From 3024423427658f8875f1c3768075bf779161ad92 Mon Sep 17 00:00:00 2001 From: yuecideng Date: Fri, 21 Nov 2025 13:19:21 +0000 Subject: [PATCH 1/7] wip --- .readthedocs.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.readthedocs.yaml b/.readthedocs.yaml index 17245082..d5ff274e 100644 --- a/.readthedocs.yaml +++ b/.readthedocs.yaml @@ -20,4 +20,6 @@ sphinx: python: install: - requirements: docs/requirements.txt + - method: pip + path: . \ No newline at end of file From c35538b56d0a449956490566363acf31bf7d98c8 Mon Sep 17 00:00:00 2001 From: yuecideng Date: Fri, 21 Nov 2025 13:42:40 +0000 Subject: [PATCH 2/7] wip --- docs/source/conf.py | 7 +++++++ pyproject.toml | 4 ++-- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/docs/source/conf.py b/docs/source/conf.py index 311ddbf4..3f81a29b 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -53,6 +53,13 @@ # If using MyST and writing .md API stubs: myst_enable_extensions = ["colon_fence", "deflist", "html_admonition"] +# Add any modules here that cannot be installed in the ReadTheDocs build environment +autodoc_mock_imports = [ + "torch", + "open3d", + "numba", + "dexsim", +] templates_path = ["_templates"] exclude_patterns = [] diff --git a/pyproject.toml b/pyproject.toml index 83b28a47..0ae71d92 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -18,9 +18,9 @@ build-backend = "setuptools.build_meta:__legacy__" [project] name = "embodichain" version = "0.0.1" -description = "A modular platform for building generalized embodied intelligence." +description = "An end-to-end, GPU-accelerated, and modular platform for building generalized Embodied Intelligence." readme = "README.md" -authors = [ { name = "Dexforce" } ] +authors = [ { name = "EmbodiChain Developers" } ] requires-python = ">=3.9" From fca1569565d6399cf8f8dacadcc3dadcf82b61cc Mon Sep 17 00:00:00 2001 From: yuecideng Date: Fri, 21 Nov 2025 14:19:14 +0000 Subject: [PATCH 3/7] update --- .../embodichain/embodichain.lab.gym.rst | 14 -------------- .../embodichain/embodichain.lab.gym.utils.rst | 8 -------- .../api_reference/embodichain/embodichain.lab.rst | 9 --------- .../embodichain/embodichain.utils.rst | 9 --------- docs/source/conf.py | 7 ------- 5 files changed, 47 deletions(-) diff --git a/docs/source/api_reference/embodichain/embodichain.lab.gym.rst b/docs/source/api_reference/embodichain/embodichain.lab.gym.rst index e788b8f7..addf6c10 100644 --- a/docs/source/api_reference/embodichain/embodichain.lab.gym.rst +++ b/docs/source/api_reference/embodichain/embodichain.lab.gym.rst @@ -123,13 +123,6 @@ Registration System Gymnasium wrapper that adds episode time limits to environments. -Action Conversion Utilities -~~~~~~~~~~~~~~~~~~~~~~~~~~~ - -.. automodule:: embodichain.lab.gym.utils.action_conversion - - Utilities for converting between different action representations in robotic environments. - Gymnasium Utilities ~~~~~~~~~~~~~~~~~~ @@ -137,13 +130,6 @@ Gymnasium Utilities Helper functions and utilities for Gymnasium environment integration. -Image Utilities -~~~~~~~~~~~~~~~ - -.. automodule:: embodichain.lab.gym.utils.img_utils - - Image processing utilities for visual observations and rendering. - Miscellaneous Utilities ~~~~~~~~~~~~~~~~~~~~~~~ diff --git a/docs/source/api_reference/embodichain/embodichain.lab.gym.utils.rst b/docs/source/api_reference/embodichain/embodichain.lab.gym.utils.rst