From bc94b66aeb87b09494cb222178360cdb482a3a42 Mon Sep 17 00:00:00 2001
From: JustaGist <saifksidhik@gmail.com>
Date: Wed, 7 Aug 2024 14:05:28 +0100
Subject: [PATCH] add docs env and generator task in pixi

---
 docs/intro.rst | 147 ++++++++++++++++--
 pixi.lock      | 402 ++++++++++++++++++++++++++++++++++++++++++++++++-
 pyproject.toml |   5 +-
 3 files changed, 541 insertions(+), 13 deletions(-)

diff --git a/docs/intro.rst b/docs/intro.rst
index 82862a8..87d8588 100644
--- a/docs/intro.rst
+++ b/docs/intro.rst
@@ -1,18 +1,143 @@
-Intro
+PyRCF
 =====
 
-Python Robot Control Framework
+|Python| |GitHub release| |License|
 
+A Python Robot Control Framework for quickly prototyping control
+algorithms for different robot embodiments.
 
-## Continuous Integration Status
+Primarily, this library provides an implementation of a typical control
+loop (via a ``MinimalCtrlLoop`` (extended from
+``SimpleManagedCtrlLoop``) class), and defines interfaces for the
+components in a control loop that can be used directly in these control
+loop implementations. It also provides utility and debugging tools that
+will be useful for developing controllers and planners for different
+robots. This package also provides implementations of basic controllers
+and planners.
 
-[![Ci](https://github.com/justagist/pyrcf/actions/workflows/ci.yml/badge.svg?branch=main)](https://github.com/justagist/pyrcf/actions/workflows/ci.yml?query=branch%3Amain)
-[![Codecov](https://codecov.io/gh/justagist/pyrcf/branch/main/graph/badge.svg?token=Y212GW1PG6)](https://codecov.io/gh/justagist/pyrcf)
-[![GitHub issues](https://img.shields.io/github/issues/justagist/pyrcf.svg)](https://github.com/justagist/pyrcf/issues/)
-[![GitHub pull-requests merged](https://badgen.net/github/merged-prs/justagist/pyrcf)](https://github.com/justagist/pyrcf/pulls?q=is%3Amerged)
-[![GitHub release](https://img.shields.io/github/release/justagist/pyrcf.svg)](https://github.com/justagist/pyrcf/releases/)
-[![License](https://img.shields.io/pypi/l/bencher)](https://opensource.org/license/mit/)
-[![Python](https://img.shields.io/badge/python-3.10%20%7C%203.11-blue)](https://www.python.org/downloads/release/python-310/)
+In the long run, this package will also provide implementations of
+popular motion planners and controllers from literature and using
+existing libraries.
 
