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| """Sphinx helpers for Isaac Lab documentation.""" |
|
|
| from __future__ import annotations |
|
|
| from docutils import nodes |
| from docutils.parsers.rst import directives |
| from docutils.statemachine import StringList |
| from sphinx.util.docutils import SphinxDirective |
|
|
|
|
| def _branch(config) -> str: |
| """Return the branch or tag pinned in installation docs.""" |
| current_version = getattr(config, "smv_current_version", "") |
| if current_version: |
| return current_version |
| return getattr(config, "isaaclab_latest_branch", "main") |
|
|
|
|
| def _parse_rst(directive: SphinxDirective, content: str) -> list[nodes.Node]: |
| """Parse nested reST and return the generated document nodes.""" |
| source = directive.env.doc2path(directive.env.docname, base=False) |
| lines = StringList(content.splitlines(), source=source) |
| container = nodes.container() |
| directive.state.nested_parse(lines, 0, container) |
| return container.children |
|
|
|
|
| class IsaacLabCloneCommands(SphinxDirective): |
| """Render SSH/HTTPS clone tabs using copy-friendly ``code-block`` directives.""" |
|
|
| has_content = False |
|
|
| def run(self) -> list[nodes.Node]: |
| branch = _branch(self.config) |
| content = f"""\ |
| .. tab-set:: |
| |
| .. tab-item:: SSH |
| |
| .. code-block:: bash |
| |
| git clone git@github.com:isaac-sim/IsaacLab.git --branch {branch} |
| cd IsaacLab |
| |
| .. tab-item:: HTTPS |
| |
| .. code-block:: bash |
| |
| git clone https://github.com/isaac-sim/IsaacLab.git --branch {branch} |
| cd IsaacLab |
| """ |
| return _parse_rst(self, content) |
|
|
|
|
| class IsaacLabCloneHttps(SphinxDirective): |
| """Render an HTTPS clone command as a copy-friendly ``code-block``.""" |
|
|
| has_content = False |
|
|
| def run(self) -> list[nodes.Node]: |
| branch = _branch(self.config) |
| content = f"""\ |
| .. code-block:: bash |
| |
| git clone https://github.com/isaac-sim/IsaacLab.git --branch {branch} |
| cd IsaacLab |
| """ |
| return _parse_rst(self, content) |
|
|
|
|
| class IsaacLabKitlessInstallSnippet(SphinxDirective): |
| """Render the kit-less clone + install commands from the installation index.""" |
|
|
| has_content = False |
|
|
| def run(self) -> list[nodes.Node]: |
| branch = _branch(self.config) |
| content = f"""\ |
| .. code-block:: bash |
| |
| git clone https://github.com/isaac-sim/IsaacLab.git --branch {branch} |
| cd IsaacLab |
| ./isaaclab.sh --install # or ./isaaclab.sh -i |
| """ |
| return _parse_rst(self, content) |
|
|
|
|
| class IsaacLabQuickstartInstall(SphinxDirective): |
| """Render quickstart install snippets with the pinned release branch.""" |
|
|
| option_spec = { |
| "kitless": directives.flag, |
| "isaacsim": directives.flag, |
| "platform": directives.unchanged_required, |
| } |
|
|
| def run(self) -> list[nodes.Node]: |
| branch = _branch(self.config) |
| platform = self.options["platform"].strip().lower() |
| if platform not in {"linux", "windows"}: |
| raise self.error(f"Unsupported platform '{platform}'. Use 'linux' or 'windows'.") |
|
|
| if "kitless" in self.options and "isaacsim" in self.options: |
| raise self.error("Specify only one of :kitless: or :isaacsim:.") |
|
|
| if "kitless" in self.options: |
| content = _quickstart_kitless(branch, platform) |
| elif "isaacsim" in self.options: |
| content = _quickstart_isaacsim(branch, platform) |
| else: |
| raise self.error("Specify either :kitless: or :isaacsim:.") |
|
|
| return _parse_rst(self, content) |
|
|
|
|
| def _quickstart_kitless(branch: str, platform: str) -> str: |
| """Return quickstart reST for kit-less installation.""" |
| if platform == "linux": |
| return f"""\ |
| .. code-block:: bash |
| |
| # Install uv (https://docs.astral.sh/uv/getting-started/installation/) |
| curl -LsSf https://astral.sh/uv/install.sh | sh |
| |
| git clone https://github.com/isaac-sim/IsaacLab.git --branch {branch} |
| cd IsaacLab |
| |
| uv venv --python 3.12 --seed env_isaaclab |
| source env_isaaclab/bin/activate |
| ./isaaclab.sh -i |
| """ |
| return f"""\ |
| .. code-block:: batch |
| |
| :: Install uv: https://docs.astral.sh/uv/getting-started/installation/ |
| |
| git clone https://github.com/isaac-sim/IsaacLab.git --branch {branch} |
| cd IsaacLab |
| |
| uv venv --python 3.12 --seed env_isaaclab |
| env_isaaclab\\Scripts\\activate |
| isaaclab.bat -i |
| """ |
|
|
|
|
| def _quickstart_isaacsim(branch: str, platform: str) -> str: |
| """Return quickstart reST for full Isaac Sim installation.""" |
| if platform == "linux": |
| return f"""\ |
| .. code-block:: bash |
| |
| git clone https://github.com/isaac-sim/IsaacLab.git --branch {branch} |
| cd IsaacLab |
| |
| uv venv --python 3.12 --seed env_isaaclab |
| source env_isaaclab/bin/activate |
| uv pip install --upgrade pip |
| uv pip install "isaacsim[all,extscache]==6.0.1.0" \\ |
| --extra-index-url https://pypi.nvidia.com \\ |
| --index-strategy unsafe-best-match --prerelease=allow |
| uv pip install -U torch==2.10.0 torchvision==0.25.0 \\ |
| --index-url https://download.pytorch.org/whl/cu128 |
| ./isaaclab.sh -i |
| """ |
| return f"""\ |
| .. code-block:: batch |
| |
| :: Install uv: https://docs.astral.sh/uv/getting-started/installation/ |
| |
| git clone https://github.com/isaac-sim/IsaacLab.git --branch {branch} |
| cd IsaacLab |
| |
| uv venv --python 3.12 --seed env_isaaclab |
| env_isaaclab\\Scripts\\activate |
| uv pip install --upgrade pip |
| uv pip install "isaacsim[all,extscache]==6.0.1.0" ^ |
| --extra-index-url https://pypi.nvidia.com ^ |
| --index-strategy unsafe-best-match --prerelease=allow |
| uv pip install -U torch==2.10.0 torchvision==0.25.0 ^ |
| --index-url https://download.pytorch.org/whl/cu128 |
| isaaclab.bat -i |
| """ |
|
|
|
|
| def setup(app): |
| """Register Isaac Lab documentation directives.""" |
| app.add_config_value("isaaclab_latest_branch", "release/3.0.0-beta2", "env") |
| app.add_directive("isaaclab-clone-commands", IsaacLabCloneCommands) |
| app.add_directive("isaaclab-clone-https", IsaacLabCloneHttps) |
| app.add_directive("isaaclab-kitless-install-snippet", IsaacLabKitlessInstallSnippet) |
| app.add_directive("isaaclab-quickstart-install", IsaacLabQuickstartInstall) |
| return { |
| "version": "0.1", |
| "parallel_read_safe": True, |
| "parallel_write_safe": True, |
| } |
|
|