index a0c9f265..4db73036 100644 --- a/docs/source/api_reference/embodichain/embodichain.lab.gym.utils.rst +++ b/docs/source/api_reference/embodichain/embodichain.lab.gym.utils.rst @@ -25,20 +25,12 @@ Registration System Utility Modules --------------- -Action Conversion -~~~~~~~~~~~~~~~~~ - -.. automodule:: embodichain.lab.gym.utils.action_conversion Gymnasium Utilities ~~~~~~~~~~~~~~~~~~~ .. automodule:: embodichain.lab.gym.utils.gym_utils -Image Utilities -~~~~~~~~~~~~~~~ - -.. automodule:: embodichain.lab.gym.utils.img_utils Miscellaneous ~~~~~~~~~~~~~ diff --git a/docs/source/api_reference/embodichain/embodichain.lab.rst b/docs/source/api_reference/embodichain/embodichain.lab.rst index e8a7d565..603c8058 100644 --- a/docs/source/api_reference/embodichain/embodichain.lab.rst +++ b/docs/source/api_reference/embodichain/embodichain.lab.rst @@ -10,7 +10,6 @@ devices gym sim - utility Device Management ----------------- @@ -19,11 +18,3 @@ Device Management :members: :undoc-members: :show-inheritance: - -Utilities ---------- - -.. automodule:: embodichain.lab.utility - :members: - :undoc-members: - :show-inheritance: diff --git a/docs/source/api_reference/embodichain/embodichain.utils.rst b/docs/source/api_reference/embodichain/embodichain.utils.rst index 52ad4a4f..490962ce 100644 --- a/docs/source/api_reference/embodichain/embodichain.utils.rst +++ b/docs/source/api_reference/embodichain/embodichain.utils.rst @@ -10,7 +10,6 @@ warp configclass file - heat_map logger math module_utils @@ -43,14 +42,6 @@ File Operations :undoc-members: :show-inheritance: -Heat Map Utilities ------------------- - -.. automodule:: embodichain.utils.heat_map - :members: - :undoc-members: - :show-inheritance: - Logging ------- diff --git a/docs/source/conf.py b/docs/source/conf.py index 3f81a29b..311ddbf4 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -53,13 +53,6 @@ # If using MyST and writing .md API stubs: myst_enable_extensions = ["colon_fence", "deflist", "html_admonition"] -# Add any modules here that cannot be installed in the ReadTheDocs build environment -autodoc_mock_imports = [ - "torch", - "open3d", - "numba", - "dexsim", -] templates_path = ["_templates"] exclude_patterns = [] From e07c37c06021cceb3048e4a33d8575f080269d54 Mon Sep 17 00:00:00 2001 From: yuecideng Date: Fri, 21 Nov 2025 14:34:22 +0000 Subject: [PATCH 4/7] add customized install --- .readthedocs.yaml | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/.readthedocs.yaml b/.readthedocs.yaml index d5ff274e..c554d65a 100644 --- a/.readthedocs.yaml +++ b/.readthedocs.yaml @@ -18,8 +18,10 @@ sphinx: # 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 - - method: pip - path: . - \ No newline at end of file + install: + - requirements: docs/requirements.txt + - method: pip + path: http://pyp.open3dv.site:2345/packages/dexsim_engine-0.3.6-cp310-cp310-manylinux_2_31_x86_64.whl + - method: pip + path: . + \ No newline at end of file From 2d8a82ab3abfbf8fab2813c3c94ba4941e6e5ed0 Mon Sep 17 00:00:00 2001 From: yuecideng Date: Fri, 21 Nov 2025 14:43:51 +0000 Subject: [PATCH 5/7] update --- docs/source/quick_start/install.md | 15 ++++----------- pyproject.toml | 1 + 2 files changed, 5 insertions(+), 11 deletions(-) diff --git a/docs/source/quick_start/install.md b/docs/source/quick_start/install.md index 8a365939..7641687e 100644 --- a/docs/source/quick_start/install.md +++ b/docs/source/quick_start/install.md @@ -40,15 +40,6 @@ docker pull dexforce/embodichain:ubuntu22.04-cuda12.8 > **We strongly recommend using a virtual environment to avoid dependency conflicts.