Add urdf_utils/sapien_utils API reference

haosulab · Apr 16, 2024 · 62095c8 · 62095c8
1 parent d0ab37f
commit 62095c8
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Showing 4 changed files with 26 additions and 2 deletions.
diff --git a/docs/compose.yaml b/docs/compose.yaml
@@ -12,8 +12,11 @@ services:
     command:
       - >-
         python3 -m pip install ./wheelhouse/mplib*.whl
-        && rm -rf ./docs/build
-        && sphinx-autobuild ./docs/source/ ./docs/build/html/
+        && apt update && apt install -y libx11-6
+        && python3 -m pip install sapien~=3.0.0.dev
+        && cd ./docs
+        && rm -rf ./build
+        && sphinx-autobuild ./source/ ./build/html/
     image: kolinguo/sphinx
     build:
       network: host
@@ -27,4 +30,5 @@ services:
         COPY ./requirements.txt /tmp
         RUN python3 -m pip install -r /tmp/requirements.txt \
           && rm -r /tmp/*
+        RUN python3 -m pip install sphinx-autobuild watchfiles
         RUN git config --global --add safe.directory /MPlib
diff --git a/docs/source/reference/index.rst b/docs/source/reference/index.rst
@@ -11,6 +11,7 @@ API Reference
    utils/pose
    utils/random
    urdf_utils
+   sapien_utils
 
 .. toctree::
    :maxdepth: 3

diff --git a/docs/source/reference/sapien_utils.rst b/docs/source/reference/sapien_utils.rst
@@ -0,0 +1,12 @@
+``sapien_utils``
+------------------------------------------
+
+.. autoclass:: mplib.sapien_utils.SapienPlanningWorld
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+.. autoclass:: mplib.sapien_utils.SapienPlanner
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/urdf_utils.rst b/docs/source/reference/urdf_utils.rst
@@ -0,0 +1,7 @@
+``urdf_utils``
+-------------------
+
+.. automodule:: mplib.urdf_utils
+   :members:
+   :undoc-members:
+   :show-inheritance: