Update documentation stylesheet

CHANGELOG.md

@@ -9,14 +9,14 @@ All notable changes to this project will be documented in this file.
 ### Added
 
 - **Breaking:** Updated the logic for handling the joint limits:
-  - Add a ``limits`` argument to ``build_ik`` and ``solve_ik``
+  - Add a `limits` argument to `build_ik` and `solve_ik`
   - The `check_limits` method now includes an optional `safety_break` argument to control whether execution should stop on exception.
-  - The ``solve_ik`` function now includes the `safety_break` that is forwarded to `check_limits`.
+  - The `solve_ik` function now includes the `safety_break` that is forwarded to `check_limits`.
 - Control Barrier Functions, namely: (thanks to @domrachev03 and @simeon-ned)
-  - Abstract Barrier ``Barrier``
-  - Frame Position Barrier ``PositionBarrier``
-  - Body Spherical Barrier ``BodySphericalBarrier``
-  - Whole-body Self-Collision Avoidance Barrier ``SelfCollisionBarrier``
+  - Abstract Barrier `Barrier`
+  - Frame Position Barrier `PositionBarrier`
+  - Body Spherical Barrier `BodySphericalBarrier`
+  - Whole-body Self-Collision Avoidance Barrier `SelfCollisionBarrier`
 - Example: UR5 manipulator and GO2 quadruped robot with `PositionBarrier`
 - Example: YUMI two-armed manipulator with `BodySphericalBarrier`
 - Example: G1 humanoid squatting through regulating CoM.
@@ -26,7 +26,7 @@ All notable changes to this project will be documented in this file.
 
 ### Changed
 
-- **Breaking:** remove ``lm_damping`` parameter from DampingTask where it wasn't used
+- **Breaking:** remove `lm_damping` parameter from DampingTask where it wasn't used
 - CICD: Update ruff to 0.4.3
 - Configuration accepts list of Control Barrier Functions
 - DampingTask: Simplify implementation
@@ -45,7 +45,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
-- Function ``get_transform`` in the Configuration class
+- Function `get_transform` in the Configuration class
 - Task: relative frame task, where target is w.r.t another robot frame
 
 ### Changed
@@ -57,7 +57,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
-- Add ``gain`` keyword argument to all task constructors where is makes sense
+- Add `gain` keyword argument to all task constructors where is makes sense
 - Damping task that minimizes joint velocities
 - Distribute package on conda-forge
 - Example on how differential IK may converge to a local constrained optimum
@@ -68,8 +68,8 @@ All notable changes to this project will be documented in this file.
 ### Changed
 
 - **Breaking:** Define task Jacobian as derivative of the task error
-- **Breaking:** Rename ``BodyNotFound`` exception to ``FrameNotFound``
-- **Breaking:** Rename ``FrameTask.body`` to ``FrameTask.frame``
+- **Breaking:** Rename `BodyNotFound` exception to `FrameNotFound`
+- **Breaking:** Rename `FrameTask.body` to `FrameTask.frame`
 
 ### Removed
 
@@ -114,23 +114,23 @@ All notable changes to this project will be documented in this file.
 ### Changed
 
 - Handle all frames, including non-body frames (thanks to @proyan)
-- Rename ``BodyTask`` to ``FrameTask``
+- Rename `BodyTask` to `FrameTask`
 
 ## [0.10.0] - 2023-03-30
 
 ### Added
 
-- Base class ``Limit`` for configuration and velocity limits
+- Base class `Limit` for configuration and velocity limits
 - In-place integration of a velocity from a configuration
 - Unit tests for configuration limits
 - Unit tests for velocity limits
 
 ### Changed
 
-- Add ``pink.limits`` submodule
+- Add `pink.limits` submodule
 - Configuration and velocity limits are now stacked rather than pre-reduced
-- Move configuration limit to ``ConfigurationLimit`` class
-- Move velocity limit to ``VelocityLimit`` class
+- Move configuration limit to `ConfigurationLimit` class
+- Move velocity limit to `VelocityLimit` class
 
 ## [0.9.0] - 2023-03-15
 
@@ -143,9 +143,9 @@ All notable changes to this project will be documented in this file.
 
