diff --git a/docs/requirements.txt b/docs/requirements.txt index a161bc2a0..3761a9ae9 100644 --- a/docs/requirements.txt +++ b/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 diff --git a/docs/source/conf.py b/docs/source/conf.py index f9c02c28b..2ed0ad056 100644 --- a/docs/source/conf.py +++ b/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'] diff --git a/docs/source/environments/index.md b/docs/source/environments/index.md new file mode 100644 index 000000000..729f30083 --- /dev/null +++ b/docs/source/environments/index.md @@ -0,0 +1 @@ +# Environments \ No newline at end of file diff --git a/docs/source/index.md b/docs/source/index.md new file mode 100644 index 000000000..76dcd925d --- /dev/null +++ b/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 +``` \ No newline at end of file diff --git a/docs/source/index.rst b/docs/source/index.rst deleted file mode 100644 index 03df92cd3..000000000 --- a/docs/source/index.rst +++ /dev/null @@ -1,51 +0,0 @@ -ManiSkill -======================================= - -ManiSkill is a feature-rich GPU-accelerated robotics benchmark built on top of 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: Getting Started - :maxdepth: 1 - - 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 - .. benchmark/online_leaderboard - # TODO (stao): upgrade online leaderboard to new maniskill - -.. toctree:: - :maxdepth: 2 - :caption: Additional Resources - - additional_resources/performance_benchmarking - additional_resources/education - -.. Indices and tables -.. ================== - -.. * :ref:`genindex` -.. * :ref:`modindex` -.. * :ref:`search` -.. _SAPIEN: https://github.com/haosulab/sapien \ No newline at end of file diff --git a/docs/source/additional_resources/education.md b/docs/source/user_guide/additional_resources/education.md similarity index 100% rename from docs/source/additional_resources/education.md rename to docs/source/user_guide/additional_resources/education.md diff --git a/docs/source/additional_resources/performance_benchmarking.md b/docs/source/user_guide/additional_resources/performance_benchmarking.md similarity index 100% rename from docs/source/additional_resources/performance_benchmarking.md rename to docs/source/user_guide/additional_resources/performance_benchmarking.md diff --git a/docs/source/algorithms_and_models/baselines.md b/docs/source/user_guide/algorithms_and_models/baselines.md similarity index 100% rename from docs/source/algorithms_and_models/baselines.md rename to 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b/docs/source/user_guide/getting_started/images/replica_cad_interactive_rt.png similarity index 100% rename from docs/source/getting_started/images/replica_cad_interactive_rt.png rename to docs/source/user_guide/getting_started/images/replica_cad_interactive_rt.png diff --git a/docs/source/getting_started/installation.md b/docs/source/user_guide/getting_started/installation.md similarity index 98% rename from docs/source/getting_started/installation.md rename to docs/source/user_guide/getting_started/installation.md index 01d0e78e4..6cd725720 100644 --- a/docs/source/getting_started/installation.md +++ b/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 ``` diff --git a/docs/source/getting_started/quickstart.md b/docs/source/user_guide/getting_started/quickstart.md similarity index 100% rename from docs/source/getting_started/quickstart.md rename to docs/source/user_guide/getting_started/quickstart.md diff --git a/docs/source/user_guide/index.md b/docs/source/user_guide/index.md new file mode 100644 index 000000000..1bd1f09ff --- /dev/null +++ b/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 +``` \ No newline at end of file diff --git a/docs/source/tutorials/custom_environments.md b/docs/source/user_guide/tutorials/custom_environments.md similarity index 100% rename from docs/source/tutorials/custom_environments.md rename to docs/source/user_guide/tutorials/custom_environments.md diff --git a/docs/source/tutorials/domain_randomization.md b/docs/source/user_guide/tutorials/domain_randomization.md similarity index 100% rename from docs/source/tutorials/domain_randomization.md rename to docs/source/user_guide/tutorials/domain_randomization.md diff --git a/docs/source/tutorials/index.md b/docs/source/user_guide/tutorials/index.md similarity index 100% rename from docs/source/tutorials/index.md rename to docs/source/user_guide/tutorials/index.md diff --git a/docs/source/workflows/index.md b/docs/source/user_guide/workflows/index.md similarity index 100% rename from docs/source/workflows/index.md rename to docs/source/user_guide/workflows/index.md diff --git a/docs/source/workflows/learning_from_demos.md b/docs/source/user_guide/workflows/learning_from_demos.md similarity index 100% rename from docs/source/workflows/learning_from_demos.md rename to docs/source/user_guide/workflows/learning_from_demos.md diff --git a/docs/source/workflows/reinforcement_learning.md b/docs/source/user_guide/workflows/reinforcement_learning.md similarity index 100% rename from docs/source/workflows/reinforcement_learning.md rename to docs/source/user_guide/workflows/reinforcement_learning.md diff --git a/setup.py b/setup.py index 54e2d9a3a..7e2b60a7b 100644 --- a/setup.py +++ b/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