Documentation

This directory contains the source code for the GR00T-WholeBodyControl documentation website.

Building Locally

Prerequisites

Install the required Python packages:

pip install sphinx sphinx-book-theme sphinx-design sphinxemoji \
            autodocsumm sphinxcontrib-bibtex myst-parser \
            sphinx-copybutton

Build the Documentation

cd docs
make html

The built documentation will be in build/html/. Open build/html/index.html in your browser.

Live Preview

Start a local web server to preview:

cd build/html
python -m http.server 8000

Then open http://localhost:8000

Clean Build

To remove all built files and rebuild from scratch:

make clean
make html

Deployment

The documentation is automatically built and deployed to GitHub Pages when changes are pushed to the main branch via the GitHub Actions workflow at .github/workflows/docs.yml.

The live documentation will be available at: https://nvlabs.github.io/GR00T-WholeBodyControl/

Documentation Structure

source/ - All documentation source files
- conf.py - Sphinx configuration
- index.rst - Main landing page
- _static/ - Static assets (CSS, images, logos)
- tutorials/ - Tutorial pages
- getting_started/ - Getting started guides
- user_guide/ - User guide
- api/ - API reference
- resources/ - Additional resources

Writing Documentation

Use Markdown (.md) or reStructuredText (.rst) files
Markdown is recommended for simplicity
Place new files in the appropriate subdirectory
Update index.rst to add new sections to the navigation

Theme

The documentation uses the sphinx_book_theme with NVIDIA branding, matching the Isaac Lab documentation style.