Improve Partial Visualization

.github/workflows/docs.yaml

@@ -94,10 +94,11 @@ jobs:
       working-directory: ./docs
       env:
         # "deploy" branches build the full set of versions so every page
-        # has a complete version dropdown: main, develop, tags >= v2.0.0.
-        # v1.x tags and release/ branches are excluded to keep it lean and mean.
+        # has a complete version dropdown: main, develop, tags >= v2.0.0
+        # (including pre-release suffixes like -beta or -rc1). v1.x tags and
+        # release/ branches are excluded.
         SMV_BRANCH_WHITELIST: '^(main|develop)$'
-        SMV_TAG_WHITELIST: '^v[2-9]\d*\.\d+\.\d+$'
+        SMV_TAG_WHITELIST: '^v[2-9]\d*\.\d+\.\d+(-[A-Za-z0-9.]+)?$'
       run: |
         git fetch --prune --unshallow --tags
         git checkout --detach HEAD

.gitignore

@@ -79,3 +79,12 @@ _build
 
 # Ruff cache
 **/.ruff_cache/
+
+# Dev-time files, generated stuff
+**/__*
+
+# Isaac Lab CI environments in native mode
+**/_isaaclab_install_ci_*
+
+# Superpowers (Claude Code plugin artifacts)
+docs/superpowers/

AGENTS.md

@@ -64,7 +64,7 @@ We use a wrapped python call within `./isaaclab.sh`.
 
 ### Pre-commit (lint/format hooks)
 
-**CRITICAL: Always run pre-commit hooks BEFORE committing, not after.**
+**CRITICAL: Always run pre-commit hooks BEFORE committing and BEFORE pushing.**
 
 Proper workflow:
 1. Make your code changes
@@ -73,15 +73,17 @@ Proper workflow:
 4. Stage the modified files with `git add`
 5. Run `./isaaclab.sh -f` again to ensure all checks pass
 6. Only then create your commit with `git commit`
+7. Verify pre-commit still passes before pushing — never push commits that haven't been checked
 
 ```bash
 # Run pre-commit checks on all files
 ./isaaclab.sh -f
 ```
 
-**Common mistake to avoid:**
+**Common mistakes to avoid:**
 - Don't commit first and then run pre-commit (requires amending commits)
-- Do run pre-commit before committing (clean workflow)
+- Don't push before running pre-commit (pushes broken code to the remote)
+- Do run pre-commit before committing and before pushing (clean workflow)
 
 **When reviewing code** (e.g. via a code-reviewer agent), always run `./isaaclab.sh -f` as part of the review to catch formatting or lint issues early.
 
@@ -152,6 +154,7 @@ Follow conventional commit message practices.
 ## Sandbox & Networking
 
 - Network access (e.g., `git push`) is blocked by the sandbox. Use `dangerouslyDisableSandbox: true` so the user gets an approval prompt — don't ask them to run it manually.
+- **Never push to `origin` (`isaac-sim/IsaacLab`).** The `origin` remote is the public upstream repository. Push to your own fork remote (e.g., `antoine`, `alex`) or to the remote of the PR you are working on. If the correct remote is unclear, ask the user before pushing.
 
 ## GitHub Actions and CI/CD
 

docs/conf.py

@@ -186,6 +186,7 @@
     "omni.timeline",
     "omni.ui",
     "gym",
+    "gymnasium",
     "skrl",
     "stable_baselines3",
     "rsl_rl",
@@ -304,8 +305,10 @@
 smv_remote_whitelist = r"^.*$"
 # Whitelist pattern for branches (set to None to ignore all branches)
 smv_branch_whitelist = os.getenv("SMV_BRANCH_WHITELIST", r"^(main|develop|release/.*)$")
-# Whitelist pattern for tags (set to None to ignore all tags)
-smv_tag_whitelist = os.getenv("SMV_TAG_WHITELIST", r"^v[1-9]\d*\.\d+\.\d+$")
+# Whitelist pattern for tags (set to None to ignore all tags).
+# Matches vMAJOR.MINOR.PATCH with an optional pre-release suffix like -beta or -rc1,
+# so tags like v3.0.0-beta show up in the version selector.
+smv_tag_whitelist = os.getenv("SMV_TAG_WHITELIST", r"^v[1-9]\d*\.\d+\.\d+(-[A-Za-z0-9.]+)?$")
 html_sidebars = {
     "**": ["navbar-logo.html", "versioning.html", "icon-links.html", "search-field.html", "sbt-sidebar-nav.html"]
 }

docs/index.rst

@@ -52,7 +52,7 @@ For more information about the framework, please refer to the `technical report
 
 
 License
-=======
+========
 
 The Isaac Lab framework is open-sourced under the BSD-3-Clause license,
 with certain parts under Apache-2.0 license. Please refer to :ref:`license` for more details.

docs/source/api/lab/isaaclab.sim.views.rst

@@ -7,11 +7,27 @@
 
   .. autosummary::
 
-    XformPrimView
+    BaseFrameView
+    UsdFrameView
+    FrameView
 
-XForm Prim View
+Base Frame View
 ---------------
 
-.. autoclass:: XformPrimView
+.. autoclass:: BaseFrameView
+    :members:
+    :show-inheritance:
+
+USD Frame View
+--------------
+
+.. autoclass:: UsdFrameView
+    :members:
+    :show-inheritance:
+
+Frame View
+----------
+
+.. autoclass:: FrameView
     :members:
     :show-inheritance:

docs/source/features/isaac_teleop.rst

@@ -115,8 +115,10 @@ and Isaac Lab. It composes three collaborators:
   Isaac Sim's XR bridge, creates the ``TeleopSession``, and steps it each frame to produce an
   action tensor.
 
