Merge pull request #94 from ami-iit/docs

Add docs with read the docs

.github/workflows/read_the_docs.yml

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+name: Read the Docs
+on:
+ pull_request_target:
+ types:
+ - opened
+ # Execute this action only on PRs that touch
+ # documentation files.
+ # paths:
+ # - "docs/**"
+
+permissions:
+ pull-requests: write
+
+jobs:
+ documentation-links:
+ runs-on: ubuntu-latest
+ steps:
+ - uses: readthedocs/actions/preview@v1
+ with:
+ project-slug: "adam-docs"

.readthedocs.yaml

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+# Read the Docs configuration file for Sphinx projects
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+
+# Required
+version: 2
+
+# Set the OS, Python version and other tools you might need
+build:
+ os: ubuntu-22.04
+ tools:
+ python: "3.12"
+ # You can also specify other tool versions:
+ # nodejs: "20"
+ # rust: "1.70"
+ # golang: "1.20"
+
+# Build documentation in the "docs/" directory with Sphinx
+sphinx:
+ configuration: docs/conf.py
+ # You can configure Sphinx to use a different builder, for instance use the dirhtml builder for simpler URLs
+ # builder: "dirhtml"
+ # Fail on all warnings to avoid broken references
+ # fail_on_warning: true
+
+# Optionally build your docs in additional formats such as PDF and ePub
+# formats:
+# - pdf
+# - epub
+
+# Optional but recommended, declare the Python requirements required
+# to build your documentation
+# See https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html
+python:
+ install:
+ - requirements: docs/requirements.txt
+
+formats: all

docs/Makefile

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+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS ?=
+SPHINXBUILD ?= sphinx-build
+SOURCEDIR = .
+BUILDDIR = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+ @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+ @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/_templates/custom-class-template.rst

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+{{ fullname | escape | underline}}
+
+.. currentmodule:: {{ module }}
+
+.. autoclass:: {{ objname }}
+ :members:
+ :show-inheritance:
+ :private-members:
+ :undoc-members:
+
+ {% block methods %}
+ .. automethod:: __init__
+
+ {% if methods %}
+ .. rubric:: {{ _('Methods') }}
+
+ .. autosummary::
+ {% for item in methods %}
+ ~{{ name }}.{{ item }}
+ {%- endfor %}
+ {% endif %}
+ {% endblock %}
+
+ {% block attributes %}
+ {% if attributes %}
+ .. rubric:: {{ _('Attributes') }}
+
+ .. autosummary::
+ {% for item in attributes %}
+ ~{{ name }}.{{ item }}
+ {%- endfor %}
+ {% endif %}
+ {% endblock %}

docs/_templates/custom-module-template.rst

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+{{ fullname | escape | underline}}
+
+.. automodule:: {{ fullname }}
+
+ {% block attributes %}
+ {% if attributes %}
+ .. rubric:: Module Attributes
+
+ .. autosummary::
+ :toctree:
+ {% for item in attributes %}
+ {{ item }}
+ {%- endfor %}
+ {% endif %}
+ {% endblock %}
+
+ {% block classes %}
+ {% if classes %}
+ .. rubric:: {{ _('Classes') }}
+
+ .. autosummary::
+ :toctree:
+ :template: custom-class-template.rst
+ {% for item in classes %}
+ {{ item }}
+ {%- endfor %}
+ {% endif %}
+ {% endblock %}
+
+ {% block inheritance %}
+ {% if classes %}
+
+ .. inheritance-diagram:: {{ fullname }}
+ :caption: Inheritance Relationship
+ :parts: -1
+ {% endif %}
+ {% endblock %}
+
+ {% block functions %}
+ {% if functions %}
+ .. rubric:: {{ _('Functions') }}
+
+ .. autosummary::
+ :toctree:
+ {% for item in functions %}
+ {{ item }}
+ {%- endfor %}
+ {% endif %}
+ {% endblock %}
+
+ {% block exceptions %}
+ {% if exceptions %}
+ .. rubric:: {{ _('Exceptions') }}
+
+ .. autosummary::
+ :toctree:
+ {% for item in exceptions %}
+ {{ item }}
+ {%- endfor %}
+ {% endif %}
+ {% endblock %}
+
+{% block modules %}
+{% if modules %}
+.. rubric:: Modules
+
+.. autosummary::
+ :toctree:
+ :template: custom-module-template.rst
+ :recursive:
+{% for item in modules %}
+ {{ item }}
+{%- endfor %}
+{% endif %}
+{% endblock %}

