mujoco

# Copyright 2021 DeepMind Technologies Limited
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#    http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""Configuration file for the Sphinx documentation builder."""

import os
import sys

# -- Path setup --------------------------------------------------------------
#
# If extensions (or modules to document with autodoc) are in another directory,
# add these directories to sys.path here. If the directory is relative to the
# documentation root, use os.path.abspath to make it absolute, like shown here.

sys.path.insert(0, os.path.abspath('../'))
sys.path.append(os.path.abspath('ext'))
sys.path.insert(0, os.path.abspath('../mjx/mujoco/mjx/third_party'))

from sphinxcontrib import katex  # pylint: disable=g-import-not-at-top
from sphinxcontrib import youtube  # pylint: disable=g-import-not-at-top,unused-import

# -- Project information -----------------------------------------------------

project = 'MuJoCo'
copyright = 'DeepMind Technologies Limited'  # pylint: disable=redefined-builtin
author = 'Google DeepMind'

# -- General configuration ---------------------------------------------------

master_doc = 'index'

# Add any Sphinx extension module names here, as strings. They can be
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
# ones.
extensions = [
    'sphinx.ext.autodoc',
    'sphinx.ext.napoleon',
    'sphinx.ext.viewcode',
    'sphinx.ext.extlinks',
    'sphinxcontrib.bibtex',
    'sphinxcontrib.katex',
    'sphinxcontrib.youtube',
    'sphinx_copybutton',
    'sphinx_design',
    'sphinx_favicon',
    'sphinx_reredirects',
    'sphinx_toolbox.collapse',
    'sphinx_toolbox.github',
    'sphinx_toolbox.sidebar_links',
    'mujoco_include',
]

napoleon_custom_sections = [('warp only fields', 'attributes')]

# Links to GitHub issues and pull requests.
extlinks = {
    'issue': (
        'https://github.com/google-deepmind/mujoco/issues/%s',
        'issue #%s',
    ),
    'pr': ('https://github.com/google-deepmind/mujoco/pull/%s', 'PR #%s'),
    'commit': ('https://github.com/google-deepmind/mujoco/commit/%s', '%s'),
}

# MuJoCo Warp documentation
napoleon_google_docstring = True
autodoc_class_signature = 'separated'
add_module_names = False
toc_object_entries_show_parents = 'hide'
default_role = 'literal'


# Suppress warnings from docstrings with RST formatting issues
def setup(app):
  import logging

  class SphinxWarningFilter(logging.Filter):

    def filter(self, record):
      msg = record.getMessage()
      # e.g. qpos0: qpos values at default pose (*, nq)
      if 'Inline emphasis start-string' in msg:
        return False
      # e.g. see `name` for details
      if 'Inline interpreted text' in msg:
        return False
      # e.g. multi-line definition without trailing blank line
      if 'Definition list ends without a blank line' in msg:
        return False
      # e.g. mjsactuator_ reference in C++ docstrings
      if 'Unknown target name' in msg:
        return False
      return True

  for handler in logging.getLogger('sphinx').handlers:
    handler.addFilter(SphinxWarningFilter())


# GitHub-related options
github_username = 'google-deepmind'
github_repository = 'mujoco'

# Bibtex references for sphinxcontrib.bibtex
bibtex_bibfiles = ['references.bib']

# Add any paths that contain templates here, relative to this directory.
templates_path = ['templates']

# List of patterns, relative to source directory, that match files and
# directories to ignore when looking for source files.
# This pattern also affects html_static_path and html_extra_path.
exclude_patterns = [
    '_build',
    'Thumbs.db',
    '.DS_Store',
    'includes/*',
    'APIreference/functions.rst',
    'APIreference/functions_override.rst',
    'XMLschema.rst',
]

redirects = {
    # index.rst just contains the table of contents definition.
    'index': 'overview.html',
    'computation': 'computation/index.html',
    'programming': 'programming/index.html',
    'APIreference': 'APIreference/index.html',
}

rst_prolog = """
.. include:: /includes/macros.rst
.. include:: /includes/roles.rst
.. include:: <isonum.txt>
"""

# -- Options for autodoc -----------------------------------------------------

autodoc_default_options = {
    'member-order': 'bysource',
    'special-members': True,
    'exclude-members': '__repr__, __str__, __weakref__',
}

# -- Options for HTML output -------------------------------------------------

# The theme to use for HTML and HTML Help pages.  See the documentation for
# a list of builtin themes.
#
html_theme = 'furo'
html_title = 'MuJoCo Documentation'
html_logo = 'images/banner.svg'

SHARED_CSS_VARIABLES = {
    'admonition-font-size': '1rem',
    'admonition-title-font-size': '1rem',
    'sidebar-item-font-size': '130%',
}

# font-stack--monospace used in code blocks, Inconsolata fits in 100 chars.
html_theme_options = {
    'light_css_variables': {
        'color-brand-visited': 'var(--color-brand-content)',
        'font-stack--monospace': 'Inconsolata,Consolas,ui-monospace,monospace',
        'at-color': '#830b2b',
        'at-val-color': '#bc103e',
        'body-color': '#14234b',
        'color-highlight-on-target': '#e5e8ed',
        'primary-header-color': '#0053d6',
        'row-odd-background-color': '#f0f3f7',
        'rst-content-a-color': '#2980b9',
        'secondary-header-color': '#123693',
        'wy-menu-vertical-background-color': '#0053d6',
        'wy-menu-vertical-color': 'white',
        'wy-nav-side-background-color': '#0053d6',
    },
    'dark_css_variables': {
        'color-brand-visited': 'var(--color-brand-content)',
        'at-color': '#ffaab7',
        'at-val-color': '#ff95a6',
        'body-color': '#14234b',
        'color-admonition-background': '#1e1e21',
        'color-highlight-on-target': '#3d4045',
        'primary-header-color': '#a8caff',
        'row-odd-background-color': '#222326',
        'rst-content-a-color': '#2980b9',
        'secondary-header-color': '#458dff',
        'wy-menu-vertical-background-color': '#0053d6',
        'wy-menu-vertical-color': 'white',
        'wy-nav-side-background-color': '#0053d6',
    },
}

for v in html_theme_options.values():
  if isinstance(v, dict):
    v.update(SHARED_CSS_VARIABLES)

pygments_style = 'default'
pygments_dark_style = 'monokai'

# Add any paths that contain custom static files (such as style sheets) here,
# relative to this directory. They are copied after the builtin static files,
# so a file named "default.css" will overwrite the builtin "default.css".
html_static_path = [
    '_static',
    'css',
    'js',
]
html_css_files = [
    'theme_overrides.css',
    'theme_overrides_mjwarp.css',
]
html_js_files = [
    'linenumbers.js',
    'onthispage_mjwarp.js',
]

favicons = [
    {
        'sizes': '16x16',
        'href': 'favicons/favicon-16x16.png',
    },
    {
        'sizes': '32x32',
        'href': 'favicons/favicon-32x32.png',
    },
    {
        'rel': 'apple-touch-icon',
        'sizes': '180x180',
        'href': 'favicons/favicon-180x180.png',
    },
    {
        'sizes': '180x180',
        'href': 'favicons/favicon-180x180.png',
    },
    {
        'sizes': '192x192',
        'href': 'favicons/favicon-192x192.png',
    },
]

html_permalinks_icon = '#'

# -- Options for katex ------------------------------------------------------

# See: https://sphinxcontrib-katex.readthedocs.io/en/0.4.1/macros.html
# {ar au, ac} are {reference, unconstrained, constrained} acceleration, resp.
latex_macros = r"""
    \def \d              #1{\operatorname{#1}}
    \def \ar             {a_{\rm ref}}
    \def \au             {a_0}
    \def \ac             {a_1}
    \def \ari            {a_{{\rm ref},i}}
    \def \aui            {a_{0,i}}
    \def \aci            {a_{1,i}}
    \def \nv             {n_{\scriptscriptstyle V}}
    \def \nc             {n_{\scriptscriptstyle C}}
    \def \nq             {n_{\scriptscriptstyle Q}}
"""

# Translate LaTeX macros to KaTeX and add to options for HTML builder
katex_macros = katex.latex_defs_to_katex_macros(latex_macros)
katex_options = 'macros: {' + katex_macros + '}'

# Add LaTeX macros for LATEX builder
latex_elements = {'preamble': latex_macros}