** -Install `DexSim` manually: -```bash -# If you are using Python 3.10 -pip install http://pyp.open3dv.site:2345/packages/dexsim_engine-0.3.6-cp310-cp310-manylinux_2_31_x86_64.whl -``` - -> We are working on uploading DexSim to PyPI for easier installation. Please stay tuned! - - Clone the EmbodiChain repository: ```bash git clone https://github.com/DexForce/EmbodiChain.git @@ -60,12 +51,14 @@ Install the project in development mode: pip install -e . ``` - ### Verify Installation To verify that EmbodiChain is installed correctly, run a simple demo script to create a simulation scene: ```bash - python scripts/tutorials/sim/create_scene.py +python scripts/tutorials/sim/create_scene.py + +# Or run in headless mode. +python scripts/tutorials/sim/create_scene.py --headless ``` --- diff --git a/pyproject.toml b/pyproject.toml index 0ae71d92..109b0baa 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -27,6 +27,7 @@ requires-python = ">=3.9" # Core install dependencies (kept from requirements.txt). Some VCS links are # specified using PEP 508 direct references where present. dependencies = [ + "dexsim_engine @ http://pyp.open3dv.site:2345/packages/dexsim_engine-0.3.6-cp310-cp310-manylinux_2_31_x86_64.whl", "setuptools==69.5.1", "gymnasium==0.29.1", "langchain==0.2.14", From 3d67b05c1ce6794e1baffa8fe4f679e3af0ae2ac Mon Sep 17 00:00:00 2001 From: yuecideng Date: Fri, 21 Nov 2025 14:46:41 +0000 Subject: [PATCH 6/7] wip --- .readthedocs.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/.readthedocs.yaml b/.readthedocs.yaml index c554d65a..0aa6b2f0 100644 --- a/.readthedocs.yaml +++ b/.readthedocs.yaml @@ -20,8 +20,6 @@ sphinx: python: install: - requirements: docs/requirements.txt - - method: pip - path: http://pyp.open3dv.site:2345/packages/dexsim_engine-0.3.6-cp310-cp310-manylinux_2_31_x86_64.whl - method: pip path: . \ No newline at end of file From 4b0fcb62d2e4d2cce019cab6ae30b68b3e2a5f1e Mon Sep 17 00:00:00 2001 From: yuecideng Date: Fri, 21 Nov 2025 16:32:17 +0000 Subject: [PATCH 7/7] wip --- docs/requirements.txt | 1 + docs/source/conf.py | 7 ++++--- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/docs/requirements.txt b/docs/requirements.txt index cacbd083..f2d11c7d 100644 --- a/docs/requirements.txt +++ b/docs/requirements.txt @@ -1,4 +1,5 @@ sphinx>=4.0 +autodocsumm sphinx-book-theme>=0.3.0 sphinx-tabs sphinx-copybutton diff --git a/docs/source/conf.py b/docs/source/conf.py index 311ddbf4..ed48c59a 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -10,9 +10,7 @@ import sys -project_root = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")) -package_root = os.path.join(project_root, "embodichain") -sys.path.insert(0, package_root) +sys.path.insert(0, os.path.abspath("../..")) project = "EmbodiChain" @@ -30,6 +28,7 @@ extensions = [ + "autodocsumm", "sphinx.ext.autodoc", "sphinx.ext.autosummary", "sphinx.ext.napoleon", @@ -42,6 +41,8 @@ napoleon_google_docstring = True napoleon_numpy_docstring = True +autodoc_typehints = "signature" +autodoc_class_signature = "separated" # generate autosummary even if no references autosummary_generate = True autosummary_generate_overwrite = False