Fixes broken links in the documentation (#3500)

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
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docs/source/how-to/add_own_library.rst

+.. _how-to-add-library:
+
 Adding your own learning library
 ================================
 

docs/source/how-to/import_new_asset.rst

@@ -307,8 +307,8 @@ of gravity.
 
 .. _instanceable: https://openusd.org/dev/api/_usd__page__scenegraph_instancing.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
+.. _MJCF importer: https://docs.isaacsim.omniverse.nvidia.com/latest/importer_exporter/ext_isaacsim_asset_importer_mjcf.html
+.. _URDF importer: https://docs.isaacsim.omniverse.nvidia.com/latest/importer_exporter/ext_isaacsim_asset_importer_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

@@ -119,6 +119,5 @@ Part 3: More Resources
 
 - `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.isaacsim.omniverse.nvidia.com/latest/physics/physics_resources.html>`__
 - `PhysX Documentation <https://nvidia-omniverse.github.io/PhysX/physx/>`__.

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

@@ -52,8 +52,7 @@ If everything executes correctly, it should create the following files:
 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.isaacsim.omniverse.nvidia.com/latest/development_tools/vscode.html#visual-studio-code-vs-code>`__
+* `Isaac Sim VSCode support <https://docs.isaacsim.omniverse.nvidia.com/latest/development_tools/vscode.html#visual-studio-code-vs-code>`__
 
 
 Configuring the python interpreter

docs/source/refs/contributing.rst

@@ -115,11 +115,8 @@ 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.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.isaacsim.omniverse.nvidia.com/latest/assets/index.html>`__
-for more information on how to download the assets.
+Please checkout the `Isaac Sim Assets <https://docs.isaacsim.omniverse.nvidia.com/latest/assets/usd_assets_overview.html>`__
+for more information on what is presently available.
 
 .. attention::
 

docs/source/refs/reference_architecture/index.rst

@@ -195,10 +195,12 @@ Some wrappers include:
 * `Video Wrappers <https://isaac-sim.github.io/IsaacLab/main/source/how-to/wrap_rl_env.html#wrapper-for-recording-videos>`__
 * `RL Libraries Wrappers <https://isaac-sim.github.io/IsaacLab/main/source/how-to/wrap_rl_env.html#wrapper-for-learning-frameworks>`__
 
+.. currentmodule:: isaaclab_rl
+
 Most RL libraries expect their own variation of an environment interface. This means the
 data types needed by each library differs. Isaac Lab provides its own wrappers to convert
 the environment into the expected interface by the RL library a user wants to use. These are
-specified in the `Isaac Lab utils wrapper module <https://isaac-sim.github.io/IsaacLab/main/source/api/lab_tasks/isaaclab_rl.html#module-isaaclab_rl>`__.
+specified in :class:`isaaclab_rl`
 
 See the `full list <https://gymnasium.farama.org/api/wrappers/#gymnasium.Wrapper>`__ of other wrappers APIs. For more information on how these wrappers work,
 please refer to the `Wrapping environments <https://isaac-sim.github.io/IsaacLab/main/source/how-to/wrap_rl_env.html#how-to-env-wrappers>`__ documentation.
@@ -345,7 +347,7 @@ Check out our resources on using Isaac Lab with your robots.
 
