Fixes sphinx tabs to make them work in dark theme (#584)

Earlier, we used the `sphinx-tabs` module, which didn't work well with
the `sphinx-book-theme` of our documentation. This MR removes this
dependency and uses `sphinx-design` instead for tabs. This natively
supports the dark theme.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

## Screenshots


https://github.com/isaac-sim/IsaacLab/assets/12863862/a56e1fa4-9b3c-4161-83bd-95b0e3b10334


## Checklist

- [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
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have run all the tests with `./isaaclab.sh --test` and they pass
- [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

VERSION

-0.3.0
+1.0.0

docs/conf.py

@@ -29,7 +29,9 @@ project = "Isaac Lab"
 copyright = "2022-2024, The Isaac Lab Project Developers."
 author = "The Isaac Lab Project Developers."
 
-version = "0.3.0"
+# Read version from the package
+with open(os.path.join(os.path.dirname(__file__), "..", "VERSION")) as f:
+    version = f.read().strip()
 
 # -- General configuration ---------------------------------------------------
 
@@ -51,7 +53,6 @@ extensions = [
     "sphinxcontrib.bibtex",
     "sphinx_copybutton",
     "sphinx_design",
-    "sphinx_tabs.tabs",
 ]
 
 # mathjax hacks

docs/index.rst

@@ -116,6 +116,8 @@ 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 PhysX <https://nvidia-omniverse.github.io/PhysX/physx/5.4.0/index.html>
 
 Indices and tables
 ==================
@@ -124,4 +126,4 @@ Indices and tables
 * :ref:`modindex`
 * :ref:`search`
 
-.. _NVIDIA Isaac Sim: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html
+.. _NVIDIA Isaac Sim: https://docs.omniverse.nvidia.com/isaacsim/latest/index.html

docs/requirements.txt

 # for building the docs
-sphinx-book-theme==1.0.1
+sphinx-book-theme==1.1.3
 myst-parser
-sphinxcontrib-bibtex==2.5.0
+sphinxcontrib-bibtex
 autodocsumm
 sphinx-copybutton
 sphinx_design
 sphinxemoji
-sphinx-tabs
 
 # basic python
 numpy

docs/source/features/multi_gpu.rst

@@ -4,7 +4,7 @@ Multi-GPU and Multi-Node Training
 .. currentmodule:: omni.isaac.lab
 
 Isaac Lab supports multi-GPU and multi-node reinforcement learning. Currently, this feature is only
-available for RL-Games library training workflows. We are working on extending this feature to
+available for RL-Games and skrl libraries workflows. We are working on extending this feature to
 other workflows.
 
 .. attention::
@@ -17,10 +17,10 @@ Multi-GPU Training
 ------------------
 
 For complex reinforcement learning environments, it may be desirable to scale up training across multiple GPUs.
-This is possible in Isaac Lab with the ``rl_games`` and ``skrl`` RL libraries through the use of the
+This is possible in Isaac Lab through the use of the
 `PyTorch distributed <https://pytorch.org/docs/stable/distributed.html>`_ framework.
 
-In this workflow, ``torch.distributed`` is used to launch multiple processes of training, where the number of
+The :meth:`torch.distributed` API is used to launch multiple processes of training, where the number of
 processes must be equal to or less than the number of GPUs available. Each process runs on
 a dedicated GPU and launches its own instance of Isaac Sim and the Isaac Lab environment.
 Each process collects its own rollouts during the training process and has its own copy of the policy
@@ -31,28 +31,26 @@ at the end of the epoch.
     :align: center
     :alt: Multi-GPU training paradigm
 
-|
-
 To train with multiple GPUs, use the following command, where ``--proc_per_node`` represents the number of available GPUs:
 
-.. tabs::
+.. tab-set::
+    :sync-group: rl-train
 
-    .. group-tab:: rl_games
+    .. tab-item:: rl_games
+        :sync: rl_games
 
         .. code-block:: shell
 
             python -m torch.distributed.run --nnodes=1 --nproc_per_node=2 source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-v0 --headless --distributed
 
