[pull] develop from isaac-sim:develop

docker/cluster/cluster_interface.sh

@@ -48,7 +48,7 @@ check_docker_version() {
 
     # Else, display a warning for non-tested versions
     else
-        display_warning "Docker version ${docker_version} and Apptainer version ${apptainer_version} are non-tested versions. There could be issues, please try to update them. More info: https://isaac-sim.github.io/IsaacLab/source/deployment/cluster.html"
+        display_warning "Docker version ${docker_version} and Apptainer version ${apptainer_version} are non-tested versions. There could be issues, please try to update them. More info: https://isaac-sim.github.io/IsaacLab/source/workflows/docker/cluster.html"
     fi
 }
 

docker/container.py

@@ -116,7 +116,7 @@ def main(args: argparse.Namespace):
     if not shutil.which("docker"):
         raise RuntimeError(
             "Docker is not installed! Please check the 'Docker Guide' for instruction: "
-            "https://isaac-sim.github.io/IsaacLab/source/deployment/docker.html"
+            "https://isaac-sim.github.io/IsaacLab/source/workflows/docker/index.html"
         )
 
     # creating container interface

docs/_extensions/isaaclab_docs.py

@@ -7,13 +7,17 @@
 
 from __future__ import annotations
 
+import json
+import posixpath
+from html import escape
 import re
+from pathlib import Path
 
 from docutils import nodes
 from docutils.parsers.rst import directives
 from docutils.statemachine import StringList
-from sphinx.util.docutils import SphinxDirective
-from sphinx.util.docutils import SphinxRole
+from sphinx.application import Sphinx
+from sphinx.util.docutils import SphinxDirective, SphinxRole
 from sphinx.util.nodes import split_explicit_title
 
 _UPSTREAM_SOURCE_REF_PATTERN = re.compile(r"^(main|develop|release/.*|v[1-9]\d*\.\d+\.\d+(-[A-Za-z0-9.]+)?)$")
@@ -216,14 +220,14 @@ class IsaacLabUvIsaacSimWheelInstall(SphinxDirective):
     has_content = False
 
     def run(self) -> list[nodes.Node]:
-        branch = _source_branch(self.config)
+        branch = self.config.isaaclab_wheel_source_tag
         overrides_url = (
             f"https://raw.githubusercontent.com/isaac-sim/IsaacLab/{branch}/tools/wheel_builder/uv-overrides.txt"
         )
         content = f"""\
 .. code-block:: bash
 
-   uv pip install "isaaclab[isaacsim]" \\
+   uv pip install "isaaclab[isaacsim]=={self.config.isaaclab_wheel_version}" \\
      --overrides "{overrides_url}" \\
      --extra-index-url https://pypi.nvidia.com \\
      --index-strategy unsafe-best-match
@@ -237,15 +241,17 @@ class IsaacLabUvImportersWheelInstall(SphinxDirective):
     has_content = False
 
     def run(self) -> list[nodes.Node]:
-        branch = _source_branch(self.config)
+        branch = self.config.isaaclab_wheel_source_tag
         overrides_url = (
             f"https://raw.githubusercontent.com/isaac-sim/IsaacLab/{branch}/tools/wheel_builder/uv-overrides.txt"
         )
         content = f"""\
 .. code-block:: bash
 
-   uv pip install "isaaclab[importers]" \\
-     --overrides "{overrides_url}"
+   uv pip install "isaaclab[importers]=={self.config.isaaclab_wheel_version}" \\
+     --overrides "{overrides_url}" \\
+     --index https://pypi.nvidia.com \\
+     --index-strategy unsafe-best-match
 """
         return _parse_rst(self, content)
 
@@ -336,9 +342,46 @@ def _quickstart_isaacsim(branch: str, platform: str, isaacsim_version: str, torc
 """
 