 Review Our Documentation & Samples Resources
 
-* `Isaac Lab Tutorials`_
+* :ref:`Isaac Lab Tutorials <tutorials>`
 * `Fast-Track Robot Learning in Simulation Using NVIDIA Isaac Lab`_
 * `Supercharge Robotics Workflows with AI and Simulation Using NVIDIA Isaac Sim 4.0 and NVIDIA Isaac Lab`_
 * `Closing the Sim-to-Real Gap: Training Spot Quadruped Locomotion with NVIDIA Isaac Lab <https://developer.nvidia.com/blog/closing-the-sim-to-real-gap-training-spot-quadruped-locomotion-with-nvidia-isaac-lab/>`__
@@ -360,16 +362,15 @@ 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.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
+.. _URDF Importer: https://docs.isaacsim.omniverse.nvidia.com/latest/importer_exporter/ext_isaacsim_asset_importer_urdf.html
+.. _MJCF Importer: https://docs.isaacsim.omniverse.nvidia.com/latest/importer_exporter/ext_isaacsim_asset_importer_mjcf.html
 .. _Onshape Importer: https://docs.omniverse.nvidia.com/extensions/latest/ext_onshape.html
-.. _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
+.. _Isaac Sim Reference Architecture: https://docs.isaacsim.omniverse.nvidia.com/latest/introduction/reference_architecture.html
+.. _Importing Assets section: https://docs.isaacsim.omniverse.nvidia.com/latest/importer_exporter/importers_exporters.html
 
 .. _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
 .. _Isaac Manipulator: https://developer.nvidia.com/isaac/manipulator
 .. _Additional Resources: https://isaac-sim.github.io/IsaacLab/main/source/refs/additional_resources.html
-.. _Isaac Lab Tutorials: file:///home/oomotuyi/isaac/IsaacLab/docs/_build/current/source/tutorials/index.html
 .. _Fast-Track Robot Learning in Simulation Using NVIDIA Isaac Lab: https://developer.nvidia.com/blog/fast-track-robot-learning-in-simulation-using-nvidia-isaac-lab/
 .. _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/

docs/source/refs/release_notes.rst

@@ -1361,12 +1361,12 @@ New Features
 
 * Integrated CI/CD pipeline, which is triggered on pull requests and publishes the results publicly
 * Extended support for Windows OS platforms
-* Added `tiled rendered <https://isaac-sim.github.io/IsaacLab/source/features/tiled_rendering.html>`_ based Camera
+* Added tiled render based Camera
   sensor implementation. This provides optimized RGB-D rendering throughputs of up to 10k frames per second.
 * Added support for multi-GPU and multi-node training for the RL-Games library
 * Integrated APIs for environment designing (direct workflow) without relying on managers
 * Added implementation of delayed PD actuator model
-* `Added various new learning environments <https://isaac-sim.github.io/IsaacLab/main/source/features/environments.html>`_:
+* Added various new learning environments:
   * Cartpole balancing using images
   * Shadow hand cube reorientation
   * Boston Dynamics Spot locomotion

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

@@ -172,5 +172,5 @@ want our simulation to be more performant. The process can be killed by pressing
 terminal.
 
 
-.. _specification: https://docs.omniverse.nvidia.com/py/isaacsim/source/isaacsim.simulation_app/docs/index.html#isaacsim.simulation_app.SimulationApp.DEFAULT_LAUNCHER_CONFIG
+.. _specification: https://docs.isaacsim.omniverse.nvidia.com/latest/py/source/extensions/isaacsim.simulation_app/docs/index.html#isaacsim.simulation_app.SimulationApp.DEFAULT_LAUNCHER_CONFIG
 .. _WebRTC Livestreaming: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html#isaac-sim-short-webrtc-streaming-client

docs/source/tutorials/01_assets/add_new_robot.rst

@@ -6,7 +6,7 @@ Adding a New Robot to Isaac Lab
 .. currentmodule:: isaaclab
 
 Simulating and training a new robot is a multi-step process that starts with importing the robot into Isaac Sim.
-This is covered in depth in the Isaac Sim documentation `here <https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/importers_exporters.html>`_.
+This is covered in depth in the Isaac Sim documentation `here <https://docs.isaacsim.omniverse.nvidia.com/latest/importer_exporter/importers_exporters.html>`_.
 Once the robot is imported and tuned for simulation, we must define those interfaces necessary to clone the robot across multiple environments, drive its joints,
 and properly reset it, regardless of the chosen workflow or training framework.
 

source/isaaclab/isaaclab/app/app_launcher.py

@@ -76,7 +76,7 @@ class AppLauncher:
                 such as ``LIVESTREAM``.
 