-* **CommandHandler** -- registers and dispatches START / STOP / RESET callbacks triggered by XR UI
-  buttons or the message bus.
+* **CommandHandler** -- lightweight callback registry for START / STOP / RESET commands.  Scripts
+  can register callbacks via :meth:`~isaaclab_teleop.IsaacTeleopDevice.add_callback`, but the
+  primary control path uses :func:`~isaaclab_teleop.poll_control_events` (see
+  :ref:`isaac-teleop-control-states`).
 
 .. dropdown:: Session lifecycle details
 
@@ -127,6 +129,104 @@ and Isaac Lab. It composes three collaborators:
    the session is not yet ready or has been torn down.
 
 
+.. _isaac-teleop-control-states:
+
+Teleop Control States (Start / Stop / Reset)
+---------------------------------------------
+
+Isaac Lab supports remote teleop control commands -- **start**, **stop**, and **reset** -- sent
+from the XR headset to the simulation.  These are used to begin and end demonstration recording,
+pause the robot, or reset the environment without touching the simulation host.
+
+How it works
+~~~~~~~~~~~~
+
+By default, every :class:`~isaaclab_teleop.IsaacTeleopCfg` enables a control message channel
+using the well-known UUID ``uuid5(NAMESPACE_DNS, "teleop_command")``.  The channel is created as
+a ``teleop_control_pipeline`` inside TeleopCore's :class:`TeleopSession`, which means:
+
+1. A :class:`~isaacteleop.retargeting_engine.deviceio_source_nodes.MessageChannelSource` opens an
+   OpenXR opaque data channel (``XR_NV_opaque_data_channel``) with the agreed-upon UUID.
+2. The CloudXR JS client (or any other client) discovers the channel by UUID and sends UTF-8
+   JSON commands::
+
+       {"type": "teleop_command", "message": {"command": "start teleop"}}
+       {"type": "teleop_command", "message": {"command": "stop teleop"}}
+       {"type": "teleop_command", "message": {"command": "reset teleop"}}
+
+3. A :class:`~isaaclab_teleop.teleop_message_processor.TeleopMessageProcessor` parses these
+   payloads and produces boolean pulse signals (``run_toggle``, ``kill``, ``reset``).
+4. :class:`~isaacteleop.teleop_session_manager.DefaultTeleopStateManager` consumes the
+   boolean signals, runs its state machine (edge detection, fail-safe), and produces
+   ``teleop_state`` (one-hot) and ``reset_event`` (bool pulse) outputs.
+5. TeleopCore decodes these outputs into ``ExecutionEvents`` and injects them into every
+   retargeter's ``ComputeContext``, so stateful retargeters can react to state changes
+   (e.g. reinitializing cross-step state on reset).
+
+Polling control events in your script
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Use :func:`~isaaclab_teleop.poll_control_events` to read the latest control state each frame:
+
+.. code-block:: python
+
+   from isaaclab_teleop import poll_control_events
+
+   with IsaacTeleopDevice(cfg) as device:
+       running = False
+       while sim_app.is_running():
+           action = device.advance()
+
+           ctrl = poll_control_events(device)
+           if ctrl.is_active is not None:
+               running = ctrl.is_active      # True after "start", False after "stop"
+           if ctrl.should_reset:
+               env.reset()                    # "reset" command received this frame
+
+           if action is not None and running:
+               env.step(action.repeat(num_envs, 1))
+           else:
+               env.sim.render()
+
+:class:`~isaaclab_teleop.ControlEvents` has two fields:
+
+* ``is_active`` -- ``True`` after a "start" command, ``False`` after "stop", ``None`` when no
+  command has been received yet (callers should leave their own flag unchanged).
+* ``should_reset`` -- ``True`` for exactly one frame after a "reset" command.
+
+Disabling the control channel
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+If you do not need headset-driven start/stop/reset (e.g. keyboard-only workflows), set
+``control_channel_uuid=None`` in your config:
+
+.. code-block:: python
+
+   IsaacTeleopCfg(
+       pipeline_builder=_build_my_pipeline,
+       control_channel_uuid=None,   # no opaque data channel created
+   )
+
+Using a custom channel UUID
+~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+To use a different channel UUID (e.g. for a separate control protocol), pass any 16-byte
+``bytes`` value:
+
+.. code-block:: python
+
+   import uuid
+
+   MY_UUID = uuid.uuid5(uuid.NAMESPACE_DNS, "my_custom_control").bytes
+
+   IsaacTeleopCfg(
+       pipeline_builder=_build_my_pipeline,
+       control_channel_uuid=MY_UUID,
+   )
+
+The CloudXR JS client must be updated to discover this UUID when sending commands.
+
+
 .. _isaac-teleop-retargeting:
 
 Retargeting Framework
@@ -908,6 +1008,10 @@ See the :ref:`isaaclab_teleop-api` for full class and function documentation:
 * :class:`~isaaclab_teleop.IsaacTeleopCfg`
 * :class:`~isaaclab_teleop.IsaacTeleopDevice`
 * :func:`~isaaclab_teleop.create_isaac_teleop_device`
+* :class:`~isaaclab_teleop.ControlEvents`
+* :class:`~isaaclab_teleop.SupportsControlEvents`
+* :func:`~isaaclab_teleop.poll_control_events`
+* :data:`~isaaclab_teleop.TELEOP_CONTROL_CHANNEL_UUID`
 * :class:`~isaaclab_teleop.XrCfg`
 * :class:`~isaaclab_teleop.XrAnchorRotationMode`