 
+def _write_doc_redirects(app: Sphinx, exception: Exception | None) -> None:
+    """Preserve old HTML URLs without retaining duplicate guide sources."""
+    if exception is not None or app.builder.format != "html":
+        return
+    for old, new in app.config.isaaclab_doc_redirects.items():
+        destination = Path(app.builder.get_outfilename(new))
+        if not destination.is_file():
+            raise ValueError(f"Documentation redirect target was not built: {new}")
+        output = Path(app.builder.get_outfilename(old))
+        target = posixpath.relpath(destination.as_posix(), output.parent.as_posix())
+        sections = {}
+        for fragment, route in getattr(app.config, "isaaclab_doc_redirect_fragments", {}).get(old, {}).items():
+            doc, separator, anchor = route.partition("#")
+            page = Path(app.builder.get_outfilename(doc))
+            if not page.is_file():
+                raise ValueError(f"Documentation redirect target was not built: {doc}")
+            sections[f"#{fragment}"] = [
+                posixpath.relpath(page.as_posix(), output.parent.as_posix()), separator + anchor
+            ]
+        output.parent.mkdir(parents=True, exist_ok=True)
+        output.write_text(
+            '<!doctype html><meta charset="utf-8"><title>Page moved</title>'
+            f'<noscript><meta http-equiv="refresh" content="0; url={escape(target, quote=True)}"></noscript>'
+            f'<link rel="canonical" href="{escape(target, quote=True)}">'
+            f'<script>const sections = {json.dumps(sections)};\n'
+            f'const target = sections[location.hash] || [{json.dumps(target)}, location.hash];\n'
+            'location.replace(target[0] + location.search + target[1]);</script>'
+            f'<p>This page moved to <a href="{escape(target, quote=True)}">{escape(new)}</a>.</p>',
+            encoding="utf-8",
+        )
+
+
 def setup(app):
     """Register Isaac Lab documentation directives."""
+    app.add_config_value("isaaclab_doc_redirects", {}, "html")
+    app.add_config_value("isaaclab_doc_redirect_fragments", {}, "html")
+    app.connect("build-finished", _write_doc_redirects)
     app.add_config_value("isaaclab_latest_branch", "develop", "env")
+    app.add_config_value("isaaclab_wheel_version", "", "env")
+    app.add_config_value("isaaclab_wheel_source_tag", "", "env")
     app.add_config_value("isaacsim_version", "", "env")
     app.add_config_value("torch_version", "", "env")
     app.add_config_value("torchvision_version", "", "env")

docs/conf.py

@@ -61,6 +61,8 @@
 
 # Latest release branch referenced by installation documentation.
 isaaclab_latest_branch = os.getenv("ISAACLAB_LATEST_BRANCH", "develop")
+isaaclab_wheel_version = "3.0.0rc1"
+isaaclab_wheel_source_tag = "v3.0.0-EA"
 
 
 def _read_pinned_versions() -> dict:
@@ -93,6 +95,7 @@ def _read_pinned_versions() -> dict:
 
 rst_prolog = f"""
 .. |isaaclab_latest_branch| replace:: {isaaclab_latest_branch}
+.. |isaaclab_wheel_version| replace:: {isaaclab_wheel_version}
 .. |isaacsim_version| replace:: {isaacsim_version}
 .. |torch_version| replace:: {torch_version}
 .. |torchvision_version| replace:: {torchvision_version}
@@ -393,6 +396,43 @@ def _read_pinned_versions() -> dict:
 }
 