-    .. group-tab:: skrl
+    .. tab-item:: skrl
+        :sync: skrl
 
         .. code-block:: shell
 
             python -m torch.distributed.run --nnodes=1 --nproc_per_node=2 source/standalone/workflows/skrl/train.py --task=Isaac-Cartpole-v0 --headless --distributed
 
 
-Due to limitations of NCCL on Windows, this feature is currently supported on Linux only.
-
-
 Multi-Node Training
 -------------------
 
@@ -62,15 +60,18 @@ To train across multiple nodes/machines, it is required to launch an individual
 For the master node, use the following command, where ``--proc_per_node`` represents the number of available GPUs, and
 ``--nnodes`` represents the number of nodes:
 
-.. tabs::
+.. tab-set::
+    :sync-group: rl-train
 
-    .. group-tab:: rl_games
+    .. tab-item:: rl_games
+        :sync: rl_games
 
         .. code-block:: shell
 
             python -m torch.distributed.run --nproc_per_node=2 --nnodes=2 --node_rank=0 --rdzv_id=123 --rdzv_backend=c10d --rdzv_endpoint=localhost:5555 source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-v0 --headless --distributed
 
-    .. group-tab:: skrl
+    .. tab-item:: skrl
+        :sync: skrl
 
         .. code-block:: shell
 
@@ -80,15 +81,18 @@ Note that the port (``5555``) can be replaced with any other available port.
 
 For non-master nodes, use the following command, replacing ``--node_rank`` with the index of each machine:
 
-.. tabs::
+.. tab-set::
+    :sync-group: rl-train
 
-    .. group-tab:: rl_games
+    .. tab-item:: rl_games
+        :sync: rl_games
 
         .. code-block:: shell
 
             python -m torch.distributed.run --nproc_per_node=2 --nnodes=2 --node_rank=1 --rdzv_id=123 --rdzv_backend=c10d --rdzv_endpoint=ip_of_master_machine:5555 source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-v0 --headless --distributed
 
-    .. group-tab:: skrl
+    .. tab-item:: skrl
+        :sync: skrl
 
         .. code-block:: shell
 

docs/source/setup/developer.rst

@@ -94,6 +94,7 @@ The ``Isaac Lab`` repository is structured as follows:
    ├── source
    │   ├── extensions
    │   │   ├── omni.isaac.lab
+   │   │   ├── omni.isaac.lab_assets
    │   │   └── omni.isaac.lab_tasks
    │   ├── standalone
    │   │   ├── demos
@@ -189,34 +190,6 @@ important to note that Omniverse also provides a similar
 However, it requires going through the build process and does not support testing of the python module in
 standalone applications.
 
