Updates Isaac Sim doc links (#266)

# Description

Isaac Sim 4.5 documentation moved to a new URL, updating links for the
Isaac Sim docs to new URLs.
Additionally, we will be updating VERSION for every commit to the repo,
so this change updates the documentation parsing to use only the major,
minor, and patch versions from VERSION.

Author: kellyguo11

docker/Dockerfile.ros2

@@ -31,5 +31,5 @@ RUN --mount=type=cache,target=/var/cache/apt \
     echo "source /opt/ros/humble/setup.bash" >> ${HOME}/.bashrc
 
 # Copy the RMW specifications for ROS2
-# https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html#enabling-the-ros-bridge-extension
+# https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_ros.html
 COPY docker/.ros/ ${DOCKER_USER_HOME}/.ros/

docs/conf.py

@@ -35,7 +35,8 @@
 
 # Read version from the package
 with open(os.path.join(os.path.dirname(__file__), "..", "VERSION")) as f:
-    version = f.read().strip()
+    full_version = f.read().strip()
+    version = ".".join(full_version.split(".")[:3])
 
 # -- General configuration ---------------------------------------------------
 

docs/index.rst

@@ -149,7 +149,7 @@ 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 Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com/latest/index.html>
     NVIDIA PhysX <https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html>
 
 Indices and tables
@@ -159,4 +159,4 @@ Indices and tables
 * :ref:`modindex`
 * :ref:`search`
 
-.. _NVIDIA Isaac Sim: https://docs.omniverse.nvidia.com/isaacsim/latest/index.html
+.. _NVIDIA Isaac Sim: https://docs.isaacsim.omniverse.nvidia.com/latest/index.html

docs/source/how-to/import_new_asset.rst

@@ -230,9 +230,9 @@ of gravity.
 
 
 .. _instanceable: https://openusd.org/dev/api/_usd__page__scenegraph_instancing.html
-.. _documentation: https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_lab_tutorials/tutorial_instanceable_assets.html
-.. _MJCF importer: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_mjcf.html
-.. _URDF importer: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_urdf.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
 .. _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

@@ -68,7 +68,7 @@ Importing assets
 
 -  `Omniverse Create - Importing FBX Files \| NVIDIA Omniverse Tutorials <https://youtu.be/dQI0OpzfVHw>`__
 -  `Omniverse Asset Importer <https://docs.omniverse.nvidia.com/extensions/latest/ext_asset-importer.html>`__
--  `Isaac Sim URDF impoter <https://docs.omniverse.nvidia.com/isaacsim/latest/ext_omni_isaac_urdf.html>`__
+-  `Isaac Sim URDF impoter <https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/ext_isaacsim_asset_importer_urdf.html>`__
 
 
 Part 2: Scripting in Omniverse
@@ -117,8 +117,8 @@ As a test of understanding, make sure you can answer the following:
 Part 3: More Resources
 ----------------------
 
-- `Omniverse Glossary of Terms <https://docs.omniverse.nvidia.com/isaacsim/latest/common/glossary-of-terms.html>`__
+- `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.omniverse.nvidia.com/isaacsim/latest/simulation_fundamentals.html#omni-physics-and-physx-limitations>`__
+- `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/repo_structure.rst

@@ -32,7 +32,10 @@ Repository organization
    ├── tools
    └── VERSION
 
-Isaac Lab is built on the same back end as Isaac Sim.  As such, it exists as a collection of **extensions** that can be assembled into **applications**. The ``source`` directory contains the majority of the code in the repository and the specific extensions that compose Isaac lab, while ``scripts`` containing python scripts for launching customized standalone apps (Like our workflows). These are the two primary ways of interacting with the simulation and Isaac lab supports both! Checkout this `Isaac Sim introduction to workflows <https://docs.omniverse.nvidia.com/isaacsim/latest/introductory_tutorials/tutorial_intro_workflows.html>`__ for more details.
+Isaac Lab is built on the same back end as Isaac Sim.  As such, it exists as a collection of **extensions** that can be assembled into **applications**.
+The ``source`` directory contains the majority of the code in the repository and the specific extensions that compose Isaac lab, while ``scripts`` containing python scripts for launching customized standalone apps (Like our workflows).
+These are the two primary ways of interacting with the simulation and Isaac lab supports both!
+Checkout this `Isaac Sim introduction to workflows <https://docs.isaacsim.omniverse.nvidia.com/latest/introduction/workflows.html>`__ for more details.
 
 Extensions
 ~~~~~~~~~~

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

@@ -44,7 +44,7 @@ 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.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_python_debugging.html>`__
+* `Debugging with VSCode <https://docs.isaacsim.omniverse.nvidia.com/latest/development_tools/vscode.html#visual-studio-code-vs-code>`__
 
 
 Configuring the python interpreter

docs/source/refs/additional_resources.rst

@@ -27,7 +27,7 @@ Simulation Features
 
 At the heart of Isaac Lab is Isaac Sim, which is itself a feature rich tool that is useful for robotics in general, and not only for RL. The stronger your understanding of the simulation, the readily you will be able to exploit its capabilities for your own projects and applications. These resources are dedicated to informing you about the other features of the simulation that may be useful to you given your specific interest in Isaac Lab!
 
-* `Deploying Policies in Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_lab_tutorials/tutorial_policy_deployment.html>`_ is an Isaac Sim tutorial on how to use trained policies within the simulation.
+* `Deploying Policies in Isaac Sim <https://docs.isaacsim.omniverse.nvidia.com/latest/isaac_lab_tutorials/tutorial_policy_deployment.html>`_ is an Isaac Sim tutorial on how to use trained policies within the simulation.
 
 * `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/>`_ is a blog post covering the newest features of Isaac Sim 4.0, including ``pip install``, a more advanced physics engine, updated sensor simulations, and more!
 

docs/source/refs/contributing.rst

@@ -176,11 +176,10 @@ 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.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.
+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.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_faq.html#assets-and-nucleus>`__
+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.
 
 .. attention::

docs/source/refs/issues.rst

@@ -75,7 +75,7 @@ This is then replicated across other references of the same asset since physics
 are stored in the instanceable asset's USD file and not in its stage reference's USD file.
 
 .. _instanceable assets: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_gym_instanceable_assets.html
-.. _Omniverse Isaac Sim documentation: https://docs.omniverse.nvidia.com/isaacsim/latest/known_issues.html
+.. _Omniverse Isaac Sim documentation: https://docs.isaacsim.omniverse.nvidia.com/latest/overview/known_issues.html#
 
 
 Exiting the process