 ### Changed
 
-- Refactor ``apply_configuration`` into ``Configuration`` constructor
-- Refactor ``assume_configuration`` into ``Configuration`` constructor
-- Refactor task dynamics into ``compute_error`` and ``compute_jacobian``
+- Refactor `apply_configuration` into `Configuration` constructor
+- Refactor `assume_configuration` into `Configuration` constructor
+- Refactor task dynamics into `compute_error` and `compute_jacobian`
 
 ## [0.8.0] - 2023-02-09
 
@@ -154,11 +154,11 @@ All notable changes to this project will be documented in this file.
 - BodyNotFound exception
 - Document spatial and body minus between transforms
 - Example: SigmaBan humanoid
-- Forward keyword arguments of ``solve_ik`` to the backend QP solver
+- Forward keyword arguments of `solve_ik` to the backend QP solver
 
 ### Changed
 
-- Return type of ``compute_velocity_limits`` now includes optionals
+- Return type of `compute_velocity_limits` now includes optionals
 - VectorSpace type is now immutable
 
 ### Fixed
@@ -176,7 +176,7 @@ All notable changes to this project will be documented in this file.
 ### Changed
 
 - Example: UR3 arm
-- Expose ``pink.Task`` from top-level module
+- Expose `pink.Task` from top-level module
 - Improve joint limit computations
 
 ### Fixed
@@ -210,12 +210,12 @@ All notable changes to this project will be documented in this file.
 - Handle general root joint in posture task
 - Handle unbounded velocity limits in QP formulation
 - Posture task targets can be read directly from a configuration
-- Simple rate limiter in ``pink.utils``
+- Simple rate limiter in `pink.utils`
 
 ### Changed
 
 - Raise an error when querying a body that doesn't exist
-- Transition from ``pink.models`` to ``robot_descriptions``
+- Transition from `pink.models` to `robot_descriptions`
 - Update reference posture in Upkie wheeled biped example
 - Warn when the backend QP solver is not explicitly selected
 
@@ -233,9 +233,9 @@ All notable changes to this project will be documented in this file.
 
 ### Changed
 
-- Argument to ``build_from_urdf`` functions is now the path to the URDF file
+- Argument to `build_from_urdf` functions is now the path to the URDF file
 - Bumped status to beta
-- Examples use the ``jvrc_description`` and ``upkie_description`` packages
+- Examples use the `jvrc_description` and `upkie_description` packages
 - Use jvrc\_description and upkie\_description packages from PyPI
 - Task is now an abstract base class
 
@@ -268,7 +268,7 @@ All notable changes to this project will be documented in this file.
 
 - Specify path when loading a model description
 - Switch to the Apache 2.0 license
-- ``build_jvrc_model`` is now ``build_from_urdf``
+- `build_jvrc_model` is now `build_from_urdf`
 
 ### Fixed
 

CONTRIBUTING.md

@@ -7,8 +7,8 @@ This project's goal is to make it easy to do inverse kinematics on all kinds of
 - Pick something you want to do with one of the many [robot descriptions](https://github.com/robot-descriptions/robot_descriptions.py) and write a new example
 - Find a use case that is not covered and write a unit test for it
 - Benchmark the performance of the following design choice depending on the number and types of tasks:
-    - The current ``Configuration`` interface, which does ``pin.computeJointJacobians`` + ``pin.getFrameJacobian``
-    - The alternative using only ``pin.computeFrameJacobian``
+    - The current `Configuration` interface, which does `pin.computeJointJacobians` + `pin.getFrameJacobian`
+    - The alternative using only `pin.computeFrameJacobian`
 
