Updates ecosystem docs

[kellyguo11]

Description

Update ecosystem documentation to reflect the latest multi-backend setup.

Type of change

• Documentation update

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• 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
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[greptile-apps]

Greptile Summary

This PR rewrites the Isaac Lab ecosystem documentation page to reflect the new multi-backend setup (PhysX via Isaac Sim and Newton kit-less), replaces the old JPEG ecosystem diagrams with new layered SVG diagrams for light and dark themes, and adds a "Package structure" section cataloguing all first-party packages.

• The RST page is extensively rewritten: cleaner prose, two-backend overview, a new package catalog, updated cross-references, and additional hyperlink definitions for Warp, Omniverse, Hydra, and all RL libraries.
• Two new SVG architecture diagrams (ecosystem-light.svg, ecosystem-dark.svg) are added; the previously referenced .jpg files remain on disk as unused assets.
• The isaaclab_ov package is visible in both SVG diagrams but is not mentioned in the RST "Package structure" section, creating an inconsistency between diagram and text.

Confidence Score: 4/5

Safe to merge; all changes are documentation-only and do not affect runtime behaviour.

The rewrite is clear and well-structured. The only gap is that isaaclab_ov shown in both SVG diagrams is not described anywhere in the RST text, leaving readers without an explanation of that package. The dark SVG also carries a UTF-8 BOM that its light counterpart lacks, which could cause issues with strict XML tooling in the doc build.

The Package structure section in ecosystem.rst and ecosystem-dark.svg deserve a second look before merging.

Important Files Changed

Filename	Overview
docs/source/setup/ecosystem.rst	Major rewrite of the ecosystem overview page to cover the new multi-backend architecture; image references updated from .jpg to .svg; a new "Package structure" section added. The isaaclab_ov package appears in both SVG diagrams but is absent from the RST text.
docs/source/_static/setup/ecosystem-dark.svg	New dark-theme layered architecture diagram in SVG format; content is accurate to the multi-backend design. File starts with a UTF-8 BOM that is absent from the light-theme counterpart.
docs/source/_static/setup/ecosystem-light.svg	New light-theme layered architecture diagram in SVG format; content mirrors the dark SVG and is consistent with the multi-backend architecture described in the RST.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    LL["Learning Libraries\n(RSL-RL · skrl · SB3 · RL Games)"]
    EXT["Isaac Lab Extensions\n(isaaclab_tasks · isaaclab_assets · isaaclab_rl\nisaaclab_mimic · isaaclab_teleop)"]
    CORE["Isaac Lab Core (isaaclab)\nfactory pattern — uniform API"]
    PHYSX_PKG["PhysX Backend Packages\nisaaclab_physx · isaaclab_ovphysx · isaaclab_ov"]
    NEWTON_PKG["Newton Backend Package\nisaaclab_newton"]
    ISAACSIM["Isaac Sim (optional)\nPhysX · RTX · USD · ROS"]
    NEWTON["Newton + Warp (kit-less)\nGPU-parallel · MJWarp · VBD"]
    GPU["NVIDIA GPU Platform\nCUDA · Warp"]

    LL --> EXT
    EXT --> CORE
    CORE --> PHYSX_PKG
    CORE --> NEWTON_PKG
    PHYSX_PKG --> ISAACSIM
    NEWTON_PKG --> NEWTON
    ISAACSIM --> GPU
    NEWTON --> GPU

Loading

_{Reviews (1): Last reviewed commit: "Updates ecosystem docs" | Re-trigger Greptile}

[greptile-apps]

isaaclab_ov package missing from RST text

Both SVG diagrams (light and dark) list three PhysX-side backend packages — isaaclab_physx · isaaclab_ovphysx · isaaclab_ov — but the "Package structure" section here only mentions isaaclab_physx and isaaclab_ovphysx. A reader who maps the diagram to the text will find isaaclab_ov undocumented, making it unclear what it provides or when it is required.

