diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml new file mode 100644 index 00000000..4a9cb5ed --- /dev/null +++ b/.github/workflows/docs.yml @@ -0,0 +1,51 @@ +name: Docs + +on: + push: + branches: [main] + paths: + - "docs/**" + - "mkdocs.yml" + - "src/genelab/**" + - "pyproject.toml" + - "README.md" + - "CONTRIBUTING.md" + - ".github/workflows/docs.yml" + workflow_dispatch: + +permissions: + contents: read + pages: write + id-token: write + +concurrency: + group: pages + cancel-in-progress: false + +jobs: + build: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v6 + with: + fetch-depth: 0 + - uses: astral-sh/setup-uv@v8.1.0 + with: + enable-cache: true + python-version: "3.12" + - run: uv sync --extra docs --extra torch-cpu + - run: uv run mkdocs build --strict + - uses: actions/configure-pages@v5 + - uses: actions/upload-pages-artifact@v3 + with: + path: site + + deploy: + needs: build + runs-on: ubuntu-latest + environment: + name: github-pages + url: ${{ steps.deployment.outputs.page_url }} + steps: + - id: deployment + uses: actions/deploy-pages@v4 diff --git a/.gitignore b/.gitignore index 58cbacdd..7932d2f7 100644 --- a/.gitignore +++ b/.gitignore @@ -40,4 +40,7 @@ AGENTS.md /tmp # train log -/logs \ No newline at end of file +/logs + +# mkdocs build output +/site/ \ No newline at end of file diff --git a/README.md b/README.md index 49359031..3d6ab37e 100644 --- a/README.md +++ b/README.md @@ -91,6 +91,8 @@ uv run genelab project new my_robot_project ## Documentation +- [Documentation site](https://krahsu.github.io/GeneLab/) — full guides, CLI reference, concepts, + and auto-generated API docs. Bilingual (English default, 中文 at `/zh/`). - [Examples](examples/README.md): bundled tasks, demo scripts, config overrides, and downstream project integration. - [中文 README](docs/README_CN.md): concise Chinese project overview. diff --git a/docs/README_CN.md b/docs/README_CN.md index 9f1331aa..ea565f68 100644 --- a/docs/README_CN.md +++ b/docs/README_CN.md @@ -1,5 +1,8 @@ # GeneLab +> **本文已迁移至 [文档站点（中文）](https://krahsu.github.io/GeneLab/zh/)。** +> 完整中文文档（CLI 参考、核心概念、API 自动生成参考）请见站点；本文件保留以兼容旧链接。 + GeneLab 是一个面向强化学习与机器人研究的 Isaac Lab 风格 API，由 [Genesis](https://github.com/Genesis-Embodied-AI/Genesis) 提供仿真后端。它保留了机器人、 环境、任务注册，manager-based MDP 配置，以及 CLI 调度这些常见组织方式。 diff --git a/docs/api/reference.md b/docs/api/reference.md new file mode 100644 index 00000000..c6b15133 --- /dev/null +++ b/docs/api/reference.md @@ -0,0 +1,44 @@ +# API Reference + +Auto-generated from the source docstrings via +[`mkdocstrings`](https://mkdocstrings.github.io/). The API surface below covers GeneLab's public +core. Extension packages document their own APIs in their own projects. + +!!! note "Single-source" + The API reference is generated from English docstrings and is shared by both language + versions of this site. + +--- + +## `genelab.lab` + +The public facade. Most user code should import from here rather than from `genelab.registry` +directly. + +::: genelab.lab + options: + show_if_no_docstring: true + +--- + +## `genelab.registry` + +::: genelab.registry + options: + show_if_no_docstring: true + +--- + +## `genelab.configs` + +::: genelab.configs + options: + show_if_no_docstring: true + +--- + +## `genelab.cache` + +::: genelab.cache + options: + show_if_no_docstring: true diff --git a/docs/cli/overview.en.md b/docs/cli/overview.en.md new file mode 100644 