Fixes links in the documentation

README.md

@@ -56,9 +56,9 @@ NVIDIA Isaac Sim is available freely under [individual license](https://www.nvid
 
 Orbit framework is released under [BSD-3 License](LICENSE). The license files of its dependencies and assets are present in the [`docs/licenses`](docs/licenses) directory.
 
-## Citation
+## Citing
 
-Please cite [this paper](https://arxiv.org/abs/2301.04195) if you use this framework in your work:
+If you use this framework in your work, please cite [this paper](https://arxiv.org/abs/2301.04195):
 
 ```text
 @article{mittal2023orbit,

docs/conf.py

@@ -103,6 +103,7 @@ intersphinx_mapping = {
     "torch": ("https://pytorch.org/docs/stable/", None),
     "isaac": ("https://docs.omniverse.nvidia.com/py/isaacsim", None),
     "gymnasium": ("https://gymnasium.farama.org/", None),
+    "warp": ("https://nvidia.github.io/warp/", None),
 }
 
 # Add any paths that contain templates here, relative to this directory.

docs/index.rst

@@ -13,13 +13,43 @@ and efficient simulation. The core objectives of the framework are:
 
 For more information about the framework, please refer to the `paper <https://arxiv.org/abs/2301.04195>`_
 :cite:`mittal2023orbit`. For clarifications on NVIDIA Isaac ecosystem, please check out the
-:doc:`/source/refs/faq` section.
+:doc:`/source/setup/faq` section.
 
 .. figure:: source/_static/tasks.jpg
    :width: 100%
    :alt: Example tasks created using orbit
 
 
+Citing
+======
+
+If you use Orbit in your research, please use the following BibTeX entry:
+
+.. code:: bibtex
+
+   @article{mittal2023orbit,
+      author={Mittal, Mayank and Yu, Calvin and Yu, Qinxi and Liu, Jingzhou and Rudin, Nikita and Hoeller, David and Yuan, Jia Lin and Singh, Ritvik and Guo, Yunrong and Mazhar, Hammad and Mandlekar, Ajay and Babich, Buck and State, Gavriel and Hutter, Marco and Garg, Animesh},
+      journal={IEEE Robotics and Automation Letters},
+      title={Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments},
+      year={2023},
+      volume={8},
+      number={6},
+      pages={3740-3747},
+      doi={10.1109/LRA.2023.3270034}
+   }
+
+
+License
+=======
+
+NVIDIA Isaac Sim is provided under the NVIDIA End User License Agreement. However, the
+Orbit framework is open-sourced under the BSD-3-Clause license.
+Please refer to :ref:`license` for more details.
+
+
+Table of Contents
+=================
+
 .. toctree::
    :maxdepth: 2
    :caption: Getting Started
@@ -27,6 +57,7 @@ For more information about the framework, please refer to the `paper <https://ar
    source/setup/installation
    source/setup/developer
    source/setup/sample
+   source/setup/faq
 
 .. toctree::
    :maxdepth: 2
@@ -55,7 +86,6 @@ For more information about the framework, please refer to the `paper <https://ar
    :maxdepth: 1
    :caption: References
 
-   source/refs/faq
    source/refs/migration
    source/refs/contributing
    source/refs/troubleshooting
@@ -64,6 +94,11 @@ For more information about the framework, please refer to the `paper <https://ar
    source/refs/license
    source/refs/bibliography
 
+.. toctree::
+    :hidden:
+    :caption: Project Links
+
+    GitHub <https://github.com/NVIDIA-Omniverse/orbit>
 
 Indices and tables
 ==================

docs/source/how-to/record_animation.rst

@@ -58,9 +58,21 @@ to the ``recordings`` folder in the current working directory. The files are sto
 - ``Stage.usd``: The original stage with all physics disabled
 - ``TimeSample_tk001.usd``: The timeSampled file containing the recorded animation
 
-You can open Omniverse Create application to play back the animation. On a new stage, add the ``Stage.usd``
-as a sublayer and then add the ``TimeSample_tk001.usd`` as a sublayer. You can then play the animation by
-pressing the play button.
+You can open Omniverse Isaac Sim application to play back the animation. There are many ways to launch
+the application (such as from terminal or `Omniverse Launcher`_). Here we use the terminal to open the
+application and play the animation.
+
+.. code-block:: bash
+
+  ./orbit.sh -s  # Opens Isaac Sim application through _isaac_sim/isaac-sim.sh
+
+On a new stage, add the ``Stage.usd`` as a sublayer and then add the ``TimeSample_tk001.usd`` as a sublayer.
+You can do this by dragging and dropping the files from the file explorer to the stage. Please check out
+the `tutorial on layering in Omniverse`_ for more details.
+
+You can then play the animation by pressing the play button.
 
 .. _Stage Recorder: https://docs.omniverse.nvidia.com/extensions/latest/ext_animation_stage-recorder.html
 .. _Fabric: https://docs.omniverse.nvidia.com/kit/docs/usdrt/latest/docs/usd_fabric_usdrt.html
+.. _Omniverse Launcher: https://docs.omniverse.nvidia.com/launcher/latest/index.html
+.. _tutorial on layering in Omniverse: https://www.youtube.com/watch?v=LTwmNkSDh-c&ab_channel=NVIDIAOmniverse

docs/source/refs/contributing.rst

@@ -169,14 +169,14 @@ To do a clean build, run the following command in the terminal:
 Contributing assets
 -------------------
 
-Currently, we host the assets for the extensions on `NVIDIA Nucleus Server <https://docs.omniverse.nvidia.com/prod_nucleus/prod_nucleus/overview.html>`__.
+Currently, we host the assets for the extensions on `NVIDIA Nucleus Server <https://docs.omniverse.nvidia.com/nucleus/latest/index.html>`__.
 Nucleus is a cloud-based storage service that allows users to store and share large files. It is
 integrated with the `NVIDIA Omniverse Platform <https://developer.nvidia.com/omniverse>`__.
 
 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/app_isaacsim/app_isaacsim/reference_assets.html>`__.
+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.
 

docs/source/refs/issues.rst

-Known issues
+Known Issues
 ============
 
 .. attention::

docs/source/refs/license.rst

+.. _license:
+
 License
 ========
 

docs/source/refs/faq.rst → docs/source/setup/faq.rst

@@ -4,11 +4,6 @@ Frequently Asked Questions
 Where does Orbit fit in the Isaac ecosystem?
 --------------------------------------------
 
-.. attention::
-
-    This section is based on the author's understanding of the Isaac ecosystem and is not an official
-    statement from NVIDIA.
-
 Over the years, NVIDIA has developed a number of tools for robotics and AI. These tools leverage
 the power of GPUs to accelerate the simulation both in terms of speed and realism. They show great
 promise in the field of simulation technology and are being used by many researchers and companies

docs/source/setup/installation.rst

@@ -140,7 +140,7 @@ Organizing the workspace
       # Option 1: With SSH
       git clone git@github.com:NVIDIA-Omniverse/orbit.git
       # Option 2: With HTTPS
-      git clone https://github.com/NVIDIA-Omniverse/Orbit.git
+      git clone https://github.com/NVIDIA-Omniverse/orbit.git
 
 -  Set up a symbolic link between the installed Isaac Sim root folder
    and ``_isaac_sim`` in the ``orbit``` directory. This makes it convenient
@@ -161,43 +161,21 @@ utilities to manage extensions:
 
    ./orbit.sh --help
 
-   usage: orbit.sh [-h] [-i] [-e] [-f] [-p] [-s] [-o] [-v] [-d] [-c] -- Utility to manage extensions in Orbit.
+   usage: orbit.sh [-h] [-i] [-e] [-f] [-p] [-s] [-t] [-o] [-v] [-d] [-c] -- Utility to manage Orbit.
 
    optional arguments:
       -h, --help           Display the help content.
-      -i, --install        Install the extensions inside Isaac Orbit.
+      -i, --install        Install the extensions inside Orbit.
       -e, --extra [LIB]    Install learning frameworks (rl_games, rsl_rl, sb3) as extra dependencies. Default is 'all'.
       -f, --format         Run pre-commit to format the code and check lints.
-      -p, --python         Run the python executable (python.sh) provided by Isaac Sim.
+      -p, --python         Run the python executable provided by Isaac Sim or virtual environment (if active).
       -s, --sim            Run the simulator executable (isaac-sim.sh) provided by Isaac Sim.
+      -t, --test           Run all python unittest tests.
       -o, --docker         Run the docker container helper script (docker/container.sh).
       -v, --vscode         Generate the VSCode settings file from template.
       -d, --docs           Build the documentation from source using sphinx.
       -c, --conda [NAME]   Create the conda environment for Orbit. Default name is 'orbit'.
 
-To not restrict running commands only from the top of this repository
-(where the README.md is located), we recommend adding the executable to your environment
-variables in your ``.bashrc`` or ``.zshrc`` file as an alias command. This can be achieved
-running the following on your terminal:
-
-.. code:: bash
-
-   # note: execute the command from where the "orbit.sh" executable exists
-   # option1: for bash users
-   echo -e "alias orbit=$(pwd)/orbit.sh" >> ${HOME}/.bashrc
-   # option2: for zshell users
-   echo -e "alias orbit=$(pwd)/orbit.sh" >> ${HOME}/.zshrc
-
-After running the above command, don't forget to source your ``.bashrc`` or ``.zshrc`` file:
-
-.. code:: bash
-
-   # option1: for bash users
-   source ${HOME}/.bashrc
-   # option2: for zshell users
-   source ${HOME}/.zshrc
-
-
 Setting up the environment
 ~~~~~~~~~~~~~~~~~~~~~~~~~~
 