-Extension Dependency Management
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Certain extensions may have dependencies which need to be installed before the extension can be run.
-While Python dependencies can be expressed via the ``INSTALL_REQUIRES`` array in ``setup.py``, we need
-a separate installation pipeline to handle non-Python dependencies. We have therefore created
-an additional setup procedure, ``./isaaclab.sh --install-deps {dep_type}``, which scans the ``extension.toml``
-file of the directories under ``source/extensions`` for ``apt`` and ``rosdep`` dependencies.
-
-This example ``extension.toml`` has both ``apt_deps`` and ``ros_ws`` specified, so both
-``apt`` and ``rosdep`` packages will be installed if ``./isaaclab.sh --install-deps all``
-is passed:
-
-.. code-block:: toml
-
-   [isaaclab_settings]
-   apt_deps = ["example_package"]
-   ros_ws = "path/from/extension_root/to/ros_ws"
-
-From the ``apt_deps`` in the above example, the package ``example_package`` would be installed via ``apt``.
-From the ``ros_ws``, a ``rosdep install --from-paths {ros_ws}/src --ignore-src`` command will be called.
-This will install all the `ROS package.xml dependencies <https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html>`__
-in the directory structure below. Currently the ROS distro is assumed to be ``humble``.
-
-``apt`` deps are automatically installed this way during the build process of the ``Dockerfile.base``,
-and ``rosdep`` deps during the build process of ``Dockerfile.ros2``.
-
-
 Standalone applications
 ~~~~~~~~~~~~~~~~~~~~~~~
 

docs/source/setup/installation/binaries_installation.rst

@@ -19,14 +19,17 @@ To check the minimum system requirements,refer to the documentation
    We have tested Isaac Lab with Isaac Sim 4.0 release on Ubuntu
    20.04LTS with NVIDIA driver 525.147.
 
-   .. tabs::
+   .. tab-set::
+      :sync-group: os
 
-      .. tab:: Linux
+      .. tab-item:: Linux
+         :sync: linux
 
          On Linux systems, by default, Isaac Sim is installed in the directory
          ``${HOME}/.local/share/ov/pkg/isaac_sim-*``, with ``*`` corresponding to the Isaac Sim version.
 
-      .. tab:: Windows
+      .. tab-item:: Windows
+         :sync: windows
 
          On Windows systems, by default,Isaac Sim is installed in the directory
          ``C:\Users\user\AppData\Local\ov\pkg\isaac_sim-*``, with ``*`` corresponding to the Isaac Sim version.
@@ -47,11 +50,18 @@ Cloning Isaac Lab
 
 Clone the Isaac Lab repository into your workspace:
 
-.. code:: bash
+.. tab-set::
+
+   .. tab-item:: SSH
+
+      .. code:: bash
 
-   # Option 1: With SSH
          git clone git@github.com:isaac-sim/IsaacLab.git
-   # Option 2: With HTTPS
+
+   .. tab-item:: HTTPS
+
+      .. code:: bash
+
          git clone https://github.com/isaac-sim/IsaacLab.git
 
 
@@ -59,9 +69,11 @@ Clone the Isaac Lab repository into your workspace:
    We provide a helper executable `isaaclab.sh <https://github.com/isaac-sim/IsaacLab/blob/main/isaaclab.sh>`_ that provides
    utilities to manage extensions:
 
-   .. tabs::
+   .. tab-set::
+      :sync-group: os
 
-      .. tab:: Linux
+      .. tab-item:: Linux
+         :sync: linux
 
          .. code:: text
 
@@ -81,7 +93,8 @@ Clone the Isaac Lab repository into your workspace:
                -d, --docs           Build the documentation from source using sphinx.
                -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is 'isaaclab'.
 
-      .. tab:: Windows
+      .. tab-item:: Windows
+         :sync: windows
 
          .. code:: text
 
@@ -108,9 +121,11 @@ Set up a symbolic link between the installed Isaac Sim root folder
 and ``_isaac_sim`` in the Isaac Lab directory. This makes it convenient
 to index the python modules and look for extensions shipped with Isaac Sim.
 
-.. tabs::
+.. tab-set::
+   :sync-group: os
 
-   .. tab:: Linux
+   .. tab-item:: Linux
+      :sync: linux
 
       .. code:: bash
 
@@ -120,7 +135,8 @@ to index the python modules and look for extensions shipped with Isaac Sim.
          ln -s path_to_isaac_sim _isaac_sim
          # For example: ln -s /home/nvidia/.local/share/ov/pkg/isaac-sim-4.0.0 _isaac_sim
 
-   .. tab:: Windows
+   .. tab-item:: Windows
+      :sync: windows
 
       .. code:: batch
 
@@ -128,7 +144,7 @@ to index the python modules and look for extensions shipped with Isaac Sim.
          cd IsaacLab
          :: create a symbolic link - requires launching Command Prompt with Administrator access
          mklink /D _isaac_sim path_to_isaac_sim
-         # For example: mklink /D _isaac_sim C:/Users/nvidia/AppData/Local/ov/pkg/isaac-sim-4.0.0
+         :: For example: mklink /D _isaac_sim C:/Users/nvidia/AppData/Local/ov/pkg/isaac-sim-4.0.0
 
 
 Setting up the conda environment (optional)
@@ -148,9 +164,11 @@ Although using a virtual environment is optional, we recommend using ``conda``.
 In case you want to use ``conda`` to create a virtual environment, you can
 use the following command:
 
-.. tabs::
+.. tab-set::
+   :sync-group: os
 
-   .. tab:: Linux
+   .. tab-item:: Linux
+      :sync: linux
 
       .. code:: bash
 
@@ -159,7 +177,8 @@ use the following command:
          # Option 2: Custom name for conda environment
          ./isaaclab.sh --conda my_env  # or "./isaaclab.sh -c my_env"
 
-   .. tab:: Windows
+   .. tab-item:: Windows
+      :sync: windows
 
       .. code:: batch
 
@@ -186,45 +205,53 @@ is equivalent to running ``python`` or ``python3`` in your virtual environment.
 Installation
 ~~~~~~~~~~~~
 