+   [!WARNING] **THIS PROJECT IS STILL IN ACTIVE DEVELOPMENT.**
 
-To set up your project run the vscode task "pull updates from template repo" and then task "rename project template name"
+Continuous Integration Status
+-----------------------------
+
+|Ci| |Codecov| |GitHub issues| |GitHub pull-requests merged|
+
+Installation
+------------
+
+From pypi
+~~~~~~~~~
+
+|PyPI version|
+
+-  ``pip install pyrcf``
+
+From source
+~~~~~~~~~~~
+
+-  Clone repo and run from inside the directory ``pip install .``
+   (recommended to use virtual env) or run ``pixi install`` (if using
+   `Pixi <https://pixi.sh>`__).
+
+Testing Installation
+~~~~~~~~~~~~~~~~~~~~
+
+After installation, you should be able to run a robot visualiser script
+installed globally called ``pyrcf-visualise-robot``. Run it with the
+first argument as any of the robot descriptions mentioned in the
+`robot_descriptions.py
+repo <https://github.com/robot-descriptions/robot_descriptions.py/tree/main?tab=readme-ov-file#descriptions>`__;
+e.g. ``pyrcf-visualise-robot pepper_description``. This should start a
+visualiser in pybullet, where you should be able to move all robot
+joints and base pose using sliders in the pybullet GUI.
+
+You should also be able to run all the scripts in the ``examples``
+folder.
+
+**More examples and demos will be added soon.**
+
+PyRCF Philosophy
+----------------
+
+PyRCF follows the principle of a single thread control loop where
+components are communicating with each other strictly using pre-defined
+message types, and run sequentially.
+
+PyRCF is designed to be a prototyping tool to test different controllers
+and algorithms in simulation, and **NOT** optimised for real-time
+control on a real robot. Although the framework has been tested on real
+robot interfaces, it is not recommended to do so unless you know what
+you are doing.
+
+A generic control loop
+~~~~~~~~~~~~~~~~~~~~~~
+
+.. code:: text
+
+
+   LOOP:
+     # Read latest robot state
+     robot_state = ROBOT_INTERFACE->read_robot_state()
+
+     # Update robot state with estimations (when all states are not directly measurable)
+     robot_state = STATE_ESTIMATOR->update_robot_state_estimates(robot_state)
+
+     # Generate global plan (high-level task objective or target)
+     global_plan = GLOBAL_PLANNER->generate_global_plan()
+
+     # Generate local plan based on state and global plan
+     local_plan = LOCAL_PLANNER->generate_local_plan(robot_state, global_plan)
+
+     # Generate control command based on state and local plan
+     cmd = CONTROLLER->compute_commands(robot_state, local_plan)
+
+     # Send command to robot
+     ROBOT_INTERFACE->write_robot_command(cmd)
+
+     # Maintain loop frequency (naive implementation)
+     SLEEP(period)
+
+   END LOOP
+
+This package provides interfaces to define custom components (such as
+controller, robot interface, global planner, local planner, etc) that
+can be run in a control loop, as well as provides an implementation of a
+control loop class which can execute these components in the required
+order at the specified rate. Implementations of simple forms of all
+components are also available in this package, including simulated
+interfaces for many robot embodiments.
+
+Custom controllers and planners can be implemented and quickly tested on
+existing robot interfaces or on custom robot interfaces (which can be
+easily defined).
+
+More complex algorithms for control and planning will be provided by
+this package over time.
+
+Tutorials and more details about concepts will be provided soon in the
+`tutorials <https://github.com/justagist/pyrcf/tree/main/examples/tutorials>`__ folder.
+
+|Pixi Badge|
+
+.. |Python| image:: https://img.shields.io/badge/python-3.10%20%7C%203.11%20%7C%203.12-blue
+   :target: https://www.python.org/downloads/
+.. |GitHub release| image:: https://img.shields.io/github/release/justagist/pyrcf.svg
+   :target: https://github.com/justagist/pyrcf/releases/
+.. |License| image:: https://img.shields.io/pypi/l/bencher
+   :target: https://opensource.org/license/mit/
+.. |Ci| image:: https://github.com/justagist/pyrcf/actions/workflows/ci.yml/badge.svg?branch=main
+   :target: https://github.com/justagist/pyrcf/actions/workflows/ci.yml?query=branch%3Amain
+.. |Codecov| image:: https://codecov.io/gh/justagist/pyrcf/branch/main/graph/badge.svg?token=Y212GW1PG6
+   :target: https://codecov.io/gh/justagist/pyrcf
+.. |GitHub issues| image:: https://img.shields.io/github/issues/justagist/pyrcf.svg
+   :target: https://github.com/justagist/pyrcf/issues/
