Corrects code highlighting in troubleshooting docs (#340)

# Description This MR fixes the code highlighting in the troubleshooting docs. It was referring to Isaac Sim stuff which we don't need to do anymore. ## Type of change - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.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 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
isaac-sim · Dec 22, 2023 · 67c46ce · 67c46ce
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diff --git a/docs/conf.py b/docs/conf.py
@@ -201,6 +201,7 @@
 html_theme_options = {
     "collapse_navigation": True,
     "repository_url": "https://github.com/NVIDIA-Omniverse/Orbit",
+    "announcement": "We have now released v0.2.0! Please use the latest version for the best experience.",
     "use_repository_button": True,
     "use_issues_button": True,
     "use_edit_page_button": True,

diff --git a/docs/source/refs/issues.rst b/docs/source/refs/issues.rst
@@ -1,21 +1,6 @@
 Known issues
 ============
 
-Regression in Isaac Sim 2022.2.1
---------------------------------
-
-In Isaac Sim 2022.2.1, we have noticed the following regression and issues that should be fixed in the
-next release:
-
-* The RTX-Lidar sensor does not work properly and returns empty data.
-* The :class:`ArticulationView` class leads to issues when using GPU-physics pipeline.
-* The :class:`UrdfImporter` does not load the off-diagonal elements of the inertia matrix properly. This
-  leads to incorrect physics simulation of the robot.
-
-Due to this regression, we recommend using Isaac Sim 2022.2.0 for now. We will update this section once
-the issues are fixed in a future release.
-
-
 Blank initial frames from the camera
 ------------------------------------
 

diff --git a/docs/source/refs/troubleshooting.rst b/docs/source/refs/troubleshooting.rst
@@ -55,85 +55,25 @@ exceeds the size of the buffers, the simulation will fail with an error such as
 
 .. code:: bash
 
-    PhysX error: the application need to increase the PxgDynamicsMemoryConfig::foundLostPairsCapacity parameter to 3072, otherwise the simulation will miss interactions
+    PhysX error: the application need to increase the PxgDynamicsMemoryConfig::foundLostPairsCapacity
+    parameter to 3072, otherwise the simulation will miss interactions
 
-In this case, you need to increase the size of the buffers passed to the :class:`SimulationContext` class.
-The size of the buffers can be increased by setting the ``found_lost_pairs_capacity`` in the ``sim_params``
-argument to the :class:`SimulationContext` class. For example, to increase the size of the buffers to
-``4096``, you can use the following code:
+In this case, you need to increase the size of the buffers passed to the
+:class:`~omni.isaac.orbit.sim.SimulationContext` class. The size of the buffers can be increased by setting
+the :attr:`~omni.isaac.orbit.sim.PhysxCfg.gpu_found_lost_pairs_capacity` parameter in the
+:class:`~omni.isaac.orbit.sim.PhysxCfg` class. For example, to increase the size of the buffers to
+4096, you can use the following code:
 
 .. code:: python
 
-    from omni.isaac.core.simulation_context import SimulationContext
+    import omni.isaac.orbit.sim as sim_utils
 
-    sim = SimulationContext(sim_params={"gpu_found_lost_pairs_capacity": 4096})
+    sim_cfg = sim_utils.SimulationConfig()
+    sim_cfg.physx.gpu_found_lost_pairs_capacity = 4096
+    sim = SimulationContext(sim_params=sim_cfg)
 
-These settings are also directly exposed through the :class:`PhysxCfg` class in the ``omni.isaac.orbit_tasks``
-extension, which can be used to configure the simulation engine. Please see the documentation for
-:class:`PhysxCfg` for more details.
-
-
-Understanding the error logs from crashes
------------------------------------------
-
-Many times the simulator crashes due to a bug in the implementation.
-This swamps the terminal with exceptions, some of which are coming from
-the python interpreter calling ``__del__()`` destructor of the
-simulation application. These typically look like the following:
-
-.. code:: bash
-
-    ...
-
-    [INFO]: Completed setting up the environment...
-
-    Traceback (most recent call last):
-    File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 166, in <module>
-        main()
-    File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 126, in main
-        actions = pre_process_actions(delta_pose, gripper_command)
-    File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 57, in pre_process_actions
-        return torch.concat([delta_pose, gripper_vel], dim=1)
-    TypeError: expected Tensor as element 1 in argument 0, but got int
-    Exception ignored in: <function _make_registry.<locals>._Registry.__del__ at 0x7f94ac097f80>
-    Traceback (most recent call last):
-    File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__
-    File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
-    TypeError: 'NoneType' object is not callable
-    Exception ignored in: <function _make_registry.<locals>._Registry.__del__ at 0x7f94ac097f80>
-    Traceback (most recent call last):
-    File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__
-    File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
-    TypeError: 'NoneType' object is not callable
-    Exception ignored in: <function SettingChangeSubscription.__del__ at 0x7fa2ea173e60>
-    Traceback (most recent call last):
-    File "../orbit/_isaac_sim/kit/kernel/py/omni/kit/app/_impl/__init__.py", line 114, in __del__
-    AttributeError: 'NoneType' object has no attribute 'get_settings'
-    Exception ignored in: <function RegisteredActions.__del__ at 0x7f935f5cae60>
-    Traceback (most recent call last):
-    File "../orbit/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py", line 345, in __del__
-    File "../orbit/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py", line 350, in destroy
-    TypeError: 'NoneType' object is not callable
-    2022-12-02 15:41:54 [18,514ms] [Warning] [carb.audio.context] 1 contexts were leaked
-    ../orbit/_isaac_sim/python.sh: line 41: 414372 Segmentation fault      (core dumped) $python_exe "$@" $args
-    There was an error running python
-
-This is a known error with running standalone scripts with the Isaac Sim
-simulator. Please scroll above the exceptions thrown with
-``registry`` to see the actual error log.
-
-In the above case, the actual error is:
-
-.. code:: bash
-
-    Traceback (most recent call last):
-    File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 166, in <module>
-        main()
-    File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 126, in main
-        actions = pre_process_actions(delta_pose, gripper_command)
-    File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 57, in pre_process_actions
-        return torch.concat([delta_pose, gripper_vel], dim=1)
-    TypeError: expected Tensor as element 1 in argument 0, but got int
+Please see the documentation for :class:`~omni.isaac.orbit.sim.SimulationCfg` for more details
+on the parameters that can be used to configure the simulation.
 