 
+# Keep published links working after guide consolidation.
+isaaclab_doc_redirects = {
+    "source/features/docker_cloud": "source/workflows/docker/index",
+    "source/how-to/robots": "source/how-to/write_articulation_cfg",
+    "source/tutorials/00_sim/create_empty": "source/how-to/create_empty",
+    "source/tutorials/00_sim/launch_app": "source/how-to/launch_app",
+    "source/tutorials/00_sim/spawn_prims": "source/how-to/spawn_prims",
+    "source/tutorials/01_assets/add_new_robot": "source/how-to/write_articulation_cfg",
+    "source/tutorials/01_assets/run_articulation": "source/how-to/run_articulation",
+    "source/tutorials/01_assets/run_deformable_object": "source/how-to/run_deformable_object",
+    "source/tutorials/01_assets/run_rigid_object": "source/how-to/run_rigid_object",
+    "source/tutorials/01_assets/run_surface_gripper": "source/how-to/run_surface_gripper",
+    "source/tutorials/02_scene/create_scene": "source/how-to/create_scene",
+    "source/tutorials/03_envs/configuring_rl_training": "source/how-to/configuring_rl_training",
+    "source/tutorials/03_envs/create_direct_rl_env": "source/how-to/create_direct_rl_env",
+    "source/tutorials/03_envs/create_manager_base_env": "source/how-to/create_manager_base_env",
+    "source/tutorials/03_envs/create_manager_rl_env": "source/how-to/create_manager_rl_env",
+    "source/tutorials/03_envs/modify_direct_rl_env": "source/how-to/modify_direct_rl_env",
+    "source/tutorials/03_envs/policy_inference_in_usd": "source/how-to/policy_inference_in_usd",
+    "source/tutorials/03_envs/register_rl_env_gym": "source/how-to/register_rl_env_gym",
+    "source/tutorials/03_envs/run_rl_training": "source/how-to/run_rl_training",
+    "source/tutorials/04_sensors/add_sensors_on_robot": "source/how-to/add_sensors_on_robot",
+    "source/tutorials/05_controllers/run_diff_ik": "source/how-to/run_diff_ik",
+    "source/tutorials/05_controllers/run_osc": "source/how-to/run_osc",
+    "source/tutorials/index": "source/how-to/index",
+}
+
+# Sections of the former combined Docker page now live on separate pages.
+isaaclab_doc_redirect_fragments = {
+    "source/features/docker_cloud": {
+        "clusters": "source/workflows/docker/cluster#deployment-cluster",
+        "deployment-cluster": "source/workflows/docker/cluster#deployment-cluster",
+        "cloud-workstations": "source/workflows/docker/cloud#docker-cloud-cloud",
+        "docker-cloud-cloud": "source/workflows/docker/cloud#docker-cloud-cloud",
+    },
+}
+
 # -- Advanced configuration -------------------------------------------------
 
 

docs/index.rst

@@ -30,7 +30,7 @@ adaptability, and support for running in the cloud.
 Additionally, Isaac Lab provides a variety of environments, and we are actively working on adding more environments
 to the list. These include classic control tasks, fixed-arm and dexterous manipulation tasks, legged locomotion tasks,
 and navigation tasks. Browse the registered tasks and build a command in the
-`environment browser <source/setup/environments>`_.
+:doc:`environment browser <source/setup/environments>`.
 
 Isaac lab is developed with specific robot assets that are now **Batteries-included** as part of the platform and are ready to learn! These robots include...
 
@@ -95,6 +95,7 @@ Table of Contents
    source/setup/tutorial
    source/setup/demos
    source/how-to/index
+   source/workflows/index
    source/migration/migrating_to_isaaclab_3-0
 
 
@@ -127,7 +128,6 @@ Table of Contents
 
    source/features/imitation-learning/index
    source/features/isaac_teleop
-   source/features/docker_cloud
    source/features/hydra
    source/features/multi_gpu
    source/features/population_based_training

docs/source/concepts/motion_generators.rst

@@ -1,6 +1,8 @@
 Motion Generators
 =================
 
+.. currentmodule:: isaaclab.controllers
+
 Robotic tasks are typically defined in task-space in terms of desired
 end-effector trajectory, while control actions are executed in the
 joint-space. This naturally leads to *joint-space* and *task-space*
@@ -159,7 +161,8 @@ It is possible to compute the pseudo-inverse of the Jacobian using different for
 * Tanspose pseudo-inverse: :math:`A^{-} = A^T`.
 * Adaptive singular-vale decomposition (SVD) pseduo-inverse from :cite:t:`buss2004ik`.
 
-These implementations are available through the :class:`DifferentialInverseKinematics` class.
+These implementations are available through the :class:`DifferentialIKController` class.
+See :doc:`../how-to/run_diff_ik` for a runnable example.
 