+.. |GitHub pull-requests merged| image:: https://badgen.net/github/merged-prs/justagist/pyrcf
+   :target: https://github.com/justagist/pyrcf/pulls?q=is%3Amerged
+.. |PyPI version| image:: https://badge.fury.io/py/pyrcf.svg
+   :target: https://badge.fury.io/py/pyrcf
+.. |Pixi Badge| image:: https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/prefix-dev/pixi/main/assets/badge/v0.json
+   :target: https://pixi.sh
\ No newline at end of file
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+  url: https://files.pythonhosted.org/packages/76/85/749bd22d1a68db7291c89e2ebca53f4306c3f205853cf31e9de279034c3c/sphinxcontrib_jquery-4.1-py2.py3-none-any.whl
+  sha256: f936030d7d0147dd026a4f2b5a57343d233f1fc7b363f68b3d4f1cb0993878ae
+  requires_dist:
+  - sphinx>=1.8
+  requires_python: '>=2.7'
+- kind: pypi
+  name: sphinxcontrib-jsmath
+  version: 1.0.1
+  url: https://files.pythonhosted.org/packages/c2/42/4c8646762ee83602e3fb3fbe774c2fac12f317deb0b5dbeeedd2d3ba4b77/sphinxcontrib_jsmath-1.0.1-py2.py3-none-any.whl
+  sha256: 2ec2eaebfb78f3f2078e73666b1415417a116cc848b72e5172e596c871103178
+  requires_dist:
+  - pytest ; extra == 'test'
+  - flake8 ; extra == 'test'
+  - mypy ; extra == 'test'
+  requires_python: '>=3.5'
+- kind: pypi
+  name: sphinxcontrib-napoleon
+  version: '0.7'
+  url: https://files.pythonhosted.org/packages/75/f2/6b7627dfe7b4e418e295e254bb15c3a6455f11f8c0ad0d43113f678049c3/sphinxcontrib_napoleon-0.7-py2.py3-none-any.whl
+  sha256: 711e41a3974bdf110a484aec4c1a556799eb0b3f3b897521a018ad7e2db13fef
+  requires_dist:
+  - six>=1.5.2
+  - pockets>=0.3
+- kind: pypi
+  name: sphinxcontrib-qthelp
+  version: 2.0.0
+  url: https://files.pythonhosted.org/packages/27/83/859ecdd180cacc13b1f7e857abf8582a64552ea7a061057a6c716e790fce/sphinxcontrib_qthelp-2.0.0-py3-none-any.whl
+  sha256: b18a828cdba941ccd6ee8445dbe72ffa3ef8cbe7505d8cd1fa0d42d3f2d5f3eb
+  requires_dist:
+  - ruff==0.5.5 ; extra == 'lint'
+  - mypy ; extra == 'lint'
+  - types-docutils ; extra == 'lint'
+  - sphinx>=5 ; extra == 'standalone'
+  - pytest ; extra == 'test'
+  - defusedxml>=0.7.1 ; extra == 'test'
+  requires_python: '>=3.9'
+- kind: pypi
+  name: sphinxcontrib-serializinghtml
+  version: 2.0.0
+  url: https://files.pythonhosted.org/packages/52/a7/d2782e4e3f77c8450f727ba74a8f12756d5ba823d81b941f1b04da9d033a/sphinxcontrib_serializinghtml-2.0.0-py3-none-any.whl
+  sha256: 6e2cb0eef194e10c27ec0023bfeb25badbbb5868244cf5bc5bdc04e4464bf331
+  requires_dist:
+  - ruff==0.5.5 ; extra == 'lint'
+  - mypy ; extra == 'lint'
+  - types-docutils ; extra == 'lint'
+  - sphinx>=5 ; extra == 'standalone'
+  - pytest ; extra == 'test'
+  requires_python: '>=3.9'
 - kind: conda
   name: sqlite
   version: 3.46.0
@@ -2271,6 +2659,18 @@ packages:
   purls: []
   size: 119815
   timestamp: 1706886945727
+- kind: pypi
+  name: urllib3
+  version: 2.2.2
+  url: https://files.pythonhosted.org/packages/ca/1c/89ffc63a9605b583d5df2be791a27bc1a42b7c32bab68d3c8f2f73a98cd4/urllib3-2.2.2-py3-none-any.whl
+  sha256: a448b2f64d686155468037e1ace9f2d2199776e17f0a46610480d311f73e3472
+  requires_dist:
+  - brotli>=1.0.9 ; platform_python_implementation == 'CPython' and extra == 'brotli'
+  - brotlicffi>=0.8.0 ; platform_python_implementation != 'CPython' and extra == 'brotli'
+  - h2<5,>=4 ; extra == 'h2'
+  - pysocks!=1.5.7,<2.0,>=1.5.6 ; extra == 'socks'
+  - zstandard>=0.18.0 ; extra == 'zstd'
+  requires_python: '>=3.8'
 - kind: pypi
   name: vhacdx
   version: 0.0.8.post1
diff --git a/pyproject.toml b/pyproject.toml
index 987733a..c836e3e 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -55,6 +55,7 @@ test = [
   "ruff>=0.0.280,<=0.5.5",
   "coverage>=7.2.7,<=7.6.0",
 ]
+docs = ["sphinxcontrib-napoleon", "sphinx-rtd-theme", "sphinx-autoapi"]
 
 [project.urls]
 Source = "https://github.com/justagist/pyrcf"
@@ -63,10 +64,11 @@ Home = "https://github.com/justagist/pyrcf"
 
 # Environments
 [tool.pixi.environments]
-default = { features = ["test"], solve-group = "default" }
+default = { features = ["test", "docs"], solve-group = "default" }
 py310 = ["py310", "test"]
 py311 = ["py311", "test"]
 py312 = ["py312", "test"]
+docs = ["py312", "docs"]
 devenv = { features = [
   "devenv",
 ], solve-group = "devenv", no-default-feature = true }
@@ -94,6 +96,7 @@ clear-pixi = "rm -rf .pixi pixi.lock"
 setup-git-merge-driver = "git config merge.ourslock.driver true"
 update-from-template-repo = "./setup_scripts/update_from_template.sh"
 view-coverage-html = "coverage html -d .htmlcov"
+generate-docs-html = "make -C docs/ html"
 
 
 [tool.pylint]