docs/source/setup/sample.rst

-Running existing scripts
+Running Existing Scripts
 ========================
 
 Showroom

orbit.sh

@@ -188,13 +188,13 @@ update_vscode_settings() {
 
 # print the usage description
 print_help () {
-    echo -e "\nusage: $(basename "$0") [-h] [-i] [-e] [-f] [-p] [-s] [-o] [-v] [-d] [-c] -- Utility to manage extensions in Orbit."
+    echo -e "\nusage: $(basename "$0") [-h] [-i] [-e] [-f] [-p] [-s] [-t] [-o] [-v] [-d] [-c] -- Utility to manage Orbit."
     echo -e "\noptional arguments:"
     echo -e "\t-h, --help           Display the help content."
     echo -e "\t-i, --install        Install the extensions inside Orbit."
-    echo -e "\t-e, --extra          Install extra dependencies such as the learning frameworks."
+    echo -e "\t-e, --extra [LIB]    Install learning frameworks (rl_games, rsl_rl, sb3) as extra dependencies. Default is 'all'."
     echo -e "\t-f, --format         Run pre-commit to format the code and check lints."
-    echo -e "\t-p, --python         Run the python executable (python.sh) provided by Isaac Sim."
+    echo -e "\t-p, --python         Run the python executable provided by Isaac Sim or virtual environment (if active)."
     echo -e "\t-s, --sim            Run the simulator executable (isaac-sim.sh) provided by Isaac Sim."
     echo -e "\t-t, --test           Run all python unittest tests."
     echo -e "\t-o, --docker         Run the docker container helper script (docker/container.sh)."