index 00000000..b6c40185 --- /dev/null +++ b/docs/cli/overview.en.md @@ -0,0 +1,46 @@ +# CLI overview + +`genelab` is exposed as a console script via the `genelab = "genelab.cli:main"` entry point. With +`uv` you typically invoke it as: + +```bash +uv run genelab [GLOBAL OPTIONS] [ARGS] +``` + +## Subcommands + +| Subcommand | Purpose | +|------------|---------| +| `cache` | Create project-local simulation cache directories (`.cache/`) and set `XDG_CACHE_HOME` / `MPLCONFIGDIR`. | +| `list robots` | List registered robots from the `ROBOTS` registry. | +| `list envs` | List registered environments from the `ENVS` registry. | +| `list tasks` | List registered tasks from the `TASKS` registry. | +| `play` | Run a registered task in the configured Genesis backend; supports config overrides. | +| `train` | Train a registered task when an RL runner exists; supports multi-GPU via `torchrun`. | +| `project new` | Scaffold a new external extension package with all three registries wired up. | + +## Global options + +These flags work in front of any subcommand: + +- `--version` — print the GeneLab version and exit. +- `--import MODULE` — eagerly import an extension module before dispatching. Repeatable. Useful + when you want to load an extension that does not (yet) ship a `genelab.extensions` entry point. +- `--no-entry-points` — skip auto-discovery of installed extensions via the `genelab.extensions` + entry-point group. Combine with `--import` for fully explicit, reproducible loading. + +## Extension loading + +When the CLI starts, it discovers extensions in this order: + +1. **Entry points** under the `genelab.extensions` group (auto, unless `--no-entry-points`). +2. **Explicit `--import MODULE` flags** (repeatable). +3. **Programmatic** `genelab.registry.load_extension_module(...)` (used by tests and embedding + scripts). + +See [Extensions](../concepts/extensions.md) for details on writing a downstream extension. + +## See also + +- [Play and Train](play-train.md) — config override grammar, multi-GPU training, checkpoints. +- [Project new](project-new.md) — extension package scaffolding. diff --git a/docs/cli/overview.zh.md b/docs/cli/overview.zh.md new file mode 100644 index 00000000..db60903d --- /dev/null +++ b/docs/cli/overview.zh.md @@ -0,0 +1,44 @@ +# CLI 总览 + +`genelab` 通过 `genelab = "genelab.cli:main"` entry point 暴露为命令行脚本。配合 `uv` 时通常这样调用： + +```bash +uv run genelab [全局选项] <子命令> [参数] +``` + +## 子命令 + +| 子命令 | 作用 | +|--------|------| +| `cache` | 创建项目本地仿真缓存目录（`.cache/`），并设置 `XDG_CACHE_HOME` / `MPLCONFIGDIR`。 | +| `list robots` | 列出 `ROBOTS` 注册表里已注册的机器人。 | +| `list envs` | 列出 `ENVS` 注册表里已注册的环境。 | +| `list tasks` | 列出 `TASKS` 注册表里已注册的任务。 | +| `play` | 在 Genesis 后端运行已注册任务，支持配置 override。 | +| `train` | 任务带 RL runner 时启动训练，通过 `torchrun` 支持多 GPU。 | +| `project new` | 生成一个新的下游扩展包骨架，三种注册表全部接通。 | + +## 全局选项 + +放在任何子命令之前： + +- `--version` —— 打印 GeneLab 版本并退出。 +- `--import MODULE` —— 在派发子命令前显式导入一个扩展模块。可重复多次。适合扩展尚未提供 + `genelab.extensions` entry point 时使用。 +- `--no-entry-points` —— 跳过通过 `genelab.extensions` entry-point 组的自动发现。 + 与 `--import` 搭配可实现完全显式、可复现的扩展加载。 + +## 扩展加载顺序 + +CLI 启动时按如下顺序发现扩展： + +1. **Entry points**：`genelab.extensions` 组的自动发现（除非加 `--no-entry-points`）。 +2. **显式 `--import MODULE`**：可多次。 +3. **程序内调用** `genelab.registry.load_extension_module(...)`（测试与嵌入脚本使用）。 + +写下游扩展的详细方式见 [扩展加载](../concepts/extensions.md)。 + +## 另见 + +- [play 与 train](play-train.md) —— override 语法、多 GPU 训练、checkpoint。 +- [新建项目](project-new.md) —— 扩展包骨架生成。 diff --git a/docs/cli/play-train.en.md b/docs/cli/play-train.en.md new file mode 100644 index 00000000..afc94058 --- /dev/null +++ b/docs/cli/play-train.en.md @@ -0,0 +1,83 @@ +# Play and Train + +`play` and `train` share a common dispatch path: resolve `` against the `TASKS` registry, +construct its `TaskCfg`, apply any command-line overrides, and hand the configured task to either +a single rollout (`play`) or the task's RL runner (`train`). + +## Play + +```bash +uv run genelab play [SHORT FLAGS] [-- OVERRIDES] +``` + +### Short flags + +These three short flags rewrite to the corresponding `env.scene.*` overrides: + +| Flag | Equivalent override | Effect | +|------|--------------------|--------| +| `--vis` | `env.scene.vis=true` | Enable Genesis visualization. | +| `--gpu N` | `env.scene.gpu=N` | Pin the rollout to a single GPU index. | +| `--steps N` | `env.scene.steps=N` | Cap episode length to `N` steps. | + +### Override grammar + +After the short flags, any `-- VALUE` argument is parsed as a config override: + +```bash +uv run genelab play \ + --env.scene.dt 0.005 \ + --env.actions.scale 0.5 \ + --env.observations.include_velocity true +``` + +The dotted path walks the `TaskCfg` dataclass tree (typically rooted at `env.*`). Values are +coerced from string using the field's type hint — `int`, `float`, `bool`, `Path`, `list[...]`, +`tuple[...]` are all supported. See [Configs](../concepts/configs.md) for details on the coercion +rules and how to handle unions and `Literal`. + +!!! tip "Flag ordering" + The CLI's `_normalize_run_flags` rewrites `play --steps 5 ...` into + `play --steps 5 ...` so that `argparse.REMAINDER` works. You can keep the short + flags before or after the task ID. + +## Train + +```bash +uv run genelab train [SHORT FLAGS] [-- OVERRIDES] +``` + +Train requires the registered task to expose an RL runner (commonly `rsl_rl_lib`). Override syntax +is identical to `play`. Additional flags: + +| Flag | Effect | +|------|--------| +| `--gpus N` | Dispatch via `torchrun` for `N`-process distributed training. | +| `--checkpoint PATH` | Resume training from a checkpoint file. | + +### Multi-GPU + +`--gpus N` wraps the underlying training entry point with `torchrun --standalone --nproc_per_node=N`. +The task's runner must be `torchrun`-compatible; environments that depend on global Genesis state +typically are. + +When `--gpus N` is set, the CLI also masks `CUDA_VISIBLE_DEVICES` to the requested devices so that +each rank sees a distinct GPU. + +## Examples + +```bash +# Quick local rollout with visualization. +uv run genelab play wuji_hand --vis --steps 200 + +# Train on 4 GPUs with a custom action scale. +uv run genelab train wuji_hand --gpus 4 --env.actions.scale 0.3 + +# Resume from a checkpoint. +uv run genelab train wuji_hand --checkpoint logs/wuji_hand/run_42/model_100.pt +``` + +## See also + +- [Configs](../concepts/configs.md) — full `apply_overrides` semantics. +- [Registry](../concepts/registry.md) — how tasks resolve from ``. diff --git a/docs/cli/play-train.zh.md b/docs/cli/play-train.zh.md new file mode 100644 index 00000000..aa178704 --- /dev/null +++ b/docs/cli/play-train.zh.md @@ -0,0 +1,78 @@ +# play 与 train + +`play` 与 `train` 共享同一条派发路径：在 `TASKS` 注册表查找 ``，构造其 `TaskCfg`， +应用命令行 override，然后交给单次 rollout（`play`）或任务自带的 RL runner（`train`）。 + +## play + +```bash +uv run genelab play [短标志] [-- 覆盖项] +``` + +### 短标志 + +这三个短标志会被改写为对应的 `env.scene.*` override： + +| 标志 | 等价 override | 作用 | +|------|--------------|------| +| `--vis` | `env.scene.vis=true` | 开启 Genesis 可视化。 | +| `--gpu N` | `env.scene.gpu=N` | 把 rollout 锁定到指定 GPU。 | +| `--steps N` | `env.scene.steps=N` | 限制 episode 步数。 | + +### Override 语法 + +短标志之后的任意 `-- VALUE` 都会被当作配置 override： + +```bash +uv run genelab play \ + --env.scene.dt 0.005 \ + --env.actions.scale 0.5 \ + --env.observations.include_velocity true +``` + +点路径会沿 `TaskCfg` 的 dataclass 树（通常以 `env.*` 为根）下钻。字符串值按目标字段类型注解 +自动转换 —— 支持 `int`、`float`、`bool`、`Path`、`list[...]`、`tuple[...]`。详细的转换规则 +和如何处理 union 与 `Literal` 见 [配置系统](../concepts/configs.md)。 + +!!! tip "短标志位置" + CLI 内的 `_normalize_run_flags` 会把 `play --steps 5 ...` 改写成 + `play --steps 5 ...`，让 `argparse.REMAINDER` 正常工作。短标志放在任务 ID 前后 + 都可以。 + +## train + +```bash +uv run genelab train [短标志] [-- 覆盖项] +``` + +`train` 需要任务暴露一个 RL runner（通常是 `rsl_rl_lib`）。Override 语法与 `play` 一致。额外标志： + +| 标志 | 作用 | +|------|------| +| `--gpus N` | 通过 `torchrun` 启动 `N` 进程分布式训练。 | +| `--checkpoint PATH` | 从 checkpoint 文件继续训练。 | + +### 多 GPU + +`--gpus N` 会把底层训练入口包装成 `torchrun --standalone --nproc_per_node=N`。任务自身的 runner +必须支持 `torchrun`；依赖 Genesis 全局状态的环境通常天然兼容。 + +设置 `--gpus N` 时 CLI 还会按所选设备掩码 `CUDA_VISIBLE_DEVICES`，让每个 rank 看到独立 GPU。 + +## 示例 + +```bash +# 本地可视化跑一遍。 +uv run genelab play wuji_hand --vis --steps 200 + +# 4 GPU 训练，并修改 action scale。 +uv run genelab train wuji_hand --gpus 4 --env.actions.scale 0.3 + +# 从 checkpoint 继续。 +uv run genelab train wuji_hand --checkpoint logs/wuji_hand/run_42/model_100.pt +``` + +## 另见 + +- [配置系统](../concepts/configs.md) —— `apply_overrides` 完整语义。 +- [注册表](../concepts/registry.md) —— `` 如何解析。 diff --git a/docs/cli/project-new.en.md b/docs/cli/project-new.en.md new file mode 100644 index 00000000..9483fd5d --- /dev/null +++ b/docs/cli/project-new.en.md @@ -0,0 +1,59 @@ +# Project new + +`genelab project new` scaffolds a downstream extension package — a self-contained Python project +that registers robots, environments, and tasks into GeneLab's global registries. + +## Usage + +```bash +uv run genelab project new my_robot_project +``` + +### Options + +| Option | Default | Effect | +|--------|---------|--------| +| `--path PATH` | `./` | Output directory. Created if missing. | +| `--package NAME` | derived from project name | Python import name (e.g. `my_robot_project`). | +| `--task-id ID` | `/-v0` | The first task ID registered by the scaffold. | +| `--force` | off | Overwrite an existing target directory. Use with care. | + +## What it generates + +``` +my_robot_project/ +├── pyproject.toml # with [project.entry-points."genelab.extensions"] +├── README.md +└── src/ + └── my_robot_project/ + ├── __init__.py # exposes register() entry-point callable + ├── config.py # task-specific dataclass plugged into TaskCfg.env + ├── robots.py # robot registrations + ├── envs.py # environment registrations + └── tasks.py # task registration (using --task-id) +``` + +The generated `pyproject.toml` declares: + +```toml +[project.entry-points."genelab.extensions"] +my_robot_project = "my_robot_project:register" +``` + +Once installed (`uv pip install -e ./my_robot_project`), GeneLab discovers the extension on next +invocation without any `--import` flag. + +## After scaffolding + +```bash +cd