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[Docs] Fix environment browser task scopes #7207

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Merged
StafaH merged 7 commits into from
Aug 21, 2026
Merged

[Docs] Fix environment browser task scopes #7207

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caa2246
Fix environment browser task scopes
StafaH Aug 20, 2026
cf79698
Align environment browser checkpoint control
StafaH Aug 20, 2026
ba56ccc
Constrain Warp environment browser scope
StafaH Aug 20, 2026
c2be878
fix command builder for non-rl
StafaH Aug 21, 2026
1ce51cc
Fix popup
StafaH Aug 21, 2026
17c3bb6
Merge remote-tracking branch 'upstream/develop' into fix/environment-…
StafaH Aug 21, 2026
54401d9
Merge branch 'develop' into fix/environment-browser-task-scopes
StafaH Aug 21, 2026
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30 changes: 24 additions & 6 deletions docs/source/_static/css/environment-browser.css
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -53,15 +53,17 @@ html[data-theme="dark"] .environment-browser {
white-space: nowrap;
}

.environment-mode-switch {
.environment-mode-switch,
.environment-scope-switch {
display: inline-flex;
flex: 0 0 auto;
overflow: hidden;
border: 1px solid var(--environment-border);
border-radius: 6px;
}

.environment-mode-switch button {
.environment-mode-switch button,
.environment-scope-switch button {
min-height: 2.35rem;
padding: 0.35rem 0.7rem;
border: 0;
Expand All @@ -72,11 +74,13 @@ html[data-theme="dark"] .environment-browser {
font-weight: 600;
}

.environment-mode-switch button:last-child {
.environment-mode-switch button:last-child,
.environment-scope-switch button:last-child {
border-right: 0;
}

.environment-mode-switch button.is-active {
.environment-mode-switch button.is-active,
.environment-scope-switch button.is-active {
color: #1f3300;
background: #76b900;
}
Expand All @@ -102,6 +106,14 @@ html[data-theme="dark"] .environment-browser {
flex: 1 1 20rem;
}

.environment-task-field > span {
min-width: 4.75rem;
}

.environment-scope-switch {
margin-left: auto;
}

.environment-inline-field select,
.environment-selector select,
.environment-task-filter select,
Expand Down Expand Up @@ -167,8 +179,7 @@ html[data-theme="dark"] .environment-browser {

.environment-checkpoint-toggle {
justify-content: center;
justify-self: start;
width: calc(100% - 0.35rem);
width: 100%;
min-height: 2.4rem;
padding: 0.35rem 0.6rem;
border: 1px solid var(--environment-border);
Expand All @@ -187,6 +198,13 @@ html[data-theme="dark"] .environment-browser {
accent-color: var(--pst-color-primary);
}

.environment-checkpoint-toggle:has(input:disabled) {
color: var(--environment-muted);
background: color-mix(in srgb, var(--pst-color-background) 55%, transparent);
cursor: not-allowed;
opacity: 0.65;
}

.environment-command-output {
display: grid;
grid-template-columns: minmax(0, 1fr) auto;
Expand Down
93 changes: 68 additions & 25 deletions docs/source/_static/css/environment-browser.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,18 +9,18 @@
"use strict";

