Updates Isaac Sim doc links (#266)

# Description

Isaac Sim 4.5 documentation moved to a new URL, updating links for the
Isaac Sim docs to new URLs.
Additionally, we will be updating VERSION for every commit to the repo,
so this change updates the documentation parsing to use only the major,
minor, and patch versions from VERSION.

docker/Dockerfile.ros2

@@ -31,5 +31,5 @@ RUN --mount=type=cache,target=/var/cache/apt \
     echo "source /opt/ros/humble/setup.bash" >> ${HOME}/.bashrc
 
 # Copy the RMW specifications for ROS2
-# https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html#enabling-the-ros-bridge-extension
+# https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_ros.html
 COPY docker/.ros/ ${DOCKER_USER_HOME}/.ros/

docs/conf.py

@@ -35,7 +35,8 @@
 
 # Read version from the package
 with open(os.path.join(os.path.dirname(__file__), "..", "VERSION")) as f:
-    version = f.read().strip()
+    full_version = f.read().strip()
+    version = ".".join(full_version.split(".")[:3])
 
 # -- General configuration ---------------------------------------------------
 

docs/index.rst

@@ -149,7 +149,7 @@ Table of Contents
     :caption: Project Links
 
     GitHub <https://github.com/isaac-sim/IsaacLab>
-    NVIDIA Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/index.html>
+    NVIDIA Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com/latest/index.html>
     NVIDIA PhysX <https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html>
 
 Indices and tables
@@ -159,4 +159,4 @@ Indices and tables
 * :ref:`modindex`
 * :ref:`search`
 
-.. _NVIDIA Isaac Sim: https://docs.omniverse.nvidia.com/isaacsim/latest/index.html
+.. _NVIDIA Isaac Sim: https://docs.isaacsim.omniverse.nvidia.com/latest/index.html

docs/source/how-to/import_new_asset.rst

@@ -230,9 +230,9 @@ of gravity.
 
 
 .. _instanceable: https://openusd.org/dev/api/_usd__page__scenegraph_instancing.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
+.. _documentation: https://docs.isaacsim.omniverse.nvidia.com/latest/isaac_lab_tutorials/tutorial_instanceable_assets.html
+.. _MJCF importer: https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/import_mjcf.html
+.. _URDF importer: https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/import_urdf.html
 .. _anymal.urdf: https://github.com/isaac-orbit/anymal_d_simple_description/blob/master/urdf/anymal.urdf
 .. _asset converter: https://docs.omniverse.nvidia.com/extensions/latest/ext_asset-converter.html
 .. _mujoco_menagerie: https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_h1

docs/source/how-to/master_omniverse.rst

@@ -68,7 +68,7 @@ Importing assets
 
 -  `Omniverse Create - Importing FBX Files \| NVIDIA Omniverse Tutorials <https://youtu.be/dQI0OpzfVHw>`__
 -  `Omniverse Asset Importer <https://docs.omniverse.nvidia.com/extensions/latest/ext_asset-importer.html>`__
--  `Isaac Sim URDF impoter <https://docs.omniverse.nvidia.com/isaacsim/latest/ext_omni_isaac_urdf.html>`__
+-  `Isaac Sim URDF impoter <https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/ext_isaacsim_asset_importer_urdf.html>`__
 
 
 Part 2: Scripting in Omniverse
@@ -117,8 +117,8 @@ As a test of understanding, make sure you can answer the following:
 Part 3: More Resources
 ----------------------
 
-- `Omniverse Glossary of Terms <https://docs.omniverse.nvidia.com/isaacsim/latest/common/glossary-of-terms.html>`__
+- `Omniverse Glossary of Terms <https://docs.isaacsim.omniverse.nvidia.com/latest/reference_material/reference_glossary.html>`__
 - `Omniverse Code Samples <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref.html>`__
 - `PhysX Collider Compatibility <https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/rigid-bodies.html#collidercompatibility>`__
-- `PhysX Limitations <https://docs.omniverse.nvidia.com/isaacsim/latest/simulation_fundamentals.html#omni-physics-and-physx-limitations>`__
+- `PhysX Limitations <https://docs.isaacsim.omniverse.nvidia.com/latest/physics/physics_resources.html>`__
 - `PhysX Documentation <https://nvidia-omniverse.github.io/PhysX/physx/>`__.

