Fix submodules import errors for autodoc

docs/Makefile

@@ -7,6 +7,7 @@ SPHINXOPTS    ?=
 SPHINXBUILD   ?= sphinx-build
 SOURCEDIR     = .
 BUILDDIR      = _build
+SPHINXPROJ    = JAXsim
 
 # Put it first so that "make" without argument is like "make help".
 help:

docs/conf.py

@@ -1,13 +1,16 @@
 # Configuration file for the Sphinx documentation builder.
 import pathlib
 import sys
+import os
 
 # -- Version information
 
-sys.path.insert(0, pathlib.Path(__file__).parents[2].absolute())
-version_file = (
-    pathlib.Path(__file__).parents[1].absolute() / "src" / "jaxsim" / "version.txt"
-)
+sys.path.insert(0, os.path.abspath("."))
+sys.path.insert(0, os.path.abspath("../"))
+
+module_path = pathlib.Path(__file__).parent.parent.absolute() / "src"
+sys.path.insert(0, str(module_path))
+version_file = str(module_path / "jaxsim" / "version.txt")
 
 with open(version_file) as file_handler:
     __version__ = file_handler.read().strip()

docs/guide/install.rst

@@ -9,7 +9,7 @@ Prerequisites
 JAXsim requires Python 3.10 or later. 
 
 Basic Installation
-------------
+------------------
 
 You can install the project with `pypa/pip`, preferably in a `virtual environment`_:
 

docs/index.rst

@@ -12,7 +12,7 @@ A scalable physics engine implemented with JAX. With JIT batteries 🔋
 Features
 --------
 
-- Physics engine in reduced coordinates implemented with `JAX`_ in Python.
+- Physics engine in reduced coordinates implemented with `JAX <https://github.com/google/jax>`_ in Python.
 - Supported JIT compilation of Python code for increased performance.
 - Transparent support to execute the simulation on CPUs, GPUs, and TPUs.
 - Possibility to run parallel multi-body simulations on hardware accelerators for significantly increased throughput.
@@ -38,15 +38,14 @@ Planned features:
    guide/install
 
 .. toctree::
-    :maxdepth: 3
+    :maxdepth: 2
     :caption: JAXsim API Reference
 
     modules/high_level
     modules/math
     modules/physics
     modules/parsers
     modules/simulation
-    modules/sixd
     modules/utils
 
 

docs/make.bat

@@ -9,6 +9,7 @@ if "%SPHINXBUILD%" == "" (
 )
 set SOURCEDIR=.
 set BUILDDIR=_build
+set SPHINXPROJ=JaxSim
 
 if "%1" == "" goto help
 

docs/modules/high_level.rst

@@ -4,6 +4,14 @@
 High Level 
 ==========
 
-.. automodule:: src.jaxsim.high_level
+.. autoclass:: jaxsim.high_level.model.Model
+    :members:
+    :inherited-members:
+
+.. autoclass:: jaxsim.high_level.joint.Joint
+    :members:
+    :inherited-members:
+
+.. autoclass:: jaxsim.high_level.link.Link
     :members:
     :inherited-members:

docs/modules/math.rst

@@ -4,6 +4,38 @@
 Math 
 ====
 
-.. automodule:: src.jaxsim.math
+.. automodule:: jaxsim.math.adjoint
     :members:
-    :inherited-members:
+    :inherited-members:
+
+.. automodule:: jaxsim.math.conv
+    :members:
+    :inherited-members:
+
+.. automodule:: jaxsim.math.cross
+    :members:
+    :inherited-members:
+
+.. automodule:: jaxsim.math.inertia
+    :members:
+    :inherited-members:
+
+.. automodule:: jaxsim.math.joint
+    :members:
+    :inherited-members:
+
+.. automodule:: jaxsim.math.plucker
+    :members:
+    :inherited-members:
+
+.. automodule:: jaxsim.math.quaternion
+    :members:
+    :inherited-members:
+
+.. automodule:: jaxsim.math.rotation
+    :members:
+    :inherited-members:
+
+.. automodule:: jaxsim.math.skew
+    :members:
+    :inherited-members:

docs/modules/parsers.rst

@@ -4,6 +4,18 @@
 Parsers 
 =======
 
-.. automodule:: src.jaxsim.parsers
+.. automodule:: jaxsim.parsers.descriptions.collision
     :members:
-    :inherited-members:
+    :inherited-members:
+
+.. automodule:: jaxsim.parsers.descriptions.joint
+    :members:
+    :inherited-members:
+
+.. automodule:: jaxsim.parsers.descriptions.link
+    :members:
+    :inherited-members:
+
+.. automodule:: jaxsim.parsers.descriptions.model
+    :members:
+    :inherited-members:

docs/modules/physics.rst

@@ -4,6 +4,52 @@
 Physics 
 =======
 
-.. automodule:: src.jaxsim.physics
+.. _algos:
+
+Algos
+-----
+
+.. automodule:: jaxsim.physics.algos
+
+.. autofunction:: jaxsim.physics.algos.aba.aba
+
+.. autofunction:: jaxsim.physics.algos.crba.crba
+
+
+.. autofunction:: jaxsim.physics.algos.forward_kinematics.forward_kinematics
+
+.. autofunction:: jaxsim.physics.algos.jacobian.jacobian
+
+.. autofunction:: jaxsim.physics.algos.rnea.rnea
+
+.. automodule:: jaxsim.physics.algos.soft_contacts
+    :members:
+    :inherited-members:
+
+.. automodule:: jaxsim.physics.algos.terrain
+    :members:
+    :inherited-members:
+
+.. automodule:: jaxsim.physics.algos.utils
     :members:
-    :inherited-members:
+    :inherited-members:
+
+Model
+-----
+
+.. automodule:: jaxsim.physics.model
+    :members:
+    :inherited-members:
+
+.. automodule:: jaxsim.physics.model.ground_contact
+    :members:
+    :inherited-members:
+
+.. automodule:: jaxsim.physics.model.physics_model_state
+    :members:
+    :inherited-members:
+
+.. automodule:: jaxsim.physics.model.physics_model
+    :members:
+    :inherited-members:
+

docs/modules/simulation.rst

@@ -4,12 +4,12 @@
 Simulation 
 ==========
 
-.. automodule:: src.jaxsim.simulation
+.. automodule:: jaxsim.simulation
 
-.. autoclass:: src.jaxsim.simulation.SimulatorData
+.. autoclass:: jaxsim.simulation.simulator.SimulatorData
     :members:
     :inherited-members:
 
-.. autoclass:: src.jaxsim.simulation.JaxSim
-:members:
-:inherited-members:
+.. autoclass:: jaxsim.simulation.simulator.JaxSim
+    :members:
+    :inherited-members:

docs/modules/utils.rst

@@ -2,8 +2,8 @@
 
 
 Utils 
-==========
+=====
 
-.. automodule:: src.jaxsim.utils
+.. automodule:: jaxsim.utils
     :members:
     :inherited-members:

docs/requirements.txt

@@ -1,4 +1,4 @@
 sphinx==7.1.2
 sphinx-rtd-theme==1.3.0rc1
 sphinx_autodoc_typehints
-sphinx_copybutton
+sphinx_copybutton