 There are also a number of tasks from Pymanoid that are not in Pink yet. If you happen to need one of them for your application, check out the reference implementation and add it to Pink:
 

doc/Makefile

@@ -0,0 +1,18 @@
+# Makefile for Sphinx documentation
+#
+# Copyright 2022 Stéphane Caron
+
+# You can also set these variables from the command line.
+OUTPUTDIR = $(abspath ../_build)
+
+.PHONY: build
+build:  ## build the documentation
+	(cd .. && sphinx-build $(CURDIR) $(OUTPUTDIR) -W)
+
+.PHONY: clean
+clean:  ## remove all output files
+	rm -rf $(OUTPUTDIR)
+
+.PHONY: open
+open:  ## open the locally built documentation in Firefox
+	firefox $(OUTPUTDIR)/index.html

doc/css/custom.css

@@ -1,10 +1,10 @@
 a, a:visited, a:focus {
-  color: rgb(176, 46, 118);
+  color: rgb(240, 110, 163);
   text-decoration: none;
 }
 
 a:hover, a:active {
-  color: rgb(72, 0, 32);
+  color: rgb(204, 94, 139);
   text-decoration: none;
 }
 
@@ -18,7 +18,7 @@ a:hover, a:active {
 }
 
 .wy-menu-vertical a:hover {
-    background: rgb(176, 46, 118);
+    background: rgb(240, 110, 163);
     color: white;
 }
 
@@ -35,7 +35,7 @@ a:hover, a:active {
 }
 
 .wy-nav-side {
-    background: rgb(250, 231, 242);
+    background: rgb(255, 200, 225);
 }
 
 .wy-nav-top {
@@ -51,13 +51,36 @@ a:hover, a:active {
 }
 
 .wy-side-nav-search {
-    background: rgb(255, 183, 255);
+    background: rgb(240, 110, 163);
 }
 
 .wy-side-nav-search > div.version {
-    color: black;
+    color: white;
 }
 
-.wy-side-nav-search > a{
-    color: black;
+.wy-side-nav-search > a {
+    color: white;
+}
+
+pre {
+    background: rgb(255, 230, 240);
+}
+
+html.writer-html4 .rst-content dl:not(.docutils) > dt,
+html.writer-html5 .rst-content dl[class]:not(.option-list):not(.field-list):not(.footnote):not(.citation):not(.glossary):not(.simple) > dt {
+    background: rgb(255, 230, 240);
+    border-top: 3px solid #de6a98;
+    color: rgb(240, 110, 163);
+}
+
+.rst-content .note {
+    background: rgb(255, 230, 240);
+}
+
+.rst-content .note .admonition-title {
+    background: rgb(240, 110, 163);
+}
+
+.rst-content code.literal {
+    color: rgb(220, 40, 115);
 }

doc/environment.yml

@@ -2,9 +2,9 @@ name: pink
 channels:
     - conda-forge
 dependencies:
-    - pinocchio >=3.0.0
+    - pinocchio >= 3.0.0
     - pink
-    - pip >=21.3.1
+    - pip >= 21.3.1
     - pip:
         - sphinx >= 7.2.2
         - sphinx-autodoc-typehints

examples/arm_kinova_gen2.py

@@ -22,7 +22,7 @@
 except ModuleNotFoundError:
     raise ModuleNotFoundError(
         "Examples need robot_descriptions, "
-        "try ``pip install robot_descriptions``"
+        "try `[conda|pip] install robot_descriptions`"
     )
 
 

examples/arm_ur3.py

@@ -22,7 +22,7 @@
 except ModuleNotFoundError:
     raise ModuleNotFoundError(
         "Examples need robot_descriptions, "
-        "try ``pip install robot_descriptions``"
+        "try `[conda|pip] install robot_descriptions`"
     )
 
 

examples/arm_ur5.py

@@ -22,7 +22,7 @@
 except ModuleNotFoundError as exc:
     raise ModuleNotFoundError(
         "Examples need robot_descriptions, "
-        "try ``pip install robot_descriptions``"
+        "try `[conda|pip] install robot_descriptions`"
     ) from exc
 
 

examples/barriers/arm_ur5.py

@@ -24,7 +24,7 @@
 except ModuleNotFoundError as exc:
     raise ModuleNotFoundError(
         "Examples need robot_descriptions, "
-        "try ``pip install robot_descriptions``"
+        "try `[conda|pip] install robot_descriptions`"
     ) from exc  # noqa: E501
 
 

examples/barriers/go2_squat.py

@@ -23,7 +23,7 @@
 except ModuleNotFoundError as exc:
     raise ModuleNotFoundError(
         "Examples need robot_descriptions, "
-        "try ``pip install robot_descriptions``"
+        "try `[conda|pip] install robot_descriptions`"
     ) from exc  # noqa: E501
 
 

examples/barriers/yumi_self_collision.py

@@ -24,7 +24,7 @@
 except ModuleNotFoundError as exc:
     raise ModuleNotFoundError(
         "Examples need robot_descriptions, "
-        "try ``pip install robot_descriptions``"
+        "try `[conda|pip] install robot_descriptions`"
     ) from exc  # noqa: E501
 
 

examples/flying_dual_arm_ur3.py

@@ -26,7 +26,7 @@
 except ModuleNotFoundError as exc:
     raise ModuleNotFoundError(
         "Examples need robot_descriptions, "
-        "try ``pip install robot_descriptions``"
+        "try `[conda|pip] install robot_descriptions`"
     ) from exc
 
 

examples/humanoid_g1_com.py

@@ -6,23 +6,22 @@
 
 """G1 humanoid squat by regulating CoM"""
 
-import meshcat_shapes
 import numpy as np
+import pinocchio as pin
 import qpsolvers
 from loop_rate_limiters import RateLimiter
-import pinocchio as pin
 
 import pink
 from pink import solve_ik
-from pink.tasks import FrameTask, PostureTask, ComTask
+from pink.tasks import ComTask, FrameTask, PostureTask
 from pink.visualization import start_meshcat_visualizer
 
 try:
     from robot_descriptions.loaders.pinocchio import load_robot_description
 except ModuleNotFoundError as exc:
     raise ModuleNotFoundError(
         "Examples need robot_descriptions, "
-        "try ``pip install robot_descriptions``"
+        "try `[conda|pip] install robot_descriptions`"
     ) from exc  # noqa: E501
 
 

examples/mobile_stretch.py

@@ -23,7 +23,7 @@
 except ModuleNotFoundError:
     raise ModuleNotFoundError(
         "Examples need robot_descriptions, "
-        "try ``pip install robot_descriptions``"
+        "try `[conda|pip] install robot_descriptions`"
     )
 
 # Trajectory parameters to play with ;)

examples/stretch_relative_target.py

@@ -23,7 +23,7 @@
 except ModuleNotFoundError:
     raise ModuleNotFoundError(
         "Examples need robot_descriptions, "
-        "try ``pip install robot_descriptions``"
+        "try `[conda|pip] install robot_descriptions`"
     )
 
 # Trajectory parameters to play with ;)

examples/stretch_world_target.py

@@ -23,7 +23,7 @@
 except ModuleNotFoundError:
     raise ModuleNotFoundError(
         "Examples need robot_descriptions, "
-        "try ``pip install robot_descriptions``"
+        "try `[conda|pip] install robot_descriptions`"
     )
 
 # Trajectory parameters to play with ;)

examples/visualize_in_meshcat.py

@@ -23,7 +23,7 @@
 except ModuleNotFoundError:
     raise ModuleNotFoundError(
         "Examples need robot_descriptions, "
-        "try ``pip install robot_descriptions``"
+        "try `[conda|pip] install robot_descriptions`"
     )