my_robot_project +uv pip install -e . # install your extension into the GeneLab venv +uv run genelab list tasks # confirm the new task ID shows up +uv run genelab play --vis +``` + +## See also + +- [Extensions](../concepts/extensions.md) — the three extension-loading pathways and how to keep + loading idempotent. +- [Configs](../concepts/configs.md) — how to type the `TaskCfg.env` field in your `config.py`. diff --git a/docs/cli/project-new.zh.md b/docs/cli/project-new.zh.md new file mode 100644 index 00000000..64d9d18d --- /dev/null +++ b/docs/cli/project-new.zh.md @@ -0,0 +1,58 @@ +# 新建项目 + +`genelab project new` 会生成一个下游扩展包骨架 —— 一个独立 Python 项目，把机器人、环境、 +任务注册进 GeneLab 的全局注册表。 + +## 用法 + +```bash +uv run genelab project new my_robot_project +``` + +### 选项 + +| 选项 | 默认 | 作用 | +|------|------|------| +| `--path PATH` | `./` | 输出目录，不存在时自动创建。 | +| `--package NAME` | 由项目名推导 | Python 导入名（如 `my_robot_project`）。 | +| `--task-id ID` | `/-v0` | 骨架注册的首个任务 ID。 | +| `--force` | 关闭 | 已存在目标目录时覆盖。慎用。 | + +## 生成的内容 + +``` +my_robot_project/ +├── pyproject.toml # 含 [project.entry-points."genelab.extensions"] +├── README.md +└── src/ + └── my_robot_project/ + ├── __init__.py # 暴露 register() entry-point 调用入口 + ├── config.py # 接入 TaskCfg.env 的任务专属 dataclass + ├── robots.py # 机器人注册 + ├── envs.py # 环境注册 + └── tasks.py # 任务注册（使用 --task-id） +``` + +生成的 `pyproject.toml` 声明： + +```toml +[project.entry-points."genelab.extensions"] +my_robot_project = "my_robot_project:register" +``` + +安装后（`uv pip install -e ./my_robot_project`），GeneLab 下次启动会自动发现该扩展， +无需任何 `--import` 标志。 + +## 生成之后 + +```bash +cd my_robot_project +uv pip install -e . # 安装扩展到 GeneLab 的 venv +uv run genelab list tasks # 确认新任务 ID 出现 +uv run genelab play --vis +``` + +## 另见 + +- [扩展加载](../concepts/extensions.md) —— 三种扩展加载路径，以及保持加载幂等的方式。 +- [配置系统](../concepts/configs.md) —— `config.py` 里 `TaskCfg.env` 字段的类型化方法。 diff --git a/docs/concepts/configs.en.md b/docs/concepts/configs.en.md new file mode 100644 index 00000000..76a1aea3 --- /dev/null +++ b/docs/concepts/configs.en.md @@ -0,0 +1,62 @@ +# Configs + +GeneLab's config system is a small dataclass hierarchy under `genelab.configs`: + +``` +TaskCfg +└── env: object # downstream extensions plug in their own env dataclass + ManagerBasedEnvCfg + ├── scene + ├── actions + ├── observations + ├── rewards + ├── terminations + └── events +``` + +`TaskCfg.env` is typed `object` on purpose — downstream extensions plug their own env dataclass +into it without touching core. Most users will subclass `ManagerBasedEnvCfg` for their `env` field. + +## apply_overrides + +The headline function is `apply_overrides(cfg, dict)`, which parses dotted paths and applies them +to the config tree: + +```python +from genelab.configs import apply_overrides + +apply_overrides(cfg, { + "env.scene.dt": "0.005", + "env.scene.steps": "500", + "env.actions.scale": "0.3", + "env.observations.include_velocity": "true", +}) +``` + +### Type coercion + +Strings are coerced using the field's type hint on the target dataclass. Supported targets: + +| Hint | Accepted strings | +|------|------------------| +| `bool` | `true`/`false`/`1`/`0`/`yes`/`no` (case-insensitive) | +| `int` | any base-10 integer literal | +| `float` | any Python float literal | +| `Path` | passed through `pathlib.Path(...)` | +| `list[T]` | comma-separated, each element coerced as `T` | +| `tuple[T, ...]