Update documentation structure

README.md

@@ -27,6 +27,8 @@ This package includes a model of the Panda robot for [dm_robotics](https://githu
   <p>Haptic interaction mode allows you to physically interact with the simulation environment.</p>
 </div>
 
+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).

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']

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:

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:

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:

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:

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:

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:

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:

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

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:

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:

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
+--------------------

pyproject.toml

@@ -49,6 +49,7 @@ doc = [
     "sphinx",
     "furo",
     "sphinx_reredirects",
+    "sphinxcontrib.youtube",
 ]
 
 [project.urls]