diff --git a/docs/_extensions/isaaclab_docs.py b/docs/_extensions/isaaclab_docs.py
index 0f6a61a92084..2de7ac4e2b63 100644
--- a/docs/_extensions/isaaclab_docs.py
+++ b/docs/_extensions/isaaclab_docs.py
@@ -7,6 +7,7 @@
from __future__ import annotations
+import csv
import inspect
import json
import posixpath
@@ -84,6 +85,22 @@ def _parse_rst(directive: SphinxDirective, content: str) -> list[nodes.Node]:
return container.children
+class IsaacLabBenchmarkData(SphinxDirective):
+ """Embed benchmark snapshots so downloaded HTML works without an HTTP server."""
+
+ def run(self) -> list[nodes.Node]:
+ snapshots = {}
+ for channel in ("release", "develop"):
+ path = Path(self.env.srcdir) / "source/_static/benchmarks" / f"environment-performance-{channel}.csv"
+ self.env.note_dependency(str(path))
+ with path.open(encoding="utf-8", newline="") as stream:
+ snapshots[channel] = list(csv.DictReader(stream))
+ # Prevent CSV text from closing the script element, even inside a JSON string.
+ payload = json.dumps(snapshots).replace("<", "\\u003c")
+ html = f''
+ return [nodes.raw("", html, format="html")]
+
+
class IsaacLabCloneCommands(SphinxDirective):
"""Render SSH/HTTPS clone tabs using copy-friendly ``code-block`` directives."""
@@ -283,6 +300,7 @@ def setup(app):
app.add_config_value("torchvision_version", "", "env")
app.add_config_value("ovrtx_spec", "", "env")
app.add_role("isaaclab-source", IsaacLabSourceLink())
+ app.add_directive("isaaclab-benchmark-data", IsaacLabBenchmarkData)
app.add_directive("isaaclab-clone-commands", IsaacLabCloneCommands)
app.add_directive("isaaclab-clone-https", IsaacLabCloneHttps)
app.add_directive("isaaclab-uv-isaacsim-wheel-install", IsaacLabUvIsaacSimWheelInstall)
diff --git a/docs/source/_static/css/environment-browser.js b/docs/source/_static/css/environment-browser.js
index 567d87999296..fdbdb2a292ee 100644
--- a/docs/source/_static/css/environment-browser.js
+++ b/docs/source/_static/css/environment-browser.js
@@ -642,32 +642,6 @@
updateSelection();
};
- const parseCsv = (contents) => {
- const parseLine = (line) => {
- const values = [];
- let value = "";
- let quoted = false;
- for (let index = 0; index < line.length; index += 1) {
- const character = line[index];
- if (character === '"' && quoted && line[index + 1] === '"') {
- value += '"';
- index += 1;
- } else if (character === '"') {
- quoted = !quoted;
- } else if (character === "," && !quoted) {
- values.push(value);
- value = "";
- } else {
- value += character;
- }
- }
- values.push(value);
- return values;
- };
- const [header, ...lines] = contents.trim().split(/\r?\n/).map(parseLine);
- return lines.map((line) => Object.fromEntries(header.map((name, index) => [name, line[index]])));
- };
-
const formatFps = (value) => {
if (value >= 1_000_000) {
return `${Number((value / 1_000_000).toFixed(2))}M`;
@@ -931,18 +905,14 @@
chart.replaceChildren(...(rows.length ? [renderBenchmarkChart(rows, maximum)] : []));
};
- const renderBenchmarks = async () => {
+ const renderBenchmarks = () => {
if (!benchmarks) {
return;
}
- benchmarkRows = (await Promise.all(["release", "develop"].map(async (channel) => {
+ const snapshots = JSON.parse(document.querySelector("[data-environment-benchmark-rows]").textContent);
+ benchmarkRows = ["release", "develop"].flatMap((channel) => {
try {
- const source = new URL(benchmarks.getAttribute(`data-benchmark-${channel}-source`), window.location.href);
- const response = await fetch(source);
- if (!response.ok) {
- throw new Error(`Benchmark request failed with ${response.status}`);
- }
- return parseCsv(await response.text())
+ return snapshots[channel]
.filter((row) => row.data_origin === "measured" && row.workload === "training")
.filter((row) => [row.collection_fps_mean, row.total_fps_mean]
.every((value) => Number.isFinite(Number(value)) && Number(value) > 0))
@@ -955,7 +925,7 @@
console.error(error);
return [];
}
- }))).flat();
+ });
updatePreview();
};
diff --git a/docs/source/setup/environments.rst b/docs/source/setup/environments.rst
index c19f7f280062..400287c4ef9b 100644
--- a/docs/source/setup/environments.rst
+++ b/docs/source/setup/environments.rst
@@ -102,11 +102,11 @@ Task Preview
Benchmarks
----------
+.. isaaclab-benchmark-data::
+
.. raw:: html
diff --git a/source/isaaclab/changelog.d/fix-simulation-launcher-platform-check.fixed.rst b/source/isaaclab/changelog.d/fix-simulation-launcher-platform-check.fixed.rst
new file mode 100644
index 000000000000..72e1231c0c05
--- /dev/null
+++ b/source/isaaclab/changelog.d/fix-simulation-launcher-platform-check.fixed.rst
@@ -0,0 +1,2 @@
+* Fixed simulation startup failing with a missing ``sys`` import in the platform-specific device check,
+ including demos launched through ``uvx``.