         .. _argparse.Namespace: https://docs.python.org/3/library/argparse.html?highlight=namespace#argparse.Namespace
-        .. _SimulationApp: https://docs.omniverse.nvidia.com/py/isaacsim/source/isaacsim.simulation_app/docs/index.html
+        .. _SimulationApp: https://docs.isaacsim.omniverse.nvidia.com/latest/py/source/extensions/isaacsim.simulation_app/docs/index.html#isaacsim.simulation_app.SimulationApp
         """
         # We allow users to pass either a dict or an argparse.Namespace into
         # __init__, anticipating that these will be all of the argparse arguments

source/isaaclab/isaaclab/envs/__init__.py

@@ -39,7 +39,7 @@ Based on these workflows, there are the following environment classes for single
 
 For more information about the workflow design patterns, see the `Task Design Workflows`_ section.
 
-.. _`Task Design Workflows`: https://isaac-sim.github.io/IsaacLab/source/features/task_workflows.html
+.. _`Task Design Workflows`: https://docs.isaacsim.omniverse.nvidia.com/latest/introduction/workflows.html
 """
 
 from . import mdp, ui

source/isaaclab/isaaclab/scene/interactive_scene.py

@@ -421,7 +421,7 @@ class InteractiveScene:
             These are not reset or updated by the scene. They are mainly other prims that are not necessarily
             handled by the interactive scene, but are useful to be accessed by the user.
 
-        .. _XFormPrim: https://docs.omniverse.nvidia.com/py/isaacsim/source/isaacsim.core/docs/index.html#isaacsim.core.prims.XFormPrim
+        .. _XFormPrim: https://docs.isaacsim.omniverse.nvidia.com/latest/py/source/extensions/isaacsim.core.prims/docs/index.html#isaacsim.core.prims.XFormPrim
 
         """
         return self._extras

source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor.py

@@ -58,7 +58,7 @@ class ContactSensor(SensorBase):
     it against the object.
 
     .. _PhysX ContactReporter: https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/class_physx_schema_physx_contact_report_a_p_i.html
-    .. _RigidContact: https://docs.omniverse.nvidia.com/py/isaacsim/source/isaacsim.core/docs/index.html#isaacsim.core.prims.RigidContact
+    .. _RigidContact: https://docs.isaacsim.omniverse.nvidia.com/latest/py/source/extensions/isaacsim.core.api/docs/index.html#isaacsim.core.api.sensors.RigidContactView
     """
 
     cfg: ContactSensorCfg

source/isaaclab/isaaclab/sensors/ray_caster/patterns/patterns.py

@@ -109,7 +109,7 @@ def bpearl_pattern(cfg: patterns_cfg.BpearlPatternCfg, device: str) -> tuple[tor
     The `Robosense RS-Bpearl`_ is a short-range LiDAR that has a 360 degrees x 90 degrees super wide
     field of view. It is designed for near-field blind-spots detection.
 
-    .. _Robosense RS-Bpearl: https://www.roscomponents.com/en/lidar-laser-scanner/267-rs-bpearl.html
+    .. _Robosense RS-Bpearl: https://www.roscomponents.com/product/rs-bpearl/
 
     Args:
         cfg: The configuration instance for the pattern.

source/isaaclab/isaaclab/sim/converters/mesh_converter.py

@@ -29,7 +29,7 @@ class MeshConverter(AssetConverterBase):
     instancing and physics work. The rigid body component must be added to each instance and not the
     referenced asset (i.e. the prototype prim itself). This is because the rigid body component defines
     properties that are specific to each instance and cannot be shared under the referenced asset. For
-    more information, please check the `documentation <https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/rigid-bodies.html#instancing-rigid-bodies>`_.
+    more information, please check the `documentation <https://docs.isaacsim.omniverse.nvidia.com/latest/physics/simulation_fundamentals.html#rigid-body>`_.
 