[greptile-apps]

UTF-8 BOM present in ecosystem-dark.svg

The dark-theme SVG begins with a UTF-8 byte-order mark (\uFEFF), while ecosystem-light.svg does not. Although modern browsers generally tolerate a BOM, some SVG renderers and XML parsers (including strict XML tooling used in documentation build pipelines) reject or mis-parse files that start with a BOM before the XML declaration. Stripping the BOM from ecosystem-dark.svg would make the two files consistent and prevent potential rendering differences.

[isaaclab-review-bot]

📝 Documentation Review

Thanks for updating the ecosystem documentation, @kellyguo11! This is a substantial and well-structured overhaul that significantly improves clarity for new users trying to understand the Isaac Lab architecture.

✅ What looks good

SVG Diagrams: Switching from JPG to SVG for the ecosystem diagrams is the right call — they scale cleanly, work well with dark/light theme switching, and have appropriate alt text for accessibility.

Content Structure: The new section-based organization (Package structure, Where does Isaac Lab fit, Is Isaac Lab a simulator, Why should I use Isaac Lab) makes the document much easier to navigate compared to the previous wall-of-text format.

Technical Accuracy: The multi-backend explanation (PhysX via Isaac Sim vs Newton kit-less) is clear and correctly describes the factory pattern dispatch.

Cross-references: Good use of :doc: and :mod: references (e.g., linking to multi_backend_architecture.rst). I verified the linked document exists.

🔵 Minor Suggestions (non-blocking)

1. "Kit-less" terminology consistency: The document uses both "kit-less" and "without Isaac Sim" to describe the Newton backend. Consider standardizing on one term throughout for clarity.

2. Extension list ordering: isaaclab_ov appears in the backend packages SVG diagram but isn't explicitly described in the "Physics backends" bullet list. Consider adding a brief mention for completeness.

3. Old images cleanup: The old ecosystem-dark.jpg and ecosystem-light.jpg files still exist in docs/source/_static/setup/. If they're no longer referenced, consider removing them in a follow-up PR to avoid confusion.

⚠️ CI Note

The "Check for Broken Links" job is failing, but examining the logs shows it's flagging redirects (301/302) rather than actual broken links (404). All new external links added in this PR (Newton, Warp, gymnasium, Hydra, RSL-RL, skrl, Stable Baselines 3, RL Games, Omniverse) resolve correctly. This appears to be a CI configuration issue, not a problem with this PR.

🧪 Test Coverage Note

This is a pure documentation change with no runtime code — no tests are required.

---

Verdict: Ship it ✅

The documentation improvements are well done and will help users understand the Isaac Lab ecosystem. The minor suggestions above are non-blocking polish items.

[isaaclab-review-bot]

🤖 Isaac Lab Review Bot — Follow-up

New commits (3dfaf30→c1e4b79b): Updated repo_structure.rst and moved visuo_tactile_sensor docs to experimental features.

⚠️ New Finding

Contradictory Isaac Sim dependency info in repo_structure.rst.

---

Update (4def90a): All previous concerns have been addressed in this commit:

• ✅ isaaclab_ov package now documented in ecosystem.rst with proper description
• ✅ UTF-8 BOM removed from ecosystem-dark.svg
• ✅ Isaac Sim dependency inconsistency resolved in repo_structure.rst — tree comments and detailed descriptions are now consistent (both indicate standalone packages require their respective dependencies but do not require Isaac Sim)

Additional changes in this commit (wheel workflow gating, SVG text clarifications) look good. No new issues found.

---

Update (6a5ad99): Fixed relative image paths in visuo_tactile_sensor.rst — paths updated from ../../../_static/ to ../_static/ to reflect the file's location in experimental-features/. Correct and necessary fix. No new issues.

[isaaclab-review-bot]

Inconsistency: The tree comments say isaaclab_ovphysx "does not require Isaac Sim" and isaaclab_ov "does not require Isaac Sim", but the detailed descriptions below (lines 68-70) say both "Requires Isaac Sim."

Please reconcile these — one of them is incorrect. Based on ecosystem.rst which says these require Isaac Sim, I suspect the tree comments should say "(requires Isaac Sim)" instead.