adds info on how to build docs locally

docs/source/api/orbit_envs.isaac_env.rst

@@ -8,7 +8,7 @@ class. This is done using the function :meth:`load_default_env_cfg` in the sub-m
 :mod:`omni.isaac.orbit.utils.parse_cfg`.
 
 
-.. note::
+.. attention::
 
     There is a slight abuse of kwargs since they are meant to be directly passed into the environment class.
     Instead, we remove the key :obj:`cfg_file` from the "kwargs" dictionary and the user needs to provide

docs/source/features/actuators.rst

@@ -39,7 +39,7 @@ are the current joint positions and velocities, :math:`q_{des}`, :math:`\dot{q}_
 are the desired joint positions, velocities and torques commands. The parameters :math:`\gamma` and
 :math:`\tau_{motor, max}`  are the gear box ratio and the maximum motor effort possible.
 
-.. note::
+.. seealso::
 
     We provide implementations for various explicit actuator models. These are detailed in
     `omni.isaac.orbit.actuators.model <../api/orbit.actuators.model.html>`_ sub-package.
@@ -70,7 +70,7 @@ can employ the gripper mimic group which processes binary open/close command int
     :alt: Actuator groups for a legged mobile manipulator
 
 
-.. note::
+.. seealso::
 
     For more information on the actuator groups, please refer to the documentation of the
     `omni.isaac.orbit.actuators.group <../api/orbit.actuators.group.html>`_ subpackage.

docs/source/features/motion_generators.rst

@@ -70,7 +70,7 @@ where :math:`k_d` are the gains parsed from configuration.
 This control mode is achievable by setting the command type for the actuator group, via
 the :class:`ActuatorControlCfg` class, to `"v_abs"` or `"v_rel"`.
 
-.. note::
+.. attention::
 
     While performing velocity control, in many cases, gravity compensation is required to ensure better
     tracking of the command. In this case, we suggest disabling gravity for the links in the articulation

docs/source/refs/contributing.rst

@@ -14,7 +14,7 @@ and useful for everyone. These may happen in forms of:
   * Tutorials and tutorial improvements
 
 
-.. note::
+.. attention::
 
    We prefer GitHub `discussions <https://github.com/NVIDIA-Omniverse/Orbit/discussions>`_ for discussing ideas,
    asking questions, conversations and requests for new features.
@@ -213,7 +213,8 @@ a Nucleus server.
 Please check the `Isaac Sim documentation <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_faq.html#assets-and-nucleus>`__
 for more information on how to download the assets.
 
-.. note::
+.. attention::
+
   We are currently working on a better way to contribute assets. We will update this section once we
   have a solution. In the meantime, please follow the steps mentioned below.
 

docs/source/setup/developer.rst

@@ -81,16 +81,17 @@ The ``orbit`` repository is structured as follows:
 
    orbit
    ├── .vscode
+   ├── .flake8
    ├── LICENSE
    ├── orbit.sh
    ├── pyproject.toml
-   ├── CHANGELOG.md
    ├── README.md
    ├── docs
    ├── source
    │   ├── extensions
    │   │   ├── omni.isaac.orbit
    │   │   └── omni.isaac.orbit_envs
+   │   │   └── omni.isaac.contrib_envs
    │   ├── standalone
    │   │   ├── demo
    │   │   ├── environments
@@ -101,13 +102,7 @@ The ``orbit`` repository is structured as follows:
 The ``source`` directory contains the source code for ``orbit`` *extensions*
 and *standalone applications*. The two are the different development workflows
 supported in `NVIDIA Isaac Sim <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_required_workflows.html>`__.
-
-.. note::
-
-   Instead of maintaining a `changelog <https://keepachangelog.com/en/1.0.0/>`__ for each
-   extension, we maintain a common changelog file for the whole repository. This is
-   located in the root directory of the repository and is named ``CHANGELOG.md``.
-
+These are described in the following sections.
 
 Extensions
 ~~~~~~~~~~
@@ -238,6 +233,48 @@ provided by ``orbit``. These applications are written in python and are structur
   reinforcement learning or imitation learning libraries.
 
 
+Building the documentation locally
+----------------------------------
+
+The documentation for ``orbit`` is generated using `Sphinx <https://www.sphinx-doc.org/en/master/>`__.
+It is written in `reStructuredText <https://docutils.sourceforge.io/rst.html>`__ format and
+is located in the ``docs`` directory. We use the `sphinx-book-theme <https://sphinx-book-theme.readthedocs.io/en/stable/>`__
+for the documentation theme.
+
+.. caution::
+
+   To build the documentation, we recommend creating a virtual environment to avoid any conflicts
+   with the python packages installed in the system.
+
+
+To build the documentation, run the following command in the terminal which installs the required python packages and
+builds the documentation using the ``docs/Makefile``:
+
+.. code:: bash
+
+   ./orbit.sh --docs  # or `./orbit.sh -d`
+
+The documentation is generated in the ``docs/_build`` directory. To view the documentation, open
+the ``index.html`` file in the ``html`` directory. This can be done by running the following command
+in the terminal:
+
+.. code:: bash
+
+   xdg-open docs/_build/html/index.html
+
+.. hint::
+
+   The ``xdg-open`` command is used to open the ``index.html`` file in the default browser. If you are
+   using a different operating system, you can use the appropriate command to open the file in the browser.
+
+
+To do a clean build, run the following command in the terminal:
+
+.. code:: bash
+
+   rm -rf docs/_build && ./orbit.sh --docs
+
+
 Code style
 ----------
 

docs/source/setup/installation.rst

@@ -86,7 +86,7 @@ On a new terminal (**``Ctrl+Alt+T``**), run the following:
       # checks that Isaac Sim can be launched from python
       ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/omni.isaac.core/add_cubes.py
 
-.. note::
+.. attention::
 
 	If you have been using a previous version of Isaac Sim, you
 	need to run the following command for the *first* time after

docs/source/tutorials/00_empty.rst

@@ -71,7 +71,7 @@ stepping, or stopping the simulator), configures the stage (such as stage units
 prim (which provides physics simulation parameters such as gravity direction and magnitude, the simulation
 time-step size, and advanced solver algorithm settings).
 
-.. note::
+.. attention::
 
     The :class:`SimulationContext` class also takes in the ``backend`` parameter which specifies the tensor library
     (such as ``"numpy"`` and ``"torch"``) in which the returned physics tensors are casted in. Currently, ``orbit``

docs/source/tutorials/01_arms.rst

@@ -86,7 +86,7 @@ robot when it is spawned in the scene. The default state is a tuple of two tenso
 the other for the joint velocities. It is used to reset the robot to its initial state at a pre-defined interval of
 steps.
 
-.. note::
+.. danger::
     Since the underlying physics engine in Isaac Sim does not separate the kinematics forwarding and dynamics stepping,
     the robot's state does not take into affect until after stepping the simulation.
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/mdp/reward_manager.py

@@ -33,6 +33,7 @@ class RewardManager:
     as kernel parameters.
 
     .. note::
+
         The reward manager multiplies the reward terms by the ``weight`` key in the configuration
         dictionary with the time-step interval ``dt`` of the environment. This is done to ensure
         that the computed reward terms are balanced with respect to the chosen time-step interval.