     Due to the above, we follow the following structure:
 

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -783,7 +783,7 @@ class SimulationContext(_SimulationContext):
 
         # create the default physics material
         # this material is used when no material is specified for a primitive
-        # check: https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/simulation-control/physics-settings.html#physics-materials
+        # check: https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.sim.html#isaaclab.sim.SimulationCfg.physics_material
         material_path = f"{self.cfg.physics_prim_path}/defaultMaterial"
         self.cfg.physics_material.func(material_path, self.cfg.physics_material)
         # bind the physics material to the scene

source/isaaclab/isaaclab/sim/spawners/materials/__init__.py

@@ -49,7 +49,7 @@ Usage:
 
 .. _Material Definition Language (MDL): https://raytracing-docs.nvidia.com/mdl/introduction/index.html#mdl_introduction#
 .. _Materials: https://docs.omniverse.nvidia.com/materials-and-rendering/latest/materials.html
-.. _physics material: https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/simulation-control/physics-settings.html#physics-materials
+.. _physics material: https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.sim.html#isaaclab.sim.SimulationCfg.physics_material
 .. _USD Material Binding API: https://openusd.org/dev/api/class_usd_shade_material_binding_a_p_i.html
 .. _Physics Scene: https://openusd.org/dev/api/usd_physics_page_front.html
 """

source/isaaclab/isaaclab/sim/spawners/materials/physics_materials_cfg.py

@@ -31,10 +31,6 @@ class RigidBodyMaterialCfg(PhysicsMaterialCfg):
     """Physics material parameters for rigid bodies.
 
     See :meth:`spawn_rigid_body_material` for more information.
-
-    Note:
-        The default values are the `default values used by PhysX 5
-        <https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/rigid-bodies.html#rigid-body-materials>`__.
     """
 
     func: Callable = physics_materials.spawn_rigid_body_material
@@ -89,9 +85,6 @@ class DeformableBodyMaterialCfg(PhysicsMaterialCfg):
 
     See :meth:`spawn_deformable_body_material` for more information.
 
-    Note:
-        The default values are the `default values used by PhysX 5
-        <https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/deformable-bodies.html#deformable-body-material>`__.
     """
 
     func: Callable = physics_materials.spawn_deformable_body_material

source/isaaclab/isaaclab/sim/spawners/sensors/sensors_cfg.py

@@ -24,10 +24,6 @@ class PinholeCameraCfg(SpawnerCfg):
     ..note ::
         Focal length as well as the aperture sizes and offsets are set as a tenth of the world unit. In our case, the
         world unit is Meter s.t. all of these values are set in cm.
-
-    .. note::
-        The default values are taken from the `Replicator camera <https://docs.omniverse.nvidia.com/py/replicator/1.9.8/source/omni.replicator.core/docs/API.html#omni.replicator.core.create.camera>`__
-        function.
     """
 
     func: Callable = sensors.spawn_camera

source/isaaclab/isaaclab/sim/spawners/shapes/shapes.py

@@ -244,7 +244,7 @@ def _spawn_geom_from_prim_type(
     instancing and physics work. The rigid body component must be added to each instance and not the
     referenced asset (i.e. the prototype prim itself). This is because the rigid body component defines
     properties that are specific to each instance and cannot be shared under the referenced asset. For
-    more information, please check the `documentation <https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/rigid-bodies.html#instancing-rigid-bodies>`_.
+    more information, please check the `documentation <https://docs.isaacsim.omniverse.nvidia.com/latest/physics/simulation_fundamentals.html#rigid-body>`_.
 
     Due to the above, we follow the following structure:
 

source/isaaclab/isaaclab/sim/utils.py

@@ -394,7 +394,7 @@ def bind_physics_material(
         The function is decorated with :meth:`apply_nested` to allow applying the function to a prim path
         and all its descendants.
 
-    .. _Physics material: https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/simulation-control/physics-settings.html#physics-materials
+    .. _Physics material: https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.sim.html#isaaclab.sim.SimulationCfg.physics_material
 
     Args:
         prim_path: The prim path where to apply the material.