[software] 添加16DOF早期训练仿真与Sim2Real闭环

2026-07-21 16:15:14 +08:00
parent 9bd22225f9
commit e9e2c946b3
681 changed files with 137221 additions and 8 deletions
@@ -0,0 +1,200 @@
+import os
+import sys
+
+import sphinx_book_theme
+
+sys.path.insert(0, os.path.abspath("../src"))
+sys.path.insert(0, os.path.abspath("../src/mjlab"))
+
+
+project = "mjlab"
+copyright = "2025, The mjlab Developers"
+author = "The mjlab Developers"
+
+extensions = [
+  "sphinx.ext.autodoc",
+  "sphinx.ext.autosummary",
+  "autodocsumm",
+  "myst_parser",
+  "sphinx.ext.napoleon",
+  "sphinxemoji.sphinxemoji",
+  "sphinx.ext.intersphinx",
+  "sphinx.ext.mathjax",
+  "sphinx.ext.todo",
+  "sphinx.ext.viewcode",
+  "sphinxcontrib.bibtex",
+  "sphinxcontrib.icon",
+  "sphinx_copybutton",
+  "sphinx_design",
+  "sphinx_tabs.tabs",
+  "sphinx_multiversion",
+  "sphinx.ext.extlinks",
+]
+
+extlinks = {
+  "issue": (
+    "https://github.com/mujocolab/mjlab/issues/%s",
+    "#%s",
+  ),
+}
+
+mathjax3_config = {
+  "tex": {
+    "inlineMath": [["\\(", "\\)"]],
+    "displayMath": [["\\[", "\\]"]],
+  },
+}
+
+panels_add_bootstrap_css = False
+panels_add_fontawesome_css = True
+
+source_suffix = {
+  ".rst": "restructuredtext",
+  ".md": "markdown",
+}
+
+nitpick_ignore = [
+  ("py:obj", "slice(None)"),
+]
+
+nitpick_ignore_regex = [
+  (r"py:.*", r"pxr.*"),
+  (r"py:.*", r"trimesh.*"),
+]
+
+# emoji style
+sphinxemoji_style = "twemoji"
+autodoc_typehints = "signature"
+autoclass_content = "class"
+autodoc_class_signature = "separated"
+autodoc_member_order = "bysource"
+autodoc_inherit_docstrings = True
+bibtex_bibfiles = ["source/_static/refs.bib"]
+autosummary_generate = True
+autosummary_generate_overwrite = False
+autodoc_default_options = {
+  "member-order": "bysource",
+}
+intersphinx_mapping = {
+  "python": ("https://docs.python.org/3", None),
+}
+
+exclude_patterns = [
+  "_build",
+  "_redirect",
+  "_templates",
+  "Thumbs.db",
+  ".DS_Store",
+  "README.md",
+  "licenses/*",
+]
+
+autodoc_mock_imports = [
+  "matplotlib",
+  "scipy",
+  "carb",
+  "warp",
+  "pxr",
+  "h5py",
+  "hid",
+  "prettytable",
+  "tqdm",
+  "tensordict",
+  "trimesh",
+  "toml",
+  "mjviser",
+  "mujoco_warp",
+  "gymnasium",
+  "rsl_rl",
+  "viser",
+  "wandb",
+  "torchvision",
+]
+
+suppress_warnings = [
+  "ref.python",
+  "docutils",
+]
+
+language = "en"
+
+html_title = "mjlab Documentation"
+html_theme_path = [sphinx_book_theme.get_html_theme_path()]
+html_theme = "sphinx_book_theme"
+html_favicon = "source/_static/favicon.ico"
+html_show_copyright = True
+html_show_sphinx = False
+html_last_updated_fmt = ""
+
+html_static_path = ["source/_static"]
+html_css_files = ["css/custom.css"]
+
+html_theme_options = {
+  "path_to_docs": "docs/",
+  "collapse_navigation": True,
+  "repository_url": "https://github.com/mujocolab/mjlab",
+  "use_repository_button": True,
+  "use_issues_button": True,
+  "use_edit_page_button": True,
+  "show_toc_level": 2,
+  "use_sidenotes": True,
+  "logo": {
+    "text": "mjlab Documentation",
+  },
+  "icon_links": [
+    {
+      "name": "Benchmarks",
+      "url": "https://mujocolab.github.io/mjlab/nightly/",
+      "icon": "fa-solid fa-chart-line",
+      "type": "fontawesome",
+    },
+  ],
+  "icon_links_label": "Quick Links",
+}
+
+templates_path = [
+  "_templates",
+]
+
+smv_remote_whitelist = r"^.*$"
+smv_branch_whitelist = os.getenv("SMV_BRANCH_WHITELIST", r"^(main|devel)$")
+smv_tag_whitelist = os.getenv("SMV_TAG_WHITELIST", r"^v[1-9]\d*\.\d+\.\d+$")
+
+html_sidebars = {
+  "**": [
+    "navbar-logo.html",
+    "search-field.html",
+    "versioning.html",
+    "sbt-sidebar-nav.html",
+  ]
+}
+
+
+def skip_member(app, what, name, obj, skip, options):
+  exclusions = ["from_dict", "to_dict", "replace", "copy", "validate", "__post_init__"]
+  if name in exclusions:
+    return True
+  return None
+
+
+def process_signature(app, what, name, obj, options, signature, return_annotation):
+  """Suppress the ugly __init__ signature for dataclass Cfg classes."""
+  if what == "class" and "exclude-members" in options:
+    if "__init__" in options["exclude-members"]:
+      return ("", None)
+  return None
+
+
+def process_docstring(app, what, name, obj, options, lines):
+  """Strip auto-generated dataclass docstrings (e.g. 'ClassName(*, ...)')."""
+  import dataclasses
+
+  if what == "class" and dataclasses.is_dataclass(obj):
+    if lines and lines[0].startswith(f"{obj.__name__}("):
+      lines.clear()
+
+
+def setup(app):
+  app.connect("autodoc-skip-member", skip_member)
+  app.connect("autodoc-process-signature", process_signature)
+  app.connect("autodoc-process-docstring", process_docstring)