Fix multi-backend architecture docs#5810
Merged
kellyguo11 merged 1 commit intoMay 27, 2026
Merged
Conversation
Clarify backend-specific factory links, add OvPhysX coverage to the architecture overview, and replace incomplete Cartpole training examples with root-runnable commands.
Contributor
Greptile SummaryThis PR updates
Confidence Score: 5/5Documentation-only change with no runtime impact; all three backends are covered consistently and the corrected examples are more accurate than what they replace. Every touched section is internal documentation. The changes are additive (OvPhysX column/examples) or corrective (fixing missing imports, wrong base class, outdated CLI commands). No executable code paths are altered. No files require special attention. Important Files Changed
Flowchart%%{init: {'theme': 'neutral'}}%%
flowchart TD
A["User code: Articulation(cfg)"] --> B["FactoryBase.__new__()"]
B --> C["_get_backend()\nreads SimulationContext.physics_manager\n→ 'physx' | 'newton' | 'ovphysx'"]
C --> D["_get_module_name()\n isaaclab.assets.articulation\n→ isaaclab_{backend}.assets.articulation"]
D --> E["importlib.import_module()\nlazy load on first use"]
E --> F1["isaaclab_physx.assets.Articulation"]
E --> F2["isaaclab_newton.assets.Articulation"]
E --> F3["isaaclab_ovphysx.assets.Articulation"]
F1 --> G["Return backend-specific instance"]
F2 --> G
F3 --> G
Reviews (1): Last reviewed commit: "Fix multi-backend architecture docs" | Re-trigger Greptile |
kellyguo11
approved these changes
May 27, 2026
kellyguo11
added a commit
that referenced
this pull request
May 28, 2026
… locomanip quaternion, deformable demo, IK, benchmark scripts (#5816) # Description Cherry pick following PRs from develop: - #5779 - #5760 - #5791 - #5810 - #5811 - #5812 - #5754 - #5802 - #5803 - #5782 - #5804 - #5744 - #5775 - #5784 --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: John <jaybdub@users.noreply.github.com> Co-authored-by: myurasov-nv <168484206+myurasov-nv@users.noreply.github.com> Co-authored-by: Antoine RICHARD <antoiner@nvidia.com> Co-authored-by: Mike Yan Michelis <46975745+mmichelis@users.noreply.github.com> Co-authored-by: hujc <jichuanh@nvidia.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Description
Clarifies the Multi-Backend Architecture documentation so the factory overview renders distinct backend implementation names instead of repeated
Articulationlinks. The page now mentions OvPhysX alongside PhysX and Newton where the backend is supported, and the Cartpole examples use root-runnable./isaaclab.sh train --rl_library rsl_rl ...commands.No new dependencies are required.
No linked issue.
Type of change
Screenshots
Not applicable. This is an RST documentation text update.
Checklist
pre-commitchecks with./isaaclab.sh --formatsource/<pkg>/changelog.d/for every touched package (not added; top-level docs-only change)CONTRIBUTORS.mdor my name already exists thereValidation
./isaaclab.sh -f./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-Direct-v0 --help./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-Direct-v0 --help physics=newton_mjwarp./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-Direct-v0 --help physics=ovphysx./isaaclab.sh -p -c "from isaaclab_ovphysx.physics import OvPhysxManager, OvPhysxCfg; from isaaclab_ovphysx.assets import Articulation, RigidObject; from isaaclab_ovphysx.sensors import ContactSensor; from isaaclab_ovphysx.cloner import ovphysx_replicate"