Adds micro-benchmarking capabilities to Isaaclab

apps/isaaclab.python.headless.kit

@@ -206,6 +206,7 @@ enabled=true # Enable this for DLSS
 
 # Load Isaac Lab extensions last
 "isaaclab" = {order = 1000}
+"isaaclab_physx" = {order = 1000}
 "isaaclab_assets" = {order = 1000}
 "isaaclab_tasks" = {order = 1000}
 "isaaclab_mimic" = {order = 1000}

apps/isaaclab.python.kit

@@ -101,6 +101,7 @@ keywords = ["experience", "app", "usd"]
 
 # Load Isaac Lab extensions last
 "isaaclab" = {order = 1000}
+"isaaclab_physx" = {order = 1000}
 "isaaclab_assets" = {order = 1000}
 "isaaclab_tasks" = {order = 1000}
 "isaaclab_mimic" = {order = 1000}

docs/conf.py

@@ -24,6 +24,8 @@
 sys.path.insert(0, os.path.abspath("../source/isaaclab_assets/isaaclab_assets"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_tasks"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_tasks/isaaclab_tasks"))
+sys.path.insert(0, os.path.abspath("../source/isaaclab_physx"))
+sys.path.insert(0, os.path.abspath("../source/isaaclab_physx/isaaclab_physx"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_rl"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_rl/isaaclab_rl"))
 sys.path.insert(0, os.path.abspath("../source/isaaclab_mimic"))

docs/index.rst

@@ -147,6 +147,7 @@ Table of Contents
    :caption: Migration Guides
    :titlesonly:
 
+   source/migration/migrating_to_isaaclab_3-0
    source/migration/migrating_from_isaacgymenvs
    source/migration/migrating_from_omniisaacgymenvs
    source/migration/migrating_from_orbit

docs/source/api/index.rst

@@ -95,3 +95,20 @@ It includes the following modules:
    :toctree: lab_tasks
 
    utils
+
+isaaclab_physx extension
+------------------------
+
+The following modules are available in the ``isaaclab_physx`` extension:
+
+.. currentmodule:: isaaclab_physx
+
+.. autosummary::
+   :toctree: lab_physx
+
+   assets
+
+.. toctree::
+   :hidden:
+
+   lab_physx/isaaclab.assets

docs/source/api/lab/isaaclab.assets.rst

@@ -18,9 +18,6 @@
     Articulation
     ArticulationData
     ArticulationCfg
-    DeformableObject
-    DeformableObjectData
-    DeformableObjectCfg
 
 .. currentmodule:: isaaclab.assets
 
@@ -93,23 +90,3 @@ Articulation
     :inherited-members:
     :show-inheritance:
     :exclude-members: __init__, class_type
-
-Deformable Object
------------------
-
-.. autoclass:: DeformableObject
-    :members:
-    :inherited-members:
-    :show-inheritance:
-
-.. autoclass:: DeformableObjectData
-    :members:
-    :inherited-members:
-    :show-inheritance:
-    :exclude-members: __init__
-
-.. autoclass:: DeformableObjectCfg
-    :members:
-    :inherited-members:
-    :show-inheritance:
-    :exclude-members: __init__, class_type

docs/source/api/lab_physx/isaaclab.assets.rst

@@ -0,0 +1,99 @@
+isaaclab_physx.assets
+=====================
+
+.. automodule:: isaaclab_physx.assets
+  :noindex:
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    Articulation
+    ArticulationData
+    RigidObject
+    RigidObjectData
+    RigidObjectCollection
+    RigidObjectCollectionData
+    DeformableObject
+    DeformableObjectData
+    DeformableObjectCfg
+    SurfaceGripper
+    SurfaceGripperCfg
+
+.. currentmodule:: isaaclab_physx.assets
+
+Articulation
+------------
+
+.. autoclass:: Articulation
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: ArticulationData
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+Rigid Object
+------------
+
+.. autoclass:: RigidObject
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: RigidObjectData
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+Rigid Object Collection
+-----------------------
+
+.. autoclass:: RigidObjectCollection
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: RigidObjectCollectionData
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+Deformable Object
+-----------------
+
+.. autoclass:: DeformableObject
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: DeformableObjectData
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: DeformableObjectCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type, InitialStateCfg
+
+Surface Gripper
+---------------
+
+.. autoclass:: SurfaceGripper
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: SurfaceGripperCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type, InitialStateCfg