More ms3 docs (#227)

* use shared version in docs and pip * work * support upload videos in docs * work * Update .gitignore * docs * Update teleoperation.md * work * work * docs, move some code around * Update quickstart.md * some benchmarking results * new theme with better github support * examples * Update teleoperation.md * docs * work * Update custom_tasks.md * work * Update sapien_env.py * work * more docs * work
haosulab · Mar 7, 2024 · 6cf6a61 · 6cf6a61
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diff --git a/.gitignore b/.gitignore
@@ -31,10 +31,11 @@ imgui.ini
 
 # directories that should be ignored in general
 # but can be excluded explicitly
-tmp/
-data/
-demos/
-videos/
+/tmp
+/data
+/demos
+/videos
+/examples/benchmarking/videos
 
 # testing
 .coverage*

diff --git a/README.md b/README.md
@@ -52,7 +52,7 @@ cd ManiSkill2 && pip install -e .
 A GPU with the Vulkan driver installed is required to enable rendering in ManiSkill2. 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-v0" (a rigid-body environment) with random actions
+# Run an episode (at most 200 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
 ```
@@ -79,7 +79,7 @@ Here is a basic example of how to make an [Gym/Gymnasium](https://github.com/far
 import gymnasium as gym
 import mani_skill2.envs
 
-env = gym.make("PickCube-v0", obs_mode="rgbd", control_mode="pd_joint_delta_pos", render_mode="human")
+env = gym.make("PickCube-v1", obs_mode="rgbd", control_mode="pd_joint_delta_pos", render_mode="human")
 print("Observation space", env.observation_space)
 print("Action space", env.action_space)
 

diff --git a/docs/README.md b/docs/README.md
@@ -20,3 +20,6 @@ Start a server to watch changes
 # In docs/
 sphinx-autobuild ./source ./build/html
 ```
+
+
+For github links for the time being must double check they link the right branch/commit
diff --git 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
@@ -9,4 +9,5 @@ sphinx-autodoc-typehints
 sphinx_copybutton
 # Markdown parser
 myst-parser
-sphinx-subfigure
+sphinx-subfigure
+sphinxcontrib-video
diff --git a/docs/source/_static/videos/demo.mp4 b/docs/source/_static/videos/demo.mp4
diff --git a/docs/source/_static/videos/fetch_random_action_replica_cad_rt.mp4 b/docs/source/_static/videos/fetch_random_action_replica_cad_rt.mp4
diff --git a/docs/source/_static/videos/teleop-stackcube-demo.mp4 b/docs/source/_static/videos/teleop-stackcube-demo.mp4
diff --git a/docs/source/additional_resources/performance_benchmarking.md b/docs/source/additional_resources/performance_benchmarking.md
diff --git a/docs/source/conf.py b/docs/source/conf.py
@@ -1,3 +1,4 @@
+from mani_skill2 import __version__
 # Configuration file for the Sphinx documentation builder.
 #
 # For the full list of built-in configuration values, see the documentation:
@@ -6,11 +7,11 @@
 # -- Project information -----------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
 
-project = "ManiSkill3"
-copyright = "2024, ManiSkill3 Contributors"
-author = "ManiSkill3 Contributors"
-release = "3.0.0"
-version = "3.0.0"
+project = "ManiSkill"
+copyright = "2024, ManiSkill Contributors"
+author = "ManiSkill Contributors"
+release = __version__
+version = __version__
 
 # -- General configuration ---------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
@@ -22,6 +23,7 @@
     "sphinx_copybutton",
     "myst_parser",
     "sphinx_subfigure",
+    "sphinxcontrib.video",
 ]
 
 # https://myst-parser.readthedocs.io/en/latest/syntax/optional.html
@@ -36,12 +38,28 @@
 # -- 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,
+    "icon_links": [
+        {
+            "name": "GitHub",
+            "url": "https://github.com/haosulab/maniskill2",
+            "icon": "fa-brands fa-github",
+        }
+    ],
+    "external_links": [
+        {"name": "Changelog", "url": "https://github.com/haosulab/maniskill2/releases"},
+    ]
 
+}
 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/datasets/teleoperation.md b/docs/source/datasets/teleoperation.md
diff --git a/docs/source/getting_started/quickstart.md b/docs/source/getting_started/quickstart.md
diff --git a/docs/source/index.md 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
+tasks/index
+```
diff --git a/docs/source/index.rst b/docs/source/index.rst
diff --git a/docs/source/tasks/index.md b/docs/source/tasks/index.md
@@ -0,0 +1 @@
+# Tasks