docs/source/overview/developer-guide/repo_structure.rst

@@ -32,7 +32,10 @@ Repository organization
    ├── tools
    └── VERSION
 
-Isaac Lab is built on the same back end as Isaac Sim.  As such, it exists as a collection of **extensions** that can be assembled into **applications**. The ``source`` directory contains the majority of the code in the repository and the specific extensions that compose Isaac lab, while ``scripts`` containing python scripts for launching customized standalone apps (Like our workflows). These are the two primary ways of interacting with the simulation and Isaac lab supports both! Checkout this `Isaac Sim introduction to workflows <https://docs.omniverse.nvidia.com/isaacsim/latest/introductory_tutorials/tutorial_intro_workflows.html>`__ for more details.
+Isaac Lab is built on the same back end as Isaac Sim.  As such, it exists as a collection of **extensions** that can be assembled into **applications**.
+The ``source`` directory contains the majority of the code in the repository and the specific extensions that compose Isaac lab, while ``scripts`` containing python scripts for launching customized standalone apps (Like our workflows).
+These are the two primary ways of interacting with the simulation and Isaac lab supports both!
+Checkout this `Isaac Sim introduction to workflows <https://docs.isaacsim.omniverse.nvidia.com/latest/introduction/workflows.html>`__ for more details.
 