diff --git a/source/isaaclab/isaaclab/app/sim_launcher.py b/source/isaaclab/isaaclab/app/sim_launcher.py
index 6cf87ca8bb0f..955737e67ea0 100644
--- a/source/isaaclab/isaaclab/app/sim_launcher.py
+++ b/source/isaaclab/isaaclab/app/sim_launcher.py
@@ -15,6 +15,7 @@
import argparse
import logging
import os
+import sys
import traceback
from collections.abc import Generator
from contextlib import contextmanager
diff --git a/tools/test/test_doc_benchmarks.py b/tools/test/test_doc_benchmarks.py
new file mode 100644
index 000000000000..b876d14e5e0d
--- /dev/null
+++ b/tools/test/test_doc_benchmarks.py
@@ -0,0 +1,57 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Tests for self-contained benchmark snapshots in built documentation."""
+
+import csv
+import json
+import re
+import subprocess
+import sys
+from pathlib import Path
+
+
+def test_benchmark_snapshots_are_embedded_and_refresh_on_csv_changes(tmp_path):
+ """HTML preserves both CSV snapshots safely and tracks changes during incremental builds."""
+ extensions = Path(__file__).resolve().parents[2] / "docs/_extensions"
+ source = tmp_path / "docs"
+ snapshots = source / "source/_static/benchmarks"
+ snapshots.mkdir(parents=True)
+ (source / "conf.py").write_text(
+ f"import sys\nsys.path.insert(0, {str(extensions)!r})\nextensions = ['isaaclab_docs']\n",
+ encoding="utf-8",
+ )
+ (source / "index.rst").write_text("Benchmarks\n==========\n\n.. isaaclab-benchmark-data::\n", encoding="utf-8")
+ rows = {
+ "release": [{"task": "Isaac-Cartpole", "collection_fps_mean": "100", "notes": '\nquoted "value",'}],
+ "develop": [{"task": "Isaac-Cartpole", "collection_fps_mean": "200", "notes": "historical snapshot"}],
+ }
+
+ def write_snapshot(channel):
+ with (snapshots / f"environment-performance-{channel}.csv").open("w", encoding="utf-8", newline="") as stream:
+ writer = csv.DictWriter(stream, fieldnames=["task", "collection_fps_mean", "notes"])
+ writer.writeheader()
+ writer.writerows(rows[channel])
+
+ def build_snapshots():
+ output = tmp_path / "html"
+ subprocess.run(
+ [sys.executable, "-m", "sphinx", "-W", "-q", str(source), str(output)],
+ check=True,
+ capture_output=True,
+ text=True,
+ )
+ html = (output / "index.html").read_text(encoding="utf-8")
+ payload = re.search(r'', html)
+ assert payload is not None
+ return json.loads(payload.group(1))
+
+ for channel in rows:
+ write_snapshot(channel)
+ assert build_snapshots() == rows
+
+ rows["develop"][0]["collection_fps_mean"] = "300"
+ write_snapshot("develop")
+ assert build_snapshots() == rows