 
 Preventing memory leaks in the simulator
@@ -204,3 +144,66 @@ In this revised code, the weak reference ``weakref.proxy(self)`` is used when re
 allowing the ``MyClass`` object to be properly garbage collected.
 
 By following this pattern, you can prevent memory leaks and maintain a more efficient and stable simulation.
+
+
+Understanding the error logs from crashes
+-----------------------------------------
+
+Many times the simulator crashes due to a bug in the implementation.
+This swamps the terminal with exceptions, some of which are coming from
+the python interpreter calling ``__del__()`` destructor of the
+simulation application. These typically look like the following:
+
+.. code:: bash
+
+    ...
+
+    [INFO]: Completed setting up the environment...
+
+    Traceback (most recent call last):
+    File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 166, in <module>
+        main()
+    File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 126, in main
+        actions = pre_process_actions(delta_pose, gripper_command)
+    File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 57, in pre_process_actions
+        return torch.concat([delta_pose, gripper_vel], dim=1)
+    TypeError: expected Tensor as element 1 in argument 0, but got int
+    Exception ignored in: <function _make_registry.<locals>._Registry.__del__ at 0x7f94ac097f80>
+    Traceback (most recent call last):
+    File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__
+    File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
+    TypeError: 'NoneType' object is not callable
+    Exception ignored in: <function _make_registry.<locals>._Registry.__del__ at 0x7f94ac097f80>
+    Traceback (most recent call last):
+    File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__
+    File "../orbit/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
+    TypeError: 'NoneType' object is not callable
+    Exception ignored in: <function SettingChangeSubscription.__del__ at 0x7fa2ea173e60>
+    Traceback (most recent call last):
+    File "../orbit/_isaac_sim/kit/kernel/py/omni/kit/app/_impl/__init__.py", line 114, in __del__
+    AttributeError: 'NoneType' object has no attribute 'get_settings'
+    Exception ignored in: <function RegisteredActions.__del__ at 0x7f935f5cae60>
+    Traceback (most recent call last):
+    File "../orbit/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py", line 345, in __del__
+    File "../orbit/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py", line 350, in destroy
+    TypeError: 'NoneType' object is not callable
+    2022-12-02 15:41:54 [18,514ms] [Warning] [carb.audio.context] 1 contexts were leaked
+    ../orbit/_isaac_sim/python.sh: line 41: 414372 Segmentation fault      (core dumped) $python_exe "$@" $args
+    There was an error running python
+
+This is a known error with running standalone scripts with the Isaac Sim
+simulator. Please scroll above the exceptions thrown with
+``registry`` to see the actual error log.
+
+In the above case, the actual error is:
+
+.. code:: bash
+
+    Traceback (most recent call last):
+    File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 166, in <module>
+        main()
+    File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 126, in main
+        actions = pre_process_actions(delta_pose, gripper_command)
+    File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 57, in pre_process_actions
+        return torch.concat([delta_pose, gripper_vel], dim=1)
+    TypeError: expected Tensor as element 1 in argument 0, but got int
diff --git a/docs/source/setup/installation.rst b/docs/source/setup/installation.rst
@@ -20,8 +20,8 @@ Installing Isaac Sim
 
 .. caution::
 
-   While the framework contains backwards compatibility for Isaac Sim 2022.2.1, we recommend using
-   the latest Isaac Sim 2023.1.0-hotfix.1 release. This release contains various improvements on the
+   While the framework contains some backwards compatibility for Isaac Sim 2022.2.1, we recommend using
+   the latest Isaac Sim 2023.1 release. This release contains various improvements on the
    simulation side, and is the recommended version to use with Orbit.
 
    For more information, please refer to the
@@ -38,7 +38,7 @@ To check the minimum system requirements,refer to the documentation
 `here <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/requirements.html>`__.
 
 .. note::
-	We have tested Orbit with Isaac Sim 2023.1.0 release on Ubuntu
+	We have tested Orbit with Isaac Sim 2023.1.0-hotfix.1 release on Ubuntu
 	20.04LTS with NVIDIA driver 525.147.
 
 Configuring the environment variables