 Impedance controller
 ~~~~~~~~~~~~~~~~~~~~
@@ -174,7 +177,7 @@ Operational-space controller
 
 Similar to task-space impedance
 control but uses the Equation of Motion (EoM) for computing the
-task-space force
+task-space force. See :doc:`../how-to/run_osc` for a runnable example.
 
 Closed-loop proportional force controller
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -205,21 +208,22 @@ different approaches combine the constraints directly into an
 optimization problem, thereby providing a holistic solution for motion
 generation and control.
 
-We currently support the following planners:
+Examples of reactive planners include:
 
 -  **RMPFlow (lula):** An acceleration-based policy that composes various Reimannian Motion Policies (RMPs) to
    solve a hierarchy of tasks :cite:p:`cheng2021rmpflow`. It is capable of performing dynamic collision
    avoidance while navigating the end-effector to a target.
 
 -  **MPC (OCS2):** A receding horizon control policy based on sequential linear-quadratic (SLQ) programming.
    It formulates various constraints into a single optimization problem via soft-penalties and uses automatic
-   differentiation to compute derivatives of the system dynamics, constraints and costs. Currently, we support
-   the MPC formulation for end-effector trajectory tracking in fixed-arm and mobile manipulators. The formulation
-   considers a kinematic system model with joint limits and self-collision avoidance :cite:p:`mittal2021articulated`.
+   differentiation to compute derivatives of the system dynamics, constraints and costs. The MPC formulation
+   for end-effector trajectory tracking in fixed-arm and mobile manipulators described in
+   :cite:p:`mittal2021articulated` considers a kinematic system model with joint limits and self-collision avoidance.
+   See the `OCS2 documentation <https://leggedrobotics.github.io/ocs2/>`_ for the external toolbox and examples.
 
 
 .. warning::
 
-    We wrap around the python bindings for these reactive planners to perform a batched computing of
-    robot actions. However, their current implementations are CPU-based which may cause certain
-    slowdown for learning.
+    :class:`RmpFlowController` wraps the CPU-based Lula bindings, so its computation can
+    limit throughput in large batches. It also needs the Lula library and robot description
+    files; these dependencies are separate from the selected physics backend.

docs/source/concepts/warp_environments.rst

@@ -69,10 +69,18 @@ MDP term for its warp twin). Select the Newton solver explicitly with
 - ``Isaac-Velocity-Flat-H1``
 - ``Isaac-Velocity-Flat-UnitreeGo2``
 
+The following contributed tasks also have full twin coverage:
+
+- ``IsaacContrib-Velocity-Flat-AnymalB``
+- ``IsaacContrib-Velocity-Flat-AnymalC``
+- ``IsaacContrib-Velocity-Flat-UnitreeA1``
+- ``IsaacContrib-Velocity-Flat-UnitreeGo1``
+
 A missing twin is a hard error listing the affected terms, so a partially
 covered task fails at build time rather than silently changing behavior.
-Rough-terrain velocity tasks remain unsupported until
-:class:`~isaaclab.terrains.TerrainImporter` gains Warp APIs.
+Rough-terrain velocity configurations that use ``height_scan`` cannot currently be
+adapted: that observation term has no Warp twin. Check the terms used by a task rather
+than assuming that every terrain configuration has the same limitation.
 
 
 Quick Start
@@ -101,14 +109,19 @@ Stable-Baselines3.
 
    ``--video`` is rejected on the warp path, for both ``train`` and ``play``: video
    recording requires the standard torch frontend. To record a rollout, replay the same
-   checkpoint with ``--frontend torch``.
+   checkpoint with ``--frontend torch``; see :ref:`how_to_record_video`.
 
 
 Performance Comparison
 ~~~~~~~~~~~~~~~~~~~~~~
 
-Step time comparison between the stable (torch/manager) and warp (CUDA graph captured) variants,
+Historical step time comparison between the stable (torch/manager) and warp (CUDA graph captured) variants,
 both running on the Newton physics backend. Measured over 300 iterations with 4096 environments.
+The table covers the measured tasks, not every currently supported task.
+These figures are retained as the original benchmark record, not a measurement of the latest
+``develop`` revision. For updated results, record the hardware and Isaac Lab, Newton, and Warp
+revisions, and compare both frontends on those same revisions. Improvements in shared base
+libraries can benefit both frontends and must not be attributed solely to the Warp frontend.
 
 .. note::