Fixes comment in run_articulation.py#876
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comment was saying there are 3 origins, when only 2 were instantiated Signed-off-by: Martin Matak <martin.matak@gmail.com>
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# Description The comment was saying there are 3 origins, when only 2 were instantiated ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.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 - [x] 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
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May 15, 2026
Verification agents flagged five issues against the previous two commits and one issue-isaac-sim#876 gap that the first pass missed. 1. Newton using-kamino.rst literalinclude path was one level short (../../../../../ → ../../../../../../). The previous depth resolved to a non-existent /docs/source/isaaclab_tasks/... and would have broken the sphinx build. 2. PhysX supported-features.rst listed Ray Caster, Visuo-tactile, and Camera as PhysX-specific sensors. Ray Caster and Camera are implemented in isaaclab core (backend-agnostic); Visuo-tactile lives in isaaclab_contrib. Reframe the section to separate PhysX-implemented sensors from backend-agnostic ones. Drop the unverifiable "path-traced" qualifier on the RTX renderer claim. 3. OvPhysX stub referenced only PR isaac-sim#5426 and PR isaac-sim#5459. The actual in-flight set spans six PRs: isaac-sim#5426 (merged), isaac-sim#5459, isaac-sim#5422, isaac-sim#5421, isaac-sim#5570, isaac-sim#5589. List them all with merge state, and reword "primary covered surfaces" to reflect that most are still open PRs. 4. backends/index.rst feature matrix said OvPhysX sensor coverage was "Partial" — actually only RigidObject is merged. Replace the matrix rows with concrete "In-flight (PR #...)" / "Not yet" cells. 5. Issue isaac-sim#876 asked to "review the limitations list and update it." The previous pass only reworded the intro. Refresh the task list against develop's actual newton_mjwarp coverage, add Shadow Hand / Shadow Hand Over / cabinet / dexsuite / rough-terrain locomotion, and replace the rigid bullet list with a discovery recipe so the list stops bit-rotting.
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Tidies up the Newton subdir layout so file names mirror the PhysX subdir and the per-solver split asked for in isaac-sim#876. * solver-transitioning.rst → mjwarp-solver.rst Retitled "MJWarp Solver"; intro rewritten as a solver doc (no longer framed as a PhysX→Newton transition). * using-kamino.rst → kamino-solver.rst Retitled "Kamino Solver". Label renamed from `newton-using-kamino` to `newton-kamino-solver` to match the new file name. * limitations-and-known-bugs.rst → supported-features.rst Retitled "Supported Features" to mirror PhysX's same-named page. Newton index toctree updated, and the doc/ref cross-references in supported-features.rst and the Newton index updated to the new names.
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Description
The comment was saying there are 3 origins, when only 2 were instantiated
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there