docs/conf.py

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+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+import os
+import subprocess
+import sys
+
+import adam
+
+sys.path.insert(0, os.path.abspath("."))
+sys.path.insert(0, os.path.abspath("../"))
+sys.path.insert(0, os.path.abspath("../../"))
+sys.path.insert(0, os.path.abspath("../src/"))
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+
+project = "adam"
+copyright = "2021, Artificial and Mechanical Intelligence Lab"
+author = "Artificial and Mechanical Intelligence Lab"
+# get release from git tag
+
+release = (
+ subprocess.check_output(["git", "describe", "--tags", "--always"]).decode().strip()
+)
+
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+extensions = [
+ "sphinx.ext.duration",
+ "sphinx.ext.doctest",
+ "sphinx.ext.autodoc",
+ "sphinx.ext.autosummary",
+ # "sphinx.ext.inheritance_diagram",
+ "sphinx.ext.napoleon",
+ "sphinx.ext.viewcode",
+ # "sphinx.ext.autosectionlabel",
+ "sphinx_copybutton",
+ "myst_parser",
+ "sphinx.ext.napoleon",
+ "autoapi.extension",
+]
+
+autoapi_dirs = ["../src/"]
+
+source_suffix = {
+ ".rst": "restructuredtext",
+ ".txt": "markdown",
+ ".md": "markdown",
+}
+
+autosummary_generate = True
+autodoc_member_order = "bysource"
+
+templates_path = ["_templates"]
+exclude_patterns = []
+
+html_title = f"adam"
+
+
+# -- 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 = "sphinx_rtd_theme"
+
+# html_theme = "furo"
+# html_logo = "pirati.png"
+
+html_context = {
+ "display_github": True,
+ "github_user": "TOB-KNPOB",
+ "github_repo": "Jabref2Obsdian",
+ "github_version": "main",
+ "conf_py_path": "/docs/",
+}
+
+html_static_path = ["_static"]

docs/index.rst

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+.. adam documentation master file, created by
+ sphinx-quickstart on Fri Jun 28 14:10:15 2024.
+ You can adapt this file completely to your liking, but it should at least
+ contain the root `toctree` directive.
+
+
+adam
+----
+
+**Automatic Differentiation for rigid-body-dynamics AlgorithMs**
+
+**adam** implements a collection of algorithms for calculating rigid-body dynamics for **floating-base** robots, in mixed and body fixed representations using:
+
+.. create rst list with links to the following libraries
+
+- `Jax <https://github.com/google/jax>`_
+- `CasADi <https://web.casadi.org/>`_
+- `PyTorch <https://github.com/pytorch/pytorch>`_
+- `NumPy <https://numpy.org/>`_
+
+
+**adam** employs the automatic differentiation capabilities of these frameworks to compute, if needed, gradients, Jacobian, Hessians of rigid-body dynamics quantities. This approach enables the design of optimal control and reinforcement learning strategies in robotics.
+Thanks to the `jax.vmap`-ing and `jax.jit`-ing capabilities, the algorithms can be run on batches of inputs, which are possibly converted to PyTorch using the `jax2torch` conversion functions.
+
+
+**adam** is based on **Roy Featherstone's Rigid Body Dynamics Algorithms**.
+
+Examples
+--------
+
+Have a look at the examples `folder in the repository <https://github.com/ami-iit/adam/tree/main/examples>`_!
+
+
+License
+-------
+
+`BSD-3-Clause <https://choosealicense.com/licenses/bsd-3-clause/>`_
+
+
+.. toctree::
+ :maxdepth: 2
+ :caption: Getting started:
+
+ installation
+ quickstart/index
+
+.. toctree::
+ :maxdepth: 2
+ :caption: API:
+
+ modules/index

docs/installation.rst

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+Installation
+============
+This is the installation guide for the project.
+
+
+Prerequisites
+-------------
+
+adam requires python 3.7 or later.
+
+
+🐍 Conda installation
+---------------------
+
+We suggest to install adam using `conda <https://anaconda.org/>`_:
+
+.. code-block:: bash
+
+ conda install adam-robotics -c conda-forge
+
+📦 Pip installation
+--------------------
+
+You can also install adam using `pip <https://pypi.org/project/pip/>`_:
+
+.. code-block:: bash
+
+ pip install adam-robotics
+
+If you want to install all the dependencies install ``adam-robotics[all]``.
+
+.. note::
+
+ If the GPU support for ``JAX`` is needed, follow the instructions in the `Jax documentation <https://jax.readthedocs.io/en/latest/installation.html#conda-community-supported>`_.

docs/make.bat

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+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+ set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+ echo.
+ echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+ echo.installed, then set the SPHINXBUILD environment variable to point
+ echo.to the full path of the 'sphinx-build' executable. Alternatively you
+ echo.may add the Sphinx directory to PATH.
+ echo.
+ echo.If you don't have Sphinx installed, grab it from
+ echo.https://www.sphinx-doc.org/
+ exit /b 1
+)
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd