diff --git a/README.md b/README.md index 2d984ac..c1731e1 100644 --- a/README.md +++ b/README.md @@ -27,6 +27,8 @@ This package includes a model of the Panda robot for [dm_robotics](https://githu

Haptic interaction mode allows you to physically interact with the simulation environment.

+To get started, checkout the [tutorials](https://jeanelsner.github.io/dm_robotics_panda/tutorial.html). + ## Install The recommended way of installing is using PyPI: ``` @@ -38,12 +40,6 @@ pip install . ``` in the repository's root directory. ## Requirements -Hardware-in-the-loop operation requires `panda-py` to control the robot. However, the version automatically installed from PyPI may not be compatible with your robot if you use an older firmware or use the new Franka Research 3. In that case refer to the panda-py [instructions](https://github.com/JeanElsner/panda-py#libfranka-version) on what version to install and where to find it. - -The -For visualization, additional libraries are required, depending on whether hardware acceleration and/or headless mode is required. On Ubuntu 22.04 you can install the respective requirements by running -* Hardware accelerated rendering in windowed mode `sudo apt-get install libglfw3 libglew2.2` -* Headless hardware acceleration with recent NVIDIA driver `sudo apt-get install libglew2.2` -* Software rendering `sudo apt-get install libgl1-mesa-glx libosmesa6` +Hardware-in-the-loop operation requires `panda-py` to control the robot. However, the version automatically installed from PyPI may not be compatible with your robot if you use an older firmware or use the new Franka Research 3 robot. In that case refer to the panda-py [instructions](https://github.com/JeanElsner/panda-py#libfranka-version) on what version to install and where to find it. -Additionally you may need to install glib `sudo apt-get install libglib2.0-0`. +If you're having trouble running the included viewer or rendering scenes, please refer to the requirements of [dm_control](https://github.com/google-deepmind/dm_control#rendering). diff --git a/doc/conf.py b/doc/conf.py index 82217d5..8363bcb 100644 --- a/doc/conf.py +++ b/doc/conf.py @@ -15,6 +15,7 @@ # https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration extensions = [ + 'sphinxcontrib.youtube', 'sphinx.ext.autodoc', 'sphinx.ext.napoleon', 'sphinx.ext.intersphinx', @@ -37,5 +38,5 @@ # https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output html_theme = 'furo' -html_logo = '../logo.png' +html_logo = './img/logo.png' html_static_path = ['_static'] diff --git a/doc/dm_robotics.panda.arm.rst b/doc/dm_robotics.panda.arm.rst new file mode 100644 index 0000000..ca1e6e8 --- /dev/null +++ b/doc/dm_robotics.panda.arm.rst @@ -0,0 +1,7 @@ +dm\_robotics.panda.arm module +============================= + +.. automodule:: dm_robotics.panda.arm + :members: + :undoc-members: + :show-inheritance: diff --git a/doc/dm_robotics.panda.arm_constants.rst b/doc/dm_robotics.panda.arm_constants.rst new file mode 100644 index 0000000..7ba88b2 --- /dev/null +++ b/doc/dm_robotics.panda.arm_constants.rst @@ -0,0 +1,7 @@ +dm\_robotics.panda.arm\_constants module +======================================== + +.. automodule:: dm_robotics.panda.arm_constants + :members: + :undoc-members: + :show-inheritance: diff --git a/doc/dm_robotics.panda.environment.rst b/doc/dm_robotics.panda.environment.rst new file mode 100644 index 0000000..83239a1 --- /dev/null +++ b/doc/dm_robotics.panda.environment.rst @@ -0,0 +1,7 @@ +dm\_robotics.panda.environment module +===================================== + +.. automodule:: dm_robotics.panda.environment + :members: + :undoc-members: + :show-inheritance: diff --git a/doc/dm_robotics.panda.gripper.rst b/doc/dm_robotics.panda.gripper.rst new file mode 100644 index 0000000..a01a5e2 --- /dev/null +++ b/doc/dm_robotics.panda.gripper.rst @@ -0,0 +1,7 @@ +dm\_robotics.panda.gripper module +================================= + +.. automodule:: dm_robotics.panda.gripper + :members: + :undoc-members: + :show-inheritance: diff --git a/doc/dm_robotics.panda.gripper_constants.rst b/doc/dm_robotics.panda.gripper_constants.rst new file mode 100644 index 0000000..b1121b8 --- /dev/null +++ b/doc/dm_robotics.panda.gripper_constants.rst @@ -0,0 +1,7 @@ +dm\_robotics.panda.gripper\_constants module +============================================ + +.. automodule:: dm_robotics.panda.gripper_constants + :members: + :undoc-members: + :show-inheritance: diff --git a/doc/dm_robotics.panda.hardware.rst b/doc/dm_robotics.panda.hardware.rst new file mode 100644 index 0000000..036ca9a --- /dev/null +++ b/doc/dm_robotics.panda.hardware.rst @@ -0,0 +1,7 @@ +dm\_robotics.panda.hardware module +================================== + +.. automodule:: dm_robotics.panda.hardware + :members: + :undoc-members: + :show-inheritance: diff --git a/doc/dm_robotics.panda.parameters.rst b/doc/dm_robotics.panda.parameters.rst new file mode 100644 index 0000000..73baf29 --- /dev/null +++ b/doc/dm_robotics.panda.parameters.rst @@ -0,0 +1,7 @@ +dm\_robotics.panda.parameters module +==================================== + +.. automodule:: dm_robotics.panda.parameters + :members: + :undoc-members: + :show-inheritance: diff --git a/doc/dm_robotics.panda.rst b/doc/dm_robotics.panda.rst index 112d50b..c09f801 100644 --- a/doc/dm_robotics.panda.rst +++ b/doc/dm_robotics.panda.rst @@ -9,74 +9,15 @@ dm\_robotics.panda package Submodules ---------- -dm\_robotics.panda.arm module ------------------------------ - -.. automodule:: dm_robotics.panda.arm - :members: - :undoc-members: - :show-inheritance: - -dm\_robotics.panda.arm\_constants module ----------------------------------------- - -.. automodule:: dm_robotics.panda.arm_constants - :members: - :undoc-members: - :show-inheritance: - -dm\_robotics.panda.env\_builder module --------------------------------------- - -.. automodule:: dm_robotics.panda.env_builder - :members: - :undoc-members: - :show-inheritance: - -dm\_robotics.panda.gripper module ---------------------------------- - -.. automodule:: dm_robotics.panda.gripper - :members: - :undoc-members: - :show-inheritance: - -dm\_robotics.panda.gripper\_constants module --------------------------------------------- - -.. automodule:: dm_robotics.panda.gripper_constants - :members: - :undoc-members: - :show-inheritance: - -dm\_robotics.panda.hardware module ----------------------------------- - -.. automodule:: dm_robotics.panda.hardware - :members: - :undoc-members: - :show-inheritance: - -dm\_robotics.panda.parameters module ------------------------------------- - -.. automodule:: dm_robotics.panda.parameters - :members: - :undoc-members: - :show-inheritance: - -dm\_robotics.panda.run\_loop module ------------------------------------ - -.. automodule:: dm_robotics.panda.run_loop - :members: - :undoc-members: - :show-inheritance: - -dm\_robotics.panda.utils module -------------------------------- - -.. automodule:: dm_robotics.panda.utils - :members: - :undoc-members: - :show-inheritance: +.. toctree:: + :maxdepth: 1 + + dm_robotics.panda.arm + dm_robotics.panda.arm_constants + dm_robotics.panda.environment + dm_robotics.panda.gripper + dm_robotics.panda.gripper_constants + dm_robotics.panda.hardware + dm_robotics.panda.parameters + dm_robotics.panda.run_loop + dm_robotics.panda.utils diff --git a/doc/dm_robotics.panda.run_loop.rst b/doc/dm_robotics.panda.run_loop.rst new file mode 100644 index 0000000..eef2296 --- /dev/null +++ b/doc/dm_robotics.panda.run_loop.rst @@ -0,0 +1,7 @@ +dm\_robotics.panda.run\_loop module +=================================== + +.. automodule:: dm_robotics.panda.run_loop + :members: + :undoc-members: + :show-inheritance: diff --git a/doc/dm_robotics.panda.utils.rst b/doc/dm_robotics.panda.utils.rst new file mode 100644 index 0000000..b16d488 --- /dev/null +++ b/doc/dm_robotics.panda.utils.rst @@ -0,0 +1,7 @@ +dm\_robotics.panda.utils module +=============================== + +.. automodule:: dm_robotics.panda.utils + :members: + :undoc-members: + :show-inheritance: diff --git a/doc/img/logo.png b/doc/img/logo.png new file mode 100644 index 0000000..02c2cbd Binary files /dev/null and b/doc/img/logo.png differ diff --git a/doc/tutorial.rst b/doc/tutorial.rst index f155eea..cd14c09 100644 --- a/doc/tutorial.rst +++ b/doc/tutorial.rst @@ -1,3 +1,40 @@ Tutorial ======== +Introduction +------------ + +Motion Control +-------------- + +Joint +^^^^^ + +.. youtube:: C14HlT1Scdo + +Cartesian +^^^^^^^^^ + +.. youtube:: vYvdr7iGCv4 + + +Gripper +^^^^^^^ + +.. youtube:: h3P0HBPF3NU + + +Haptic Interaction +------------------ + +.. youtube:: hn42udf0uKc + + +Multiple Robots +--------------- + +Rewards and Observations +------------------------ + +Domain Randomization +-------------------- \ No newline at end of file diff --git a/pyproject.toml b/pyproject.toml index 3356bd3..31e39f0 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -49,6 +49,7 @@ doc = [ "sphinx", "furo", "sphinx_reredirects", + "sphinxcontrib.youtube", ] [project.urls]