--  Install dependencies using ``apt`` (on Ubuntu):
+-  Install dependencies using ``apt`` (on Linux only):
 
    .. code:: bash
 
+      # these dependency are needed by robomimic which is not available on Windows
       sudo apt install cmake build-essential
 
 - Run the install command that iterates over all the extensions in ``source/extensions`` directory and installs them
   using pip (with ``--editable`` flag):
 
-.. tabs::
+.. tab-set::
+   :sync-group: os
 
-   .. tab:: Linux
+   .. tab-item:: Linux
+      :sync: linux
 
       .. code:: bash
 
          ./isaaclab.sh --install # or "./isaaclab.sh -i"
 
-   .. tab:: Windows
+   .. tab-item:: Windows
+      :sync: windows
 
-      .. code:: bash
+      .. code:: batch
 
          isaaclab.bat --install :: or "isaaclab.bat -i"
 
 .. note::
-   By default, this will install all the learning frameworks. If you want to install only a specific framework, you can
+
+   By default, the above will install all the learning frameworks. If you want to install only a specific framework, you can
    pass the name of the framework as an argument. For example, to install only the ``rl_games`` framework, you can run
 
-   .. tabs::
+   .. tab-set::
+      :sync-group: os
 
-      .. tab:: Linux
+      .. tab-item:: Linux
+         :sync: linux
 
          .. code:: bash
 
-            ./isaaclab.sh --install rl_games
+            ./isaaclab.sh --install rl_games  # or "./isaaclab.sh -i rl_games"
 
-      .. tab:: Windows
+      .. tab-item:: Windows
+         :sync: windows
 
-         .. code:: bash
+         .. code:: batch
 
-            isaaclab.bat --install rl_games :: or "isaaclab.bat -i"
+            isaaclab.bat --install rl_games :: or "isaaclab.bat -i rl_games"
 
    The valid options are ``rl_games``, ``rsl_rl``, ``sb3``, ``skrl``, ``robomimic``, ``none``.

docs/source/setup/installation/cloud_installation.rst

@@ -51,29 +51,39 @@ Running Isaac Automator
 
 To run Isaac Automator, first build the Isaac Automator container:
 
-.. tabs::
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: Linux
+      :sync: linux
 
-  .. tab:: Linux
       .. code-block:: bash
 
          ./build
 
-  .. tab:: Windows
-      .. code-block:: bash
+   .. tab-item:: Windows
+      :sync: windows
+
+      .. code-block:: batch
 
          docker build --platform linux/x86_64 -t isa .
 
 Next, enter the automator container:
 
-.. tabs::
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: Linux
+      :sync: linux
 
-  .. tab:: Linux
       .. code-block:: bash
 
          ./run
 
-  .. tab:: Windows
-      .. code-block:: bash
+   .. tab-item:: Windows
+      :sync: windows
+
+      .. code-block:: batch
 
          docker run --platform linux/x86_64 -it --rm -v .:/app isa bash
 
@@ -108,10 +118,23 @@ Isaac Lab commands can be executed in the same way as running locally.
 
 For example:
 
-.. code-block:: bash
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: Linux
+      :sync: linux
+
+      .. code-block:: bash
 
          ./isaaclab.sh -p source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-v0
 
+   .. tab-item:: Windows
+      :sync: windows
+
+      .. code-block:: batch
+
+         ./isaaclab.bat -p source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-v0
+
 
 Destroying a Development
 -------------------------

docs/source/setup/installation/pip_installation.rst

@@ -21,37 +21,52 @@ Installing Isaac Sim
 -  To use the pip installation approach for Isaac Sim, we recommend first creating a virtual environment.
    Ensure that the python version of the virtual environment is **Python 3.10**.
 