` | comma-separated, each element coerced as `T` | +| `str` | identity | + +If a path doesn't resolve to a known field or the value can't be coerced, `apply_overrides` raises +a descriptive error early — failures surface at config build time, not at simulation runtime. + +### CLI integration + +The `play` / `train` subcommands forward every `-- VALUE` flag into `apply_overrides`. The +three short flags (`--vis`, `--gpu`, `--steps`) rewrite to `env.scene.{vis,gpu,steps}` overrides +before forwarding. See [Play and Train](../cli/play-train.md). + +## API + +The full auto-generated reference for `genelab.configs` is on the +[API Reference](../api/reference.md) page. diff --git a/docs/concepts/configs.zh.md b/docs/concepts/configs.zh.md new file mode 100644 index 00000000..97b94634 --- /dev/null +++ b/docs/concepts/configs.zh.md @@ -0,0 +1,60 @@ +# 配置系统 + +GeneLab 的配置体系是 `genelab.configs` 下的一个小型 dataclass 层级： + +``` +TaskCfg +└── env: object # 下游扩展把自己的 env dataclass 接入这里 + ManagerBasedEnvCfg + ├── scene + ├── actions + ├── observations + ├── rewards + ├── terminations + └── events +``` + +`TaskCfg.env` 类型刻意写成 `object` —— 下游扩展无需触碰核心即可接入自己的 env dataclass。 +大多数用户会把 `ManagerBasedEnvCfg` 的子类放进 `env` 字段。 + +## apply_overrides + +核心函数是 `apply_overrides(cfg, dict)`，解析点路径并把值应用到配置树： + +```python +from genelab.configs import apply_overrides + +apply_overrides(cfg, { + "env.scene.dt": "0.005", + "env.scene.steps": "500", + "env.actions.scale": "0.3", + "env.observations.include_velocity": "true", +}) +``` + +### 类型转换 + +字符串值按目标 dataclass 字段的类型注解自动转换： + +| 类型注解 | 接受的字符串 | +|---------|-------------| +| `bool` | `true`/`false`/`1`/`0`/`yes`/`no`（大小写不敏感） | +| `int` | 任意 10 进制整数字面量 | +| `float` | 任意 Python float 字面量 | +| `Path` | 经过 `pathlib.Path(...)` | +| `list[T]` | 逗号分隔，每个元素按 `T` 转换 | +| `tuple[T, ...]` | 逗号分隔，每个元素按 `T` 转换 | +| `str` | 原样 | + +如果点路径无法解析到已知字段，或值无法转换，`apply_overrides` 会在配置构造期就抛出明确错误， +避免错误延后到仿真运行时才暴露。 + +### CLI 集成 + +`play` / `train` 把每个 `-- VALUE` 标志转发给 `apply_overrides`。三个短标志 +（`--vis`、`--gpu`、`--steps`）在转发前被改写为 `env.scene.{vis,gpu,steps}`。 +详见 [play 与 train](../cli/play-train.md)。 + +## API + +`genelab.configs` 的完整自动生成参考见 [API 参考](../api/reference.md)。 diff --git a/docs/concepts/extensions.en.md b/docs/concepts/extensions.en.md new file mode 100644 index 00000000..2c247428 --- /dev/null +++ b/docs/concepts/extensions.en.md @@ -0,0 +1,63 @@ +# Extensions + +GeneLab core ships **no** robots, environments, or tasks. All content lives in downstream +extension packages. The CLI discovers extensions through three pathways, in order of preference: + +## 1. Entry-point auto-discovery (recommended) + +Declare in your extension's `pyproject.toml`: + +```toml +[project.entry-points."genelab.extensions"] +my_robot_project = "my_robot_project:register" +``` + +The CLI auto-imports every entry point in the `genelab.extensions` group on startup. `register()` +is a no-argument callable inside your package that performs the actual `ROBOTS.register(...)` / +`ENVS.register(...)` / `TASKS.register(...)