 Extensions
 ~~~~~~~~~~

docs/source/overview/developer-guide/vs_code.rst

@@ -44,7 +44,7 @@ For more information on VSCode support for Omniverse, please refer to the
 following links:
 
 * `Isaac Sim VSCode support <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_standalone_python.html#isaac-sim-python-vscode>`__
-* `Debugging with VSCode <https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_python_debugging.html>`__
+* `Debugging with VSCode <https://docs.isaacsim.omniverse.nvidia.com/latest/development_tools/vscode.html#visual-studio-code-vs-code>`__
 
 
 Configuring the python interpreter

docs/source/refs/additional_resources.rst

@@ -27,7 +27,7 @@ Simulation Features
 
 At the heart of Isaac Lab is Isaac Sim, which is itself a feature rich tool that is useful for robotics in general, and not only for RL. The stronger your understanding of the simulation, the readily you will be able to exploit its capabilities for your own projects and applications. These resources are dedicated to informing you about the other features of the simulation that may be useful to you given your specific interest in Isaac Lab!
 
-* `Deploying Policies in Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_lab_tutorials/tutorial_policy_deployment.html>`_ is an Isaac Sim tutorial on how to use trained policies within the simulation.
+* `Deploying Policies in Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com/latest/isaac_lab_tutorials/tutorial_policy_deployment.html>`_ is an Isaac Sim tutorial on how to use trained policies within the simulation.
 
 * `Supercharge Robotics Workflows with AI and Simulation Using NVIDIA Isaac Sim 4.0 and NVIDIA Isaac Lab <https://developer.nvidia.com/blog/supercharge-robotics-workflows-with-ai-and-simulation-using-nvidia-isaac-sim-4-0-and-nvidia-isaac-lab/>`_ is a blog post covering the newest features of Isaac Sim 4.0, including ``pip install``, a more advanced physics engine, updated sensor simulations, and more!
 

docs/source/refs/contributing.rst

@@ -176,11 +176,10 @@ integrated with the `NVIDIA Omniverse Platform <https://developer.nvidia.com/omn
 Since all assets are hosted on Nucleus, we do not need to include them in the repository. However,
 we need to include the links to the assets in the documentation.
 
-The included assets are part of the `Isaac Sim Content <https://docs.omniverse.nvidia.com/isaacsim/latest/features/environment_setup/assets/usd_assets_overview.html>`__.
-To use this content, you need to download the files to a Nucleus server or create an **Isaac** Mount on
-a Nucleus server.
+The included assets are part of the `Isaac Sim Content <https://docs.isaacsim.omniverse.nvidia.com/latest/assets/index.html>`__.
+To use this content, you can use the Asset Browser provided in Isaac Sim.
 
-Please check the `Isaac Sim documentation <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_faq.html#assets-and-nucleus>`__
+Please check the `Isaac Sim documentation <https://docs.isaacsim.omniverse.nvidia.com/latest/assets/index.html>`__
 for more information on how to download the assets.
 
 .. attention::

docs/source/refs/issues.rst

@@ -75,7 +75,7 @@ This is then replicated across other references of the same asset since physics
 are stored in the instanceable asset's USD file and not in its stage reference's USD file.
 
 .. _instanceable assets: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_gym_instanceable_assets.html
-.. _Omniverse Isaac Sim documentation: https://docs.omniverse.nvidia.com/isaacsim/latest/known_issues.html
+.. _Omniverse Isaac Sim documentation: https://docs.isaacsim.omniverse.nvidia.com/latest/overview/known_issues.html#
 
 
 Exiting the process

docs/source/refs/license.rst

@@ -7,7 +7,7 @@ NVIDIA Isaac Sim is available freely under `individual license
 <https://www.nvidia.com/en-us/omniverse/download/>`_. For more information
 about its license terms, please check `here <https://docs.omniverse.nvidia.com/app_isaacsim/common/NVIDIA_Omniverse_License_Agreement.html#software-support-supplement>`_.
 The license files for all its dependencies and included assets are available in its
-`documentation <https://docs.omniverse.nvidia.com/isaacsim/latest/common/licenses.html>`_.
+`documentation <https://docs.isaacsim.omniverse.nvidia.com/latest/common/licenses.html>`_.
 
 
 The Isaac Lab framework is open-sourced under the

docs/source/refs/reference_architecture/index.rst

@@ -360,11 +360,11 @@ Learn More About Featured NVIDIA Solutions
 
 .. _curriculum learning: https://arxiv.org/abs/2109.11978
 .. _CAD Converter: https://docs.omniverse.nvidia.com/extensions/latest/ext_cad-converter.html
-.. _URDF Importer: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_urdf.html
-.. _MJCF Importer: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_mjcf.html#import-mjcf
+.. _URDF Importer: https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/ext_isaacsim_asset_importer_urdf.html
+.. _MJCF Importer: https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/ext_isaacsim_asset_importer_mjcf.html
 .. _Onshape Importer: https://docs.omniverse.nvidia.com/extensions/latest/ext_onshape.html
-.. _Isaac Sim Reference Architecture: https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_sim_reference_architecture.html
-.. _Importing Assets section: https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_sim_reference_architecture.html#importing-assets
+.. _Isaac Sim Reference Architecture: https://docs.isaacsim.omniverse.nvidia.com/latest/isaac_sim_reference_architecture.html
+.. _Importing Assets section: https://docs.isaacsim.omniverse.nvidia.com/latest/isaac_sim_reference_architecture.html#importing-assets
 
 .. _Scale AI-Enabled Robotics Development Workloads with NVIDIA OSMO: https://developer.nvidia.com/blog/scale-ai-enabled-robotics-development-workloads-with-nvidia-osmo/
 .. _Isaac Perceptor: https://developer.nvidia.com/isaac/perceptor

docs/source/refs/release_notes.rst

@@ -575,7 +575,7 @@ v1.1.0
 Overview
 --------
 
-With the release of Isaac Sim 4.0 and 4.1, support for Isaac Sim 2023.1.1 has been discontinued. We strongly encourage all users to upgrade to Isaac Sim 4.1 to take advantage of the latest features and improvements. For detailed information on this upgrade, please refer to the release notes available `here <https://docs.omniverse.nvidia.com/isaacsim/latest/release_notes.html>`_.
+With the release of Isaac Sim 4.0 and 4.1, support for Isaac Sim 2023.1.1 has been discontinued. We strongly encourage all users to upgrade to Isaac Sim 4.1 to take advantage of the latest features and improvements. For detailed information on this upgrade, please refer to the release notes available `here <https://docs.isaacsim.omniverse.nvidia.com/latest/overview/release_notes.html#>`_.
 
 Besides the above, the Isaac Lab release brings new features and improvements, as detailed below. We thank all our contributors for their continued support.
 

docs/source/refs/troubleshooting.rst

@@ -37,7 +37,7 @@ Checking the internal logs from the simulator
 When running the simulator from a standalone script, it logs warnings and errors to the terminal. At the same time,
 it also logs internal messages to a file. These are useful for debugging and understanding the internal state of the
 simulator. Depending on your system, the log file can be found in the locations listed
-`here <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_faq.html#common-path-locations>`_.
+`here <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_faq.html#common-path-locations>`_.
 
 To obtain the exact location of the log file, you need to check the first few lines of the terminal output when
 you run the standalone script. The log file location is printed at the start of the terminal output. For example:

docs/source/setup/installation/binaries_installation.rst

@@ -12,13 +12,13 @@ Downloading pre-built binaries
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 Please follow the Isaac Sim
-`documentation <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html>`__
+`documentation <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_workstation.html>`__
 to install the latest Isaac Sim release.
 
-From Isaac Sim 4.5 release, Isaac Sim binaries can be `downloaded <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/download.html#download-isaac-sim-short>`_ directly as a zip file.
+From Isaac Sim 4.5 release, Isaac Sim binaries can be `downloaded <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html#download-isaac-sim-short>`_ directly as a zip file.
 
 To check the minimum system requirements,refer to the documentation
-`here <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/requirements.html>`__.
+`here <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/requirements.html>`__.
 
 .. tab-set::
    :sync-group: os
@@ -82,7 +82,7 @@ variables to your terminal for the remaining of the installation instructions:
 
 
 For more information on common paths, please check the Isaac Sim
-`documentation <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_faq.html#common-path-locations>`__.
+`documentation <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_faq.html#common-path-locations>`__.
 
 
 -  Check that the simulator runs as expected:
@@ -158,7 +158,7 @@ instructions, it means that something is incorrectly configured. To
 debug and troubleshoot, please check Isaac Sim
 `documentation <https://docs.omniverse.nvidia.com/dev-guide/latest/linux-troubleshooting.html>`__
 and the
-`forums <https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_sim_forums.html>`__.
+`forums <https://docs.isaacsim.omniverse.nvidia.com/latest/isaac_sim_forums.html>`__.
 
 
 Installing Isaac Lab
@@ -287,7 +287,7 @@ The executable ``isaaclab.sh`` automatically fetches the python bundled with Isa
 Sim, using ``./isaaclab.sh -p`` command (unless inside a virtual environment). This executable
 behaves like a python executable, and can be used to run any python script or
 module with the simulator. For more information, please refer to the
-`documentation <https://docs.omniverse.nvidia.com/isaacsim/latest/manual_standalone_python.html#isaac-sim-python-environment>`__.
+`documentation <https://docs.isaacsim.omniverse.nvidia.com/latest/python_scripting/manual_standalone_python.html>`__.
 
 To install ``conda``, please follow the instructions `here <https://docs.conda.io/projects/conda/en/latest/user-guide/install/index.html>`__.
 You can create the Isaac Lab environment using the following commands.

docs/source/setup/installation/index.rst

@@ -23,13 +23,13 @@ Local Installation
    Isaac Sim 4.5.0 release to benefit from the latest features and improvements.
 
    For more information, please refer to the
-   `Isaac Sim release notes <https://docs.omniverse.nvidia.com/isaacsim/latest/release_notes.html>`__.
+   `Isaac Sim release notes <https://docs.isaacsim.omniverse.nvidia.com/latest/overview/release_notes.html#>`__.
 
 .. note::
 
     We recommend system requirements with at least 32GB RAM and 16GB VRAM for Isaac Lab.
     For the full list of system requirements for Isaac Sim, please refer to the
-    `Isaac Sim system requirements <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/requirements.html#system-requirements>`_.
+    `Isaac Sim system requirements <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/requirements.html#system-requirements>`_.
 
 
 Isaac Lab is built on top of the Isaac Sim platform. Therefore, it is required to first install Isaac Sim

docs/source/setup/installation/isaaclab_pip_installation.rst

@@ -128,7 +128,7 @@ Verifying the Isaac Sim installation
    .. code:: bash
 
       By installing or using Isaac Sim, I agree to the terms of NVIDIA OMNIVERSE LICENSE AGREEMENT (EULA)
-      in https://docs.omniverse.nvidia.com/isaacsim/latest/common/NVIDIA_Omniverse_License_Agreement.html
+      in https://docs.isaacsim.omniverse.nvidia.com/latest/common/NVIDIA_Omniverse_License_Agreement.html
 
       Do you accept the EULA? (Yes/No): Yes
 
@@ -138,7 +138,7 @@ instructions, it means that something is incorrectly configured. To
 debug and troubleshoot, please check Isaac Sim
 `documentation <https://docs.omniverse.nvidia.com/dev-guide/latest/linux-troubleshooting.html>`__
 and the
-`forums <https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_sim_forums.html>`__.
+`forums <https://docs.isaacsim.omniverse.nvidia.com//latest/isaac_sim_forums.html>`__.
 
 
 Running Isaac Lab Scripts

docs/source/setup/installation/pip_installation.rst

@@ -11,7 +11,7 @@ Installing Isaac Sim
 From Isaac Sim 4.0 release, it is possible to install Isaac Sim using pip.
 This approach makes it easier to install Isaac Sim without requiring to download the Isaac Sim binaries.
 If you encounter any issues, please report them to the
-`Isaac Sim Forums <https://docs.omniverse.nvidia.com/isaacsim/latest/common/feedback.html>`_.
+`Isaac Sim Forums <https://docs.isaacsim.omniverse.nvidia.com//latest/common/feedback.html>`_.
 
 .. attention::
 
@@ -158,7 +158,7 @@ instructions, it means that something is incorrectly configured. To
 debug and troubleshoot, please check Isaac Sim
 `documentation <https://docs.omniverse.nvidia.com/dev-guide/latest/linux-troubleshooting.html>`__
 and the
-`forums <https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_sim_forums.html>`__.
+`forums <https://docs.isaacsim.omniverse.nvidia.com//latest/isaac_sim_forums.html>`__.
 
 
 

docs/source/tutorials/00_sim/create_empty.rst

@@ -7,7 +7,7 @@ This tutorial shows how to launch and control Isaac Sim simulator from a standal
 empty scene in Isaac Lab and introduces the two main classes used in the framework, :class:`app.AppLauncher` and
 :class:`sim.SimulationContext`.
 
-Please review `Isaac Sim Interface`_ and `Isaac Sim Workflows`_ prior to beginning this tutorial to get
+Please review `Isaac Sim Workflows`_ prior to beginning this tutorial to get
 an initial understanding of working with the simulator.
 
 
@@ -162,7 +162,6 @@ following:
 Now that we have a basic understanding of how to run a simulation, let's move on to the
 following tutorial where we will learn how to add assets to the stage.
 
-.. _`Isaac Sim Interface`: https://docs.omniverse.nvidia.com/isaacsim/latest/introductory_tutorials/tutorial_intro_interface.html#isaac-sim-app-tutorial-intro-interface
-.. _`Isaac Sim Workflows`: https://docs.omniverse.nvidia.com/isaacsim/latest/introductory_tutorials/tutorial_intro_workflows.html
+.. _`Isaac Sim Workflows`: https://docs.isaacsim.omniverse.nvidia.com/latest/introduction/workflows.html
 .. _carb: https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/index.html
 .. _`physics scene`: https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_physics.html#physics-scene

docs/source/tutorials/00_sim/launch_app.rst

@@ -173,4 +173,4 @@ terminal.
 
 
 .. _specification: https://docs.omniverse.nvidia.com/py/isaacsim/source/isaacsim.simulation_app/docs/index.html#isaacsim.simulation_app.SimulationApp.DEFAULT_LAUNCHER_CONFIG
-.. _WebRTC Livestreaming: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/manual_livestream_clients.html#isaac-sim-short-webrtc-streaming-client
+.. _WebRTC Livestreaming: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html#isaac-sim-short-webrtc-streaming-client