Merge develop into docs/consolidate-migration-guide

Author: StafaH

apps/isaaclab.python.headless.kit

@@ -198,8 +198,6 @@ enabled=true # Enable this for DLSS
 ########################
 [dependencies]
 "isaacsim.core.version" = {}
-# USD schema plugins must load before the schema registry is first accessed.
-"omni.usd.schema.mujoco" = {}
 
 # Asset path
 # set the S3 directory manually to the latest published S3

apps/isaaclab.python.kit

@@ -16,8 +16,6 @@ keywords = ["experience", "app", "usd"]
 "isaacsim.gui.components" = {}
 "isaacsim.simulation_app" = {}
 "isaacsim.storage.native" = {}
-# USD schema plugins must load before the schema registry is first accessed.
-"omni.usd.schema.mujoco" = {}
 
 # Kit based editor extensions
 "omni.anim.curve.core" = {}

docs/_extensions/isaaclab_docs.py

@@ -189,13 +189,20 @@ def _quickstart_kitless(branch: str, platform: str) -> str:
 
 
 class IsaacLabIsaacSimInstall(SphinxDirective):
-    """Render the ``uv pip install isaacsim`` command pinned to the pyproject version."""
+    """Render the Isaac Sim install command pinned to the pyproject version."""
 
-    has_content = False
+    optional_arguments = 1  # installer: "pip" (default is "uv pip")
 
     def run(self) -> list[nodes.Node]:
         version = self.config.isaacsim_version
-        content = f"""\
+        if self.arguments and self.arguments[0] == "pip":
+            content = f"""\
+.. code-block:: bash
+
+   python -m pip install "isaacsim[all,extscache]=={version}" --extra-index-url https://pypi.nvidia.com
+"""
+        else:
+            content = f"""\
 .. code-block:: bash
 
    uv pip install "isaacsim[all,extscache]=={version}" --extra-index-url https://pypi.nvidia.com --index-strategy unsafe-best-match --prerelease=allow
@@ -260,7 +267,7 @@ class IsaacLabTorchInstall(SphinxDirective):
 
     def run(self) -> list[nodes.Node]:
         cuda_tag = self.arguments[0]
-        installer = "pip" if len(self.arguments) > 1 and self.arguments[1] == "pip" else "uv pip"
+        installer = "python -m pip" if len(self.arguments) > 1 and self.arguments[1] == "pip" else "uv pip"
         torch_version = self.config.torch_version
         torchvision_version = self.config.torchvision_version
         content = f"""\

docs/source/_static/demos/teapot_fill.jpg

@@ -8,7 +8,6 @@ isaaclab.renderers
   .. autosummary::
 
     BaseRenderer
-    Renderer
     RendererCfg
 
 Base Renderer
@@ -19,14 +18,6 @@ Base Renderer
   :show-inheritance:
   :exclude-members: __init__
 
-Renderer Factory
-----------------
-
-.. autoclass:: Renderer
-  :members:
-  :show-inheritance:
-  :exclude-members: __init__
-
 Renderer Configuration
 -----------------------
 

docs/source/api/lab/isaaclab.renderers.rst

@@ -30,6 +30,47 @@ isaaclab.sim.schemas
     BoundingCubePropertiesCfg
     BoundingSpherePropertiesCfg
 
+  .. rubric:: Schema fragments
+
+  A fragment mirrors exactly one USD applied schema and writes into a single attribute
+  namespace. The family writers below dispatch lists of fragments to the prims matched by
+  a target expression. See :ref:`schema-fragments` for the concept and the spawner-level
+  usage. Backend fragments live in :mod:`isaaclab_physx.sim.schemas` and
+  :mod:`isaaclab_newton.sim.schemas`.
+
+  .. autosummary::
+
+    SchemaFragment
+    RigidBodyFragment
+    CollisionFragment
+    MassFragment
+    ArticulationRootFragment
+    JointDriveFragment
+    MeshCollisionFragment
+    FixedTendonFragment
+    SpatialTendonFragment
+    UsdPhysicsRigidBodyCfg
+    UsdPhysicsCollisionCfg
+    UsdPhysicsDriveCfg
+    UsdPhysicsMeshCollisionCfg
+    MassCfg
+
+  .. rubric:: Fragment writers
+
+  .. autosummary::
+
+    apply_rigid_body_properties
+    apply_collision_properties
+    apply_mass_properties
+    apply_articulation_root_properties
+    apply_joint_drive_properties
+    apply_mesh_collision_properties
+    apply_fixed_tendon_properties
+    apply_spatial_tendon_properties
+    apply_namespaced
+    apply_drive
+    apply_mesh_collision
+
   .. rubric:: Functions
 
   .. autosummary::
@@ -51,6 +92,90 @@ isaaclab.sim.schemas
     define_deformable_curve_properties
     modify_deformable_body_properties
 