` calls (or simply imports modules that perform them +as a side effect). + +This is the pathway `genelab project new` wires up for you. + +## 2. Explicit `--import` + +```bash +uv run genelab --import my_pkg.module1 --import my_pkg.module2 list tasks +``` + +Repeatable. Useful when: + +- The extension does not (yet) ship a `genelab.extensions` entry point. +- You want a fully explicit, reproducible loading order (combine with `--no-entry-points`). +- You're iterating on a not-yet-installed package and need to add its source directory to + `sys.path` ad-hoc (the CLI also adds the current working directory to `sys.path`). + +## 3. Programmatic + +```python +from genelab.registry import load_extension_module + +load_extension_module("my_pkg.module") +``` + +Used by tests and embedding scripts. The same idempotency guard applies, so calling it after the +CLI has already auto-discovered the same module is a no-op. + +## Disabling auto-discovery + +```bash +uv run genelab --no-entry-points --import my_pkg list tasks +``` + +This is the most reproducible setup — only the modules you explicitly named are loaded. + +## Canonical example + +`examples/genelab_examples/` is the reference shape: a `pyproject.toml` with the entry point, +a top-level `register()` callable, and `config.py` / `robots.py` / `envs.py` / `tasks.py` modules. +`tests/fake_extension.py` is the same shape stripped to bare minimum for the test suite. + +## See also + +- [Project new](../cli/project-new.md) — scaffold a new extension package. +- [Registry](registry.md) — what `register()` actually does. diff --git a/docs/concepts/extensions.zh.md b/docs/concepts/extensions.zh.md new file mode 100644 index 00000000..6c447969 --- /dev/null +++ b/docs/concepts/extensions.zh.md @@ -0,0 +1,61 @@ +# 扩展加载 + +GeneLab 核心**不**自带机器人、环境、任务，所有内容都由下游扩展包提供。CLI 通过三条路径发现 +扩展，按以下优先级： + +## 1. Entry-point 自动发现（推荐） + +在扩展的 `pyproject.toml` 中声明： + +```toml +[project.entry-points."genelab.extensions"] +my_robot_project = "my_robot_project:register" +``` + +CLI 启动时自动 import `genelab.extensions` 组下的每个 entry point。`register()` 是一个无参 +可调用，位于扩展包顶层，负责真正调用 `ROBOTS.register(...)` / `ENVS.register(...)` / +`TASKS.register(...)`（或仅 import 一些以副作用方式注册的模块）。 + +这条路径正是 `genelab project new` 默认替你接好的。 + +## 2. 显式 `--import` + +```bash +uv run genelab --import my_pkg.module1 --import my_pkg.module2 list tasks +``` + +可重复。适用场景： + +- 扩展尚未提供 `genelab.extensions` entry point。 +- 想要完全显式、可复现的加载顺序（搭配 `--no-entry-points`）。 +- 调试尚未安装的包，需要把源码目录临时塞进 `sys.path`（CLI 也会把当前工作目录加入 `sys.path`）。 + +## 3. 程序内调用 + +```python +from genelab.registry import load_extension_module + +load_extension_module("my_pkg.module") +``` + +测试与嵌入脚本使用。同样的幂等守卫生效，因此即使 CLI 已经自动发现过同一模块，再调用一次 +也是 no-op。 + +## 关闭自动发现 + +```bash +uv run genelab --no-entry-points --import my_pkg list tasks +``` + +这是最可复现的组合 —— 只加载你显式命名的模块。 + +## 参考形态 + +`examples/genelab_examples/` 是参考形态：`pyproject.toml` 带 entry point、顶层有 `register()` +可调用、并提供 `config.py` / `robots.py` / `envs.py` / `tasks.py`。`tests/fake_extension.py` +是同样形态但削减到最小，供测试套件使用。 + +## 另见 + +- [新建项目](../cli/project-new.md) —— 生成新的扩展包骨架。 +- [注册表](registry.md) —— `register()` 实际做了什么。 diff --git a/docs/concepts/registry.en.md b/docs/concepts/registry.en.md new file mode 100644 index 00000000..54f4048a --- /dev/null +++ b/docs/concepts/registry.en.md @@ -0,0 +1,51 @@ +# Registry + +GeneLab provides a generic `Registry[T]` plus three module-level singletons exported from +`genelab.lab`: + +| Singleton | Holds | +|-----------|-------| +| `ROBOTS` | Robot factories. | +| `ENVS` | Environment factories. | +| `TASKS` | Task factories (each task pairs an environment with optional runner / agent config). | + +## What an entry looks like + +A registry entry is a 4-tuple: **`(name, description, factory, cfg_type)`**. The `factory` is