-   .. tabs::
+   .. tab-set::
 
-      .. tab:: Conda
+      .. tab-item:: conda environment
 
          .. code-block:: bash
 
             conda create -n isaaclab python=3.10
             conda activate isaaclab
 
-      .. tab:: Virtual environment (venv)
+      .. tab-item:: venv environment
+
+         .. tab-set::
+            :sync-group: os
+
+            .. tab-item:: Linux
+               :sync: linux
 
                .. code-block:: bash
 
+                  # create a conda environment named isaaclab with python3.10
                   python3.10 -m venv isaaclab
-            # on Linux
+                  # activate the conda environment
                   source isaaclab/bin/activate
-            # on Windows
+
+            .. tab-item:: Windows
+               :sync: windows
+
+               .. code-block:: batch
+
+                  # create a virtual environment named isaaclab with python3.10
+                  python3.10 -m venv isaaclab
+                  # activate the virtual environment
                   isaaclab\Scripts\activate
 
 
 -  Next, install a CUDA-enabled PyTorch 2.2.2 build based on the CUDA version available on your system.
 
-   .. tabs::
+   .. tab-set::
 
-      .. tab:: CUDA 11
+      .. tab-item:: CUDA 11
 
          .. code-block:: bash
 
             pip install torch==2.2.2 --index-url https://download.pytorch.org/whl/cu118
 
-      .. tab:: CUDA 12
+      .. tab-item:: CUDA 12
 
          .. code-block:: bash
 
@@ -80,20 +95,30 @@ Cloning Isaac Lab
 
 Clone the Isaac Lab repository into your workspace:
 
-.. code:: bash
+.. tab-set::
+
+   .. tab-item:: SSH
+
+      .. code:: bash
 
-   # Option 1: With SSH
          git clone git@github.com:isaac-sim/IsaacLab.git
-   # Option 2: With HTTPS
+
+   .. tab-item:: HTTPS
+
+      .. code:: bash
+
          git clone https://github.com/isaac-sim/IsaacLab.git
 
+
 .. note::
    We provide a helper executable `isaaclab.sh <https://github.com/isaac-sim/IsaacLab/blob/main/isaaclab.sh>`_ that provides
    utilities to manage extensions:
 
-   .. tabs::
+   .. tab-set::
+      :sync-group: os
 
-      .. tab:: Linux
+      .. tab-item:: Linux
+         :sync: linux
 
          .. code:: text
 
@@ -113,7 +138,8 @@ Clone the Isaac Lab repository into your workspace:
                -d, --docs           Build the documentation from source using sphinx.
                -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is 'isaaclab'.
 
-      .. tab:: Windows
+      .. tab-item:: Windows
+         :sync: windows
 
          .. code:: text
 
@@ -144,36 +170,43 @@ Installation
 - Run the install command that iterates over all the extensions in ``source/extensions`` directory and installs them
   using pip (with ``--editable`` flag):
 
-.. tabs::
+.. tab-set::
+   :sync-group: os
 
-   .. tab:: Linux
+   .. tab-item:: Linux
+      :sync: linux
 
       .. code:: bash
 
          ./isaaclab.sh --install # or "./isaaclab.sh -i"
 
-   .. tab:: Windows
+   .. tab-item:: Windows
+      :sync: windows
 
       .. code:: bash
 
          isaaclab.bat --install :: or "isaaclab.bat -i"
 
 .. note::
+
    By default, this will install all the learning frameworks. If you want to install only a specific framework, you can
    pass the name of the framework as an argument. For example, to install only the ``rl_games`` framework, you can run
 
-   .. tabs::
+   .. tab-set::
+      :sync-group: os
 
-      .. tab:: Linux
+      .. tab-item:: Linux
+         :sync: linux
 
          .. code:: bash
 
-            ./isaaclab.sh --install rl_games
+            ./isaaclab.sh --install rl_games  # or "./isaaclab.sh -i rl_games"
 