+Schema Fragments
+----------------
+
+.. autoclass:: SchemaFragment
+    :members:
+    :exclude-members: __init__
+
+.. autoclass:: RigidBodyFragment
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: CollisionFragment
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: MassFragment
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: ArticulationRootFragment
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: JointDriveFragment
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: MeshCollisionFragment
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: FixedTendonFragment
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: SpatialTendonFragment
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: UsdPhysicsRigidBodyCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: UsdPhysicsCollisionCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: UsdPhysicsDriveCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: UsdPhysicsMeshCollisionCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: MassCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autofunction:: apply_rigid_body_properties
+.. autofunction:: apply_collision_properties
+.. autofunction:: apply_mass_properties
+.. autofunction:: apply_articulation_root_properties
+.. autofunction:: apply_joint_drive_properties
+.. autofunction:: apply_mesh_collision_properties
+.. autofunction:: apply_fixed_tendon_properties
+.. autofunction:: apply_spatial_tendon_properties
+.. autofunction:: apply_namespaced
+.. autofunction:: apply_drive
+.. autofunction:: apply_mesh_collision
+
 Articulation Root
 -----------------
 

docs/source/api/lab/isaaclab.sim.schemas.rst

@@ -14,14 +14,10 @@ The following classes are part of the public :mod:`isaaclab.visualizers` API.
    :nosignatures:
 
    BaseVisualizer
-   Visualizer
    VisualizerCfg
 
 .. autoclass:: BaseVisualizer
    :show-inheritance:
 
-.. autoclass:: Visualizer
-   :show-inheritance:
-
 .. autoclass:: VisualizerCfg
    :show-inheritance:

docs/source/api/lab/isaaclab.visualizers.rst

@@ -134,7 +134,7 @@ Quick Start
 
       .. code-block:: bash
 
-         uv run isaaclab train --rl_library rlinf \
+         uv run --extra rlinf isaaclab train --rl_library rlinf \
              --config_name isaaclab_ppo_gr00t_assemble_trocar \
              --model_path /path/to/base_model
 
@@ -154,7 +154,7 @@ Quick Start
 
       .. code-block:: bash
 
-         uv run --extra video isaaclab play --rl_library rlinf \
+         uv run --extra rlinf,video isaaclab play --rl_library rlinf \
              --config_name isaaclab_ppo_gr00t_assemble_trocar \
              --model_path /path/to/base_model \
              --video
@@ -176,7 +176,7 @@ Quick Start
 
       .. code-block:: bash
 
-         uv run --extra video isaaclab play --rl_library rlinf \
+         uv run --extra rlinf,video isaaclab play --rl_library rlinf \
              --config_name isaaclab_ppo_gr00t_assemble_trocar \
              --model_path /path/to/base_model \
              --checkpoint /path/to/checkpoints/global_step_N \

docs/source/experimental-features/rlinf_vla_posttraining.rst

@@ -46,7 +46,7 @@ As a result, training with hydra arguments can be run with the following syntax:
 
               .. code-block:: shell
 
-                  uv run isaaclab train --rl_library rl_games --task=Isaac-Cartpole env.actions.joint_effort.scale=10.0 agent.params.seed=2024
+                  uv run --extra rl-games isaaclab train --rl_library rl_games --task=Isaac-Cartpole env.actions.joint_effort.scale=10.0 agent.params.seed=2024
 
            .. tab-item:: isaaclab.sh / isaaclab.bat
 
@@ -63,7 +63,7 @@ As a result, training with hydra arguments can be run with the following syntax:
 
               .. code-block:: shell
 
-                  uv run isaaclab train --rl_library skrl --task=Isaac-Cartpole env.actions.joint_effort.scale=10.0 agent.seed=2024
+                  uv run --extra skrl isaaclab train --rl_library skrl --task=Isaac-Cartpole env.actions.joint_effort.scale=10.0 agent.seed=2024
 
            .. tab-item:: isaaclab.sh / isaaclab.bat
 
@@ -80,7 +80,7 @@ As a result, training with hydra arguments can be run with the following syntax:
 
               .. code-block:: shell
 
-                  uv run isaaclab train --rl_library sb3 --task=Isaac-Cartpole env.actions.joint_effort.scale=10.0 agent.seed=2024
+                  uv run --extra sb3 isaaclab train --rl_library sb3 --task=Isaac-Cartpole env.actions.joint_effort.scale=10.0 agent.seed=2024
 
            .. tab-item:: isaaclab.sh / isaaclab.bat
 

docs/source/features/hydra.rst

@@ -473,7 +473,7 @@ For skrl JAX training, pass an integer GPU count and the ``--coordinator_address
 
               .. code-block:: bash
 
-                  uv run python scripts/reinforcement_learning/train_multigpu.py \
+                  uv run --extra skrl python scripts/reinforcement_learning/train_multigpu.py \
                      --rl_library skrl --ml_framework jax --num_gpus 4 \
                      --coordinator_address localhost:5000 \
                      --task Isaac-Reorient-KukaAllegro \
@@ -494,7 +494,7 @@ For skrl JAX training, pass an integer GPU count and the ``--coordinator_address
 
         .. code-block:: bash
 
-            uv run isaaclab train_multigpu --rl_library skrl --ml_framework jax --num_gpus 4 \
+            uv run --extra skrl isaaclab train_multigpu --rl_library skrl --ml_framework jax --num_gpus 4 \
                --coordinator_address localhost:5000 \
                --task Isaac-Reorient-KukaAllegro \
                --num_envs 4096 --max_iterations 100