const initializeEnvironmentBrowser = () => {
// Generated from the core and contributed rows in source/overview/environments.rst.
// Generated from the task rows in source/overview/environments.rst.
// START-AUTO-GENERATED: environment-browser-task-rows
const taskRows = [
["Isaac-Ant-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/ant.jpg"],
["Isaac-Ant", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/ant.jpg"],
["Isaac-Cartpole-Direct", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/cartpole.jpg"],
["Isaac-Cartpole", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/cartpole.jpg"],
["Isaac-Ant-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/ant.jpg", true],
["Isaac-Ant", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/ant.jpg", true],
["Isaac-Cartpole-Direct", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/cartpole.jpg", true],
["Isaac-Cartpole", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/cartpole.jpg", true],
["Isaac-Cartpole-Camera-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", {}, "tasks/classic/cartpole.jpg"],
["Isaac-Cartpole-Camera", "rl_games,rsl_rl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,resnet18,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl,theia_tiny", {"rl_games_cfg_entry_point": ["albedo", "depth", "rgb", "semantic_segmentation", "simple_shading_constant_diffuse", "simple_shading_diffuse_mdl", "simple_shading_full_mdl"], "rl_games_feature_cfg_entry_point": ["resnet18", "theia_tiny"], "rsl_rl_cfg_entry_point": ["albedo", "depth", "rgb", "semantic_segmentation", "simple_shading_constant_diffuse", "simple_shading_diffuse_mdl", "simple_shading_full_mdl"], "rsl_rl_feature_cfg_entry_point": ["resnet18", "theia_tiny"]}, "tasks/classic/cartpole.jpg"],
["Isaac-Fourbar-Pole-Swingup", "rsl_rl", "newton_kamino", "", "", {}, "tasks/classic/fourbar_pole.jpg"],
["Isaac-Humanoid-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/humanoid.jpg"],
["Isaac-Humanoid", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/humanoid.jpg"],
["Isaac-Humanoid-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/humanoid.jpg", true],
["Isaac-Humanoid", "rl_games,rsl_rl,skrl,sb3", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/humanoid.jpg", true],
["Isaac-Lift-Cable-Franka", "rsl_rl", "newton_mjwarp_vbd_proxy", "", "ik,joint", {}, "tasks/manipulation/franka_lift_cable.jpg"],
["Isaac-Lift-Cable-Franka-Camera", "rsl_rl", "newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint", {}, "tasks/manipulation/franka_lift_cable.jpg"],
["Isaac-Lift-Cloth-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "", "ik,joint", {}, "tasks/manipulation/franka_lift_cloth.jpg"],
Expand All @@ -33,10 +33,10 @@
["Isaac-Open-Drawer-Franka-Direct", "rl_games,rsl_rl,skrl", "", "", "", {}, "tasks/manipulation/franka_open_drawer.jpg"],
["Isaac-Open-Drawer-Franka", "rl_games,rsl_rl,skrl", "", "", "", {}, "tasks/manipulation/franka_open_drawer.jpg"],
["Isaac-Pendulum-MARL-Direct", "rl_games,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", ""],
["Isaac-Reach-Franka", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik,diffik_abs,joint_pos,newton_ik", {}, "tasks/manipulation/franka_reach.jpg"],
["Isaac-Reach-Franka", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik,diffik_abs,joint_pos,newton_ik", {}, "tasks/manipulation/franka_reach.jpg", true],
["Isaac-Reach-Franka-OSC", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik_abs", {}, "tasks/manipulation/franka_reach.jpg"],
["Isaac-Reach-UR10", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/ur10_reach.jpg"],
["Isaac-Reorient-Cube-Allegro-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/allegro_cube.jpg"],
["Isaac-Reach-UR10", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/ur10_reach.jpg", true],
["Isaac-Reorient-Cube-Allegro-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/allegro_cube.jpg", true],
["Isaac-Reorient-Cube-Allegro", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "randomized,reset_only", {}, "tasks/manipulation/allegro_cube.jpg"],
["Isaac-Reorient-Cube-Shadow-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/shadow_cube.jpg"],
["Isaac-Reorient-Cube-Shadow", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "asymmetric,randomized"],
Expand All @@ -47,11 +47,11 @@
["Isaac-Reorient-KukaAllegro-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo128,albedo256,albedo64,cube,depth128,depth256,depth64,duo_camera,raycaster_depth128,raycaster_depth256,raycaster_depth64,rgb128,rgb256,rgb64,semantic_segmentation128,semantic_segmentation256,semantic_segmentation64,shapes,simple_shading_constant_diffuse128,simple_shading_constant_diffuse256,simple_shading_constant_diffuse64,simple_shading_diffuse_mdl128,simple_shading_diffuse_mdl256,simple_shading_diffuse_mdl64,simple_shading_full_mdl128,simple_shading_full_mdl256,simple_shading_full_mdl64,single_camera", {}, "tasks/manipulation/kuka_allegro_reorient.jpg"],
["Isaac-Shadow-Handover-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/shadow_hand_over.jpg"],
["Isaac-Shadow-Handover", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "randomized"],
["Isaac-Velocity-Flat-AnymalD", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_d_flat.jpg"],
["Isaac-Velocity-Flat-Cassie", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", ""],
["Isaac-Velocity-Flat-G1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/g1_flat.jpg"],
["Isaac-Velocity-Flat-H1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/h1_flat.jpg"],
["Isaac-Velocity-Flat-UnitreeGo2", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/go2_flat.jpg"],
["Isaac-Velocity-Flat-AnymalD", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_d_flat.jpg", true],
["Isaac-Velocity-Flat-Cassie", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "", true],
["Isaac-Velocity-Flat-G1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/g1_flat.jpg", true],
["Isaac-Velocity-Flat-H1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/h1_flat.jpg", true],
["Isaac-Velocity-Flat-UnitreeGo2", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/go2_flat.jpg", true],
["Isaac-Velocity-Rough-AnymalD", "rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_d_rough.jpg"],
["Isaac-Velocity-Rough-Cassie", "rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_d_rough.jpg"],
["Isaac-Velocity-Rough-G1", "rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/g1_rough.jpg"],
Expand Down Expand Up @@ -135,13 +135,13 @@
["IsaacContrib-TrackPositionNoObstacles-ARL-Robot-1", "rl_games,rsl_rl,skrl", "", "", "", {}, "tasks/drone_arl/arl_robot_1_track_position_state_based.jpg"],
["IsaacContrib-Tracking-LocoManip-Digit", "rsl_rl", "isaacsim_physx", "", "", {}, "tasks/locomotion/agility_digit_loco_manip.jpg"],
["IsaacContrib-UR10-Particle-Push", "rsl_rl", "", "", "", {}, "tasks/manipulation/ur10_particle_push.jpg"],
["IsaacContrib-Velocity-Flat-AnymalB", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_b_flat.jpg"],
["IsaacContrib-Velocity-Flat-AnymalB", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_b_flat.jpg", true],
["IsaacContrib-Velocity-Flat-AnymalC-Direct", "rl_games,rsl_rl,skrl", "", "", "", {}, "tasks/locomotion/anymal_c_flat.jpg"],
["IsaacContrib-Velocity-Flat-AnymalC", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_c_flat.jpg"],
["IsaacContrib-Velocity-Flat-AnymalC", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_c_flat.jpg", true],
["IsaacContrib-Velocity-Flat-Digit", "rsl_rl", "isaacsim_physx", "", "", {}, "tasks/locomotion/agility_digit_flat.jpg"],
["IsaacContrib-Velocity-Flat-Spot", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp", "", "", {}, "tasks/locomotion/spot_flat.jpg"],
["IsaacContrib-Velocity-Flat-UnitreeA1", "rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/a1_flat.jpg"],
["IsaacContrib-Velocity-Flat-UnitreeGo1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/go1_flat.jpg"],
["IsaacContrib-Velocity-Flat-UnitreeA1", "rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/a1_flat.jpg", true],
["IsaacContrib-Velocity-Flat-UnitreeGo1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/go1_flat.jpg", true],
["IsaacContrib-Velocity-Rough-AnymalB", "rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_b_rough.jpg"],
["IsaacContrib-Velocity-Rough-AnymalC-Direct", "rl_games,rsl_rl,skrl", "", "", "", {}, "tasks/locomotion/anymal_c_rough.jpg"],
["IsaacContrib-Velocity-Rough-AnymalC", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_c_rough.jpg"],
Expand All @@ -152,7 +152,9 @@
// END-AUTO-GENERATED: environment-browser-task-rows

const splitValues = (value) => value ? value.split(",") : [];
const tasks = taskRows.map(([task, rl, physics, renderer, presets, agentPresetCompatibility = {}, previewImage = ""]) => ({
const tasks = taskRows.map(([
task, rl, physics, renderer, presets, agentPresetCompatibility = {}, previewImage = "", supportsWarpFrontend = false,
]) => ({
task,
scope: task.startsWith("IsaacContrib-") ? "contrib" : "core",
rl: splitValues(rl),
Expand All @@ -161,6 +163,7 @@
presets: splitValues(presets),
agentPresetCompatibility,
previewImage,
supportsWarpFrontend,
}));

const builder = document.querySelector("[data-environment-browser]");
Expand All @@ -178,13 +181,15 @@
const copyButton = builder.querySelector("[data-copy-command]");
const copyStatus = builder.querySelector("[data-copy-status]");
const modeButtons = [...builder.querySelectorAll("[data-command-mode]")];
const scopeButtons = [...builder.querySelectorAll("[data-task-scope]")];
const taskList = taskBrowser.querySelector("[data-task-list]");
const taskSearch = taskBrowser.querySelector("[data-task-search]");
const taskCategory = taskBrowser.querySelector("[data-task-category]");
const taskCount = taskBrowser.querySelector("[data-task-count]");
const taskEmpty = taskBrowser.querySelector("[data-task-empty]");
const state = {
mode: "train",
scope: "core",
task: "Isaac-Cartpole",
benchmarkWorkload: "runtime",
};
Expand All @@ -211,6 +216,10 @@

const selectedTask = () => tasks.find((task) => task.task === state.task) || tasks[0];

const tasksForScope = () => tasks.filter((task) => (
state.scope === "warp" ? task.supportsWarpFrontend : task.scope === state.scope
));

const previewImageFor = (task) => {
if (task.previewImage) {
return task.previewImage;
Expand Down Expand Up @@ -270,7 +279,7 @@
};

const updateModeControls = () => {
const supportsPretrainedCheckpoint = state.mode === "play";
const supportsPretrainedCheckpoint = state.scope === "core";
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fields.checkpoint.disabled = !supportsPretrainedCheckpoint;
if (!supportsPretrainedCheckpoint) {
fields.checkpoint.checked = false;
Expand Down Expand Up @@ -309,7 +318,7 @@
if (selectedAgent && selectedAgent !== `${fields.rl.value}_cfg_entry_point`) {
parts.push("--agent", selectedAgent);
}
if (state.task.includes("-Warp")) {
if (state.scope === "warp") {
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parts.push("--frontend", "warp");
}
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for (const selector of ["physics", "renderer", "presets"]) {
Expand Down Expand Up @@ -381,10 +390,10 @@
const renderTasks = () => {
const query = taskSearch.value.trim().toLowerCase();
const category = taskCategory.value;
const visibleTasks = tasks.filter((task) => {
const visibleTasks = tasksForScope().filter((task) => {
const matchesQuery = task.task.toLowerCase().includes(query);
const matchesCategory = category === "all"
|| (category === "contrib" ? task.scope === "contrib" : task.scope === "core" && categoryFor(task.task) === category);
|| categoryFor(task.task) === category;
return matchesQuery && matchesCategory;
});
taskList.replaceChildren(...visibleTasks.map((task) => {
Expand Down Expand Up @@ -416,7 +425,7 @@
};

const initializeTasks = () => {
fields.task.replaceChildren(...tasks.map((task) => new Option(task.task, task.task)));
fields.task.replaceChildren(...tasksForScope().map((task) => new Option(task.task, task.task)));
fields.task.value = state.task;
renderTasks();
updateSelection();
Expand Down Expand Up @@ -645,6 +654,9 @@
for (const button of modeButtons) {
button.addEventListener("click", () => {
state.mode = button.dataset.commandMode;
if (state.mode === "train") {
fields.checkpoint.checked = false;
}
for (const modeButton of modeButtons) {
const isActive = modeButton === button;
modeButton.classList.toggle("is-active", isActive);
Expand All @@ -655,6 +667,37 @@
updatePreview();
});
}
for (const button of scopeButtons) {
button.addEventListener("click", () => {
state.scope = button.dataset.taskScope;
for (const scopeButton of scopeButtons) {
const isActive = scopeButton === button;
scopeButton.classList.toggle("is-active", isActive);
scopeButton.setAttribute("aria-pressed", String(isActive));
}
const scopedTasks = tasksForScope();
if (!scopedTasks.some((task) => task.task === state.task)) {
state.task = scopedTasks[0].task;
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}
fields.task.replaceChildren(...scopedTasks.map((task) => new Option(task.task, task.task)));
updateModeControls();
renderTasks();
updateSelection();
});
}
fields.checkpoint.addEventListener("change", () => {
if (!fields.checkpoint.checked || state.mode === "play") {
return;
}
state.mode = "play";
for (const modeButton of modeButtons) {
const isActive = modeButton.dataset.commandMode === "play";
modeButton.classList.toggle("is-active", isActive);
modeButton.setAttribute("aria-pressed", String(isActive));
}
commandOutput.textContent = currentCommand();
updatePreview();
});
for (const button of benchmarks?.querySelectorAll("[data-benchmark-workload]") || []) {
button.addEventListener("click", () => {
state.benchmarkWorkload = button.dataset.benchmarkWorkload;
Expand Down
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