codebase. diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py b/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py index bf8748bdf3a..565f53a6b67 100644 --- a/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py +++ b/source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py @@ -6,7 +6,7 @@ from dataclasses import MISSING from isaaclab.controllers import DifferentialIKControllerCfg, OperationalSpaceControllerCfg -from isaaclab.managers.action_manager import ActionTerm, ActionTermCfg +from isaaclab.managers import ActionTerm, ActionTermCfg from isaaclab.utils import configclass from . import ( diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/pink_actions_cfg.py b/source/isaaclab/isaaclab/envs/mdp/actions/pink_actions_cfg.py index a82433be84c..d1b608a7919 100644 --- a/source/isaaclab/isaaclab/envs/mdp/actions/pink_actions_cfg.py +++ b/source/isaaclab/isaaclab/envs/mdp/actions/pink_actions_cfg.py @@ -3,14 +3,20 @@ # # SPDX-License-Identifier: BSD-3-Clause +from __future__ import annotations + from dataclasses import MISSING +from typing import TYPE_CHECKING from isaaclab.controllers.pink_ik import PinkIKControllerCfg -from isaaclab.managers.action_manager import ActionTerm, ActionTermCfg +from isaaclab.managers.action_manager import ActionTermCfg from isaaclab.utils import configclass from . import pink_task_space_actions +if TYPE_CHECKING: + from isaaclab.managers import ActionTerm + @configclass class PinkInverseKinematicsActionCfg(ActionTermCfg): diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_actions_cfg.py b/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_actions_cfg.py index dfd7a72dcb7..1a09202c2e8 100644 --- a/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_actions_cfg.py +++ b/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_actions_cfg.py @@ -3,15 +3,20 @@ # # SPDX-License-Identifier: BSD-3-Clause +from __future__ import annotations from dataclasses import MISSING +from typing import TYPE_CHECKING from isaaclab.controllers.rmp_flow import RmpFlowControllerCfg -from isaaclab.managers.action_manager import ActionTerm, ActionTermCfg +from isaaclab.managers.action_manager import ActionTermCfg from isaaclab.utils import configclass from . import rmpflow_task_space_actions +if TYPE_CHECKING: + from isaaclab.managers import ActionTerm + @configclass class RMPFlowActionCfg(ActionTermCfg): diff --git a/source/isaaclab_contrib/isaaclab_contrib/mdp/actions/thrust_actions_cfg.py b/source/isaaclab_contrib/isaaclab_contrib/mdp/actions/thrust_actions_cfg.py index a3b7c704fc8..54e1663c237 100644 --- a/source/isaaclab_contrib/isaaclab_contrib/mdp/actions/thrust_actions_cfg.py +++ b/source/isaaclab_contrib/isaaclab_contrib/mdp/actions/thrust_actions_cfg.py @@ -3,13 +3,19 @@ # # SPDX-License-Identifier: BSD-3-Clause +from __future__ import annotations + from dataclasses import MISSING +from typing import TYPE_CHECKING -from isaaclab.managers.action_manager import ActionTerm, ActionTermCfg +from isaaclab.managers import ActionTermCfg from isaaclab.utils import configclass from . import thrust_actions +if TYPE_CHECKING: + from isaaclab.managers import ActionTerm + ## # Drone actions. ## diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/action_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/action_cfg.py index b195334ba68..b67e49c2140 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/action_cfg.py +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/configs/action_cfg.py @@ -3,13 +3,19 @@ # # SPDX-License-Identifier: BSD-3-Clause +from __future__ import annotations + from dataclasses import MISSING +from typing import TYPE_CHECKING -from isaaclab.managers.action_manager import ActionTerm, ActionTermCfg +from isaaclab.managers.action_manager import ActionTermCfg from isaaclab.utils import configclass from ..mdp.actions import AgileBasedLowerBodyAction +if TYPE_CHECKING: + from isaaclab.managers import ActionTerm + @configclass class AgileBasedLowerBodyActionCfg(ActionTermCfg):