Adds tutorial for creating a new environment

* updates documentation for creating a new env
* updates gitignore for orbit_assets

---------
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

.gitignore

@@ -40,6 +40,7 @@ _build
 # Internal
 # TODO: Remove this once we have a better way to handle internal files.
 source/extensions/omni.isaac.assets
+source/extensions/omni.isaac.orbit_assets
 
 # RL-Games
 **/runs/*

docs/conf.py

@@ -43,6 +43,7 @@ extensions = [
     "myst_parser",
     "autodocsumm",
     "sphinx_copybutton",
+    "sphinx_panels",
 ]
 
 # mathjax hacks
@@ -53,6 +54,10 @@ mathjax3_config = {
     },
 }
 
+# panels hacks
+panels_add_bootstrap_css = False
+panels_add_fontawesome_css = True
+
 # supported file extensions for source files
 source_suffix = {
     ".rst": "restructuredtext",

docs/index.rst

@@ -44,13 +44,20 @@ using the following BibTeX entry:
 
 .. toctree::
    :maxdepth: 1
-   :caption: Tutorials (beginner)
+   :caption: Tutorials (Core)
 
    source/tutorials/00_empty
    source/tutorials/01_arms
    source/tutorials/02_cloner
    source/tutorials/03_ik_controller
-   source/tutorials/04_gym_env
+
+.. toctree::
+   :hidden:
+   :maxdepth: 1
+   :caption: Tutorials (Environments)
+
+   source/tutorials_envs/00_gym_env
+   source/tutorials_envs/01_create_env
 
 .. toctree::
    :maxdepth: 2

docs/requirements.txt

@@ -7,6 +7,7 @@ myst-parser==0.18.1
 sphinxcontrib-bibtex==2.5.0
 autodocsumm==0.2.9
 sphinx-copybutton
+sphinx-panels
 
 # basic python
 numpy

docs/source/tutorials/04_gym_env.rst → docs/source/tutorials_envs/00_gym_env.rst

@@ -20,7 +20,7 @@ The tutorial corresponds to the ``zero_agent.py`` script in the ``orbit/source/s
 
 .. literalinclude:: ../../../source/standalone/environments/zero_agent.py
    :language: python
-   :emphasize-lines: 35-36,42-45,50-57
+   :emphasize-lines: 34-35,41-44,49-55
    :linenos:
 
 The Code Explained
@@ -53,9 +53,9 @@ we must import the module at the start of the script.
 
 .. literalinclude:: ../../../source/standalone/environments/zero_agent.py
    :language: python
-   :lines: 32-36
+   :lines: 33-35
    :linenos:
-   :lineno-start: 32
+   :lineno-start: 33
 
 .. note::
 
@@ -83,18 +83,18 @@ Once creating the environment, the rest of the execution follows the standard re
 
 .. literalinclude:: ../../../source/standalone/environments/zero_agent.py
    :language: python
-   :lines: 47-54
+   :lines: 45-55
    :linenos:
-   :lineno-start: 47
+   :lineno-start: 45
 
 Similar to previous tutorials, to ensure a safe exit when running the script, we need to add checks
 for whether the simulation is stopped or not.
 
 .. literalinclude:: ../../../source/standalone/environments/zero_agent.py
    :language: python
-   :lines: 55-57
+   :lines: 57-59
    :linenos:
-   :lineno-start: 55
+   :lineno-start: 57
 
 
 The Code Execution