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fixes #1380

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Nov 5, 2024
Merged

fixes #1380

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10 changes: 1 addition & 9 deletions docs/source/refs/reference_architecture/index.rst
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Expand Up @@ -39,11 +39,6 @@ The reference architecture for Isaac Lab comprises the following components:
4. :ref:`Register with Gymnasium<ra-register-gym>`
5. :ref:`Environment Wrapping<ra-env-wrap>`
6. :ref:`Run Training<ra-run-training>`

* Single GPU Training
* Multi-GPU and Multi-Node Training
* Cloud-based Training

7. :ref:`Run Testing<ra-run-testing>`


Expand All @@ -66,10 +61,7 @@ the following ways:

1. Design your assets or robot in Isaac Sim and export the USD file.

2. Design your assets or robot in any software of your choice and export it to USD using Isaac Sim converters.

Isaac Sim supports the different converters/importers to USD such as the `CAD Converter`_, `URDF Importer`_, `MJCF Importer`_, `Onshape Importer`_, etc.
More details are found in the `Importing Assets section`_ in the `Isaac Sim Reference Architecture`_.
2. Design your assets or robot in any software of your choice and export it to USD using Isaac Sim converters. Isaac Sim supports the different converters/importers to USD such as the `CAD Converter`_, `URDF Importer`_, `MJCF Importer`_, `Onshape Importer`_, etc. More details are found in the `Importing Assets section`_ in the `Isaac Sim Reference Architecture`_.

3. If you already have the URDF or MJCF file of your robot, you do not need to convert to USD as Isaac Lab takes URDF and MJCF XML.

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