-      .. tab:: Windows
+      .. tab-item:: Windows
+         :sync: windows
 
          .. code:: bash
 
-            isaaclab.bat --install rl_games :: or "isaaclab.bat -i"
+            isaaclab.bat --install rl_games :: or "isaaclab.bat -i rl_games"
 
    The valid options are ``rl_games``, ``rsl_rl``, ``sb3``, ``skrl``, ``robomimic``, ``none``.

docs/source/setup/installation/verifying_installation.rst

@@ -60,9 +60,11 @@ To avoid the overhead of finding and locating the Isaac Sim installation
 directory every time, we recommend exporting the following environment
 variables to your terminal for the remaining of the installation instructions:
 
-.. tabs::
+.. tab-set::
+   :sync-group: os
 
-   .. tab:: Linux
+   .. tab-item:: Linux
+      :sync: linux
 
       .. code:: bash
 
@@ -71,7 +73,8 @@ variables to your terminal for the remaining of the installation instructions:
          # Isaac Sim python executable
          export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
 
-   .. tab:: Windows
+   .. tab-item:: Windows
+      :sync: windows
 
       .. code:: batch
 
@@ -87,16 +90,19 @@ For more information on common paths, please check the Isaac Sim
 
 -  Check that the simulator runs as expected:
 
-   .. tabs::
+   .. tab-set::
+      :sync-group: os
 
-      .. tab:: Linux
+      .. tab-item:: Linux
+         :sync: linux
 
          .. code:: bash
 
             # note: you can pass the argument "--help" to see all arguments possible.
             ${ISAACSIM_PATH}/isaac-sim.sh
 
-      .. tab:: Windows
+      .. tab-item:: Windows
+         :sync: windows
 
          .. code:: batch
 
@@ -106,9 +112,11 @@ For more information on common paths, please check the Isaac Sim
 
 -  Check that the simulator runs from a standalone python script:
 
-   .. tabs::
+   .. tab-set::
+      :sync-group: os
 
-      .. tab:: Linux
+      .. tab-item:: Linux
+         :sync: linux
 
          .. code:: bash
 
@@ -117,7 +125,8 @@ For more information on common paths, please check the Isaac Sim
             # checks that Isaac Sim can be launched from python
             ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/omni.isaac.core/add_cubes.py
 
-      .. tab:: Windows
+      .. tab-item:: Windows
+         :sync: windows
 
          .. code:: batch
 
@@ -133,15 +142,18 @@ For more information on common paths, please check the Isaac Sim
 	need to run the following command for the *first* time after
 	installation to remove all the old user data and cached variables:
 
-   .. tabs::
+   .. tab-set::
+      :sync-group: os
 
-      .. tab:: Linux
+      .. tab-item:: Linux
+         :sync: linux
 
       	.. code:: bash
 
       		${ISAACSIM_PATH}/isaac-sim.sh --reset-user
 
-      .. tab:: Windows
+      .. tab-item:: Windows
+         :sync: windows
 
          .. code:: batch
 
@@ -162,9 +174,11 @@ Verifying the Isaac Lab installation
 To verify that the installation was successful, run the following command from the
 top of the repository:
 
-.. tabs::
+.. tab-set::
+   :sync-group: os
 
-   .. tab:: Linux
+   .. tab-item:: Linux
+      :sync: linux
 
       .. code:: bash
 
@@ -175,7 +189,8 @@ top of the repository:
          # Option 2: Using python in your virtual environment
          python source/standalone/tutorials/00_sim/create_empty.py
 
-   .. tab:: Windows
+   .. tab-item:: Windows
+      :sync: windows
 
       .. code:: batch
 

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py

@@ -47,7 +47,7 @@ class SimulationContext(_SimulationContext):
     can be accessed using the ``instance()`` method.
 
     .. attention::
-        Since we only support the ``torch <https://pytorch.org/>``_ backend for simulation, the
+        Since we only support the `PyTorch <https://pytorch.org/>`_ backend for simulation, the
         simulation context is configured to use the ``torch`` backend by default. This means that
         all the data structures used in the simulation are ``torch.Tensor`` objects.