new theme with better github support

docs/requirements.txt

@@ -1,6 +1,6 @@
 sphinx==6.2.1
 sphinx-autobuild
-sphinx-book-theme
+pydata_sphinx_theme
 # For spelling
 sphinxcontrib.spelling
 # Type hints support

docs/source/conf.py

@@ -38,14 +38,18 @@
 # -- Options for HTML output -------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
 
-html_theme = "sphinx_book_theme"
+html_theme = "pydata_sphinx_theme"
+html_theme_options = {
+    "use_edit_page_button": True,
 
+}
 html_context = {
     "display_github": True,
     "github_user": "haosulab",
     "github_repo": "ManiSkill2",
-    "github_version": "main",
-    "conf_py_path": "/source/"
+    "github_version": "dev",
+    "conf_py_path": "/source/",
+    "doc_path": "docs/source"
 }
 
 html_static_path = ['_static']

docs/source/environments/index.md

@@ -0,0 +1 @@
+# Environments

docs/source/index.md

@@ -0,0 +1,22 @@
+# ManiSkill
+
+ManiSkill is a feature-rich GPU-accelerated robotics benchmark built on top of [SAPIEN](https://github.com/haosulab/sapien) designed to provide accessible support for a wide array of applications from robot learning, learning from demonstrations, sim2real/real2sim, and more. 
+
+Features:
+
+* GPU parallelized simulation enabling 200,000+ FPS on some tasks
+* GPU parallelized rendering enabling 10,000+ FPS on some tasks, massively outperforming other benchmarks
+* Flexible API to build custom tasks of any complexity
+* Variety of verified robotics tasks with diverse dynamics and visuals
+* Reproducible baselines in Reinforcement Learning and Learning from Demonstrations, spread across tasks from dextrous manipulation to mobile manipulation 
+
+
+## User Guide
+
+A user guide on how to use ManiSkill with GPU parallelized simulation for your robotics and machine learning workflows
+```{toctree}
+:maxdepth: 2
+
+user_guide/index
+environments/index
+```

docs/source/getting_started/installation.md → docs/source/user_guide/getting_started/installation.md

@@ -29,7 +29,7 @@ While state-based simulation does not require any additional dependencies, a GPU
 The rigid-body environments, powered by SAPIEN, are ready to use after installation. Test your installation:
 
 ```bash
-# Run an episode (at most 200 steps) of "PickCube-v1" (a rigid-body environment) with random actions
+# Run an episode (at most 50 steps) of "PickCube-v1" (a rigid-body environment) with random actions
 # Or specify an environment by "-e ${ENV_ID}"
 python -m mani_skill2.examples.demo_random_action
 ```

docs/source/user_guide/index.md

@@ -0,0 +1,42 @@
+# User Guide
+
+ManiSkill is a feature-rich GPU-accelerated robotics benchmark built on top of [SAPIEN](https://github.com/haosulab/sapien) designed to provide accessible support for a wide array of applications from robot learning, learning from demonstrations, sim2real/real2sim, and more. 
+
+Features:
+
+* GPU parallelized simulation enabling 200,000+ FPS on some tasks
+* GPU parallelized rendering enabling 10,000+ FPS on some tasks, massively outperforming other benchmarks
+* Flexible API to build custom tasks of any complexity
+* Variety of verified robotics tasks with diverse dynamics and visuals
+* Reproducible baselines in Reinforcement Learning and Learning from Demonstrations, spread across tasks from dextrous manipulation to mobile manipulation 
+
+
+
+```{toctree}
+:caption: Get started
+
+getting_started/installation
+getting_started/quickstart
+getting_started/docker
+```
+
+```{toctree}
+:maxdepth: 1
+:caption: Resources
+
+demos/index
+tutorials/index
+concepts/index
+datasets/index
+data_collection/index
+algorithms_and_models/index
+workflows/index
+```
+
+```{toctree}
+:maxdepth: 2
+:caption: Additional Resources
+
+additional_resources/performance_benchmarking
+additional_resources/education
+```

setup.py

@@ -58,7 +58,7 @@
             # Note that currently sphinx 7 does not work, so we must use v6.2.1. See https://github.com/kivy/kivy/issues/8230 which tracks this issue. Once fixed we can use a later version
             "sphinx==6.2.1",
             "sphinx-autobuild",
-            "sphinx-book-theme",
+            "pydata_sphinx_theme",
             # For spelling
             "sphinxcontrib.spelling",
             # Type hints support