a +callable invoked lazily on `get(name)`, so importing a registration site does not eagerly build +heavy objects. + +## Basic usage + +```python +from genelab.lab import ROBOTS, ENVS, TASKS, TaskCfg + +def make_my_robot(): + ... + +ROBOTS.register( + name="my_robot", + description="A demo robot.", + factory=make_my_robot, + cfg_type=None, +) + +# Later: +robot = ROBOTS.get("my_robot") +``` + +The `name` is the canonical lookup key; the `description` shows up in `genelab list robots`. + +## Idempotent extension loading + +The registry module also tracks `_loaded_extension_modules` and `_loaded_entrypoints` sets so that +repeated calls to load the same extension are no-ops. This matters when a user combines the entry +point auto-discovery (default) with explicit `--import` flags — both pathways end up calling +`load_extension_module`, but the second call is short-circuited. + +See [Extensions](extensions.md) for the three pathways and when to use which. + +## API + +The full auto-generated reference for `genelab.registry` lives on the +[API Reference](../api/reference.md) page. diff --git a/docs/concepts/registry.zh.md b/docs/concepts/registry.zh.md new file mode 100644 index 00000000..724f9167 --- /dev/null +++ b/docs/concepts/registry.zh.md @@ -0,0 +1,47 @@ +# 注册表 + +GeneLab 提供泛型 `Registry[T]` 与三个由 `genelab.lab` 导出的模块级单例： + +| 单例 | 持有内容 | +|------|---------| +| `ROBOTS` | 机器人工厂。 | +| `ENVS` | 环境工厂。 | +| `TASKS` | 任务工厂（每个任务把环境与可选 runner / agent 配置打包）。 | + +## 一个条目长什么样 + +注册条目是一个四元组：**`(name, description, factory, cfg_type)`**。`factory` 是一个可调用， +只在 `get(name)` 时才会被调用，因此导入注册位点不会立即构造重型对象。 + +## 基本用法 + +```python +from genelab.lab import ROBOTS, ENVS, TASKS, TaskCfg + +def make_my_robot(): + ... + +ROBOTS.register( + name="my_robot", + description="A demo robot.", + factory=make_my_robot, + cfg_type=None, +) + +# 之后： +robot = ROBOTS.get("my_robot") +``` + +`name` 是规范查找键；`description` 会出现在 `genelab list robots` 输出里。 + +## 幂等扩展加载 + +注册模块还维护 `_loaded_extension_modules` 和 `_loaded_entrypoints` 两个集合，重复加载同一 +扩展会被短路。当用户同时使用 entry point 自动发现（默认）与显式 `--import` 时，这一点尤其 +重要 —— 两条路径最终都会调用 `load_extension_module`，但第二次调用直接返回。 + +三种路径以及何时使用哪种，详见 [扩展加载](extensions.md)。 + +## API + +`genelab.registry` 的完整自动生成参考见 [API 参考](../api/reference.md)。 diff --git a/docs/contributing.en.md b/docs/contributing.en.md new file mode 100644 index 00000000..b28faeaf --- /dev/null +++ b/docs/contributing.en.md @@ -0,0 +1,11 @@ +# Contributing + +The canonical contributor guide lives in [`CONTRIBUTING.md`](https://github.com/KraHsu/GeneLab/blob/main/CONTRIBUTING.md) +at the repository root and is mirrored below. + +--- + +{% + include-markdown "../CONTRIBUTING.md" + heading-offset=1 +%} diff --git a/docs/contributing.zh.md b/docs/contributing.zh.md new file mode 100644 index 00000000..e9b7b2e9 --- /dev/null +++ b/docs/contributing.zh.md @@ -0,0 +1,58 @@ +# 贡献指南 + +> 详细的贡献者指南目前以英文为权威版本，见仓库根目录 +> [`CONTRIBUTING.md`](https://github.com/KraHsu/GeneLab/blob/main/CONTRIBUTING.md)。本页提供 +> 关键要点的中文摘要，欢迎贡献完整中文翻译。 + +## 开发环境 + +GeneLab 使用 [uv](https://github.com/astral-sh/uv) 并要求 Python `>=3.12`。挑选一个互斥的 +`torch-*` extra： + +```bash +uv sync --extra torch-cpu # 或 torch-cu126 / torch-cu128 / torch-cu130 +uv run genelab --help # CLI 烟雾测试 +uv run genelab cache # 创建 Genesis / Matplotlib 用的项目本地 .cache 目录 +``` + +`examples/genelab_examples/` 已加入 `pytest` 的 `pythonpath`，测试可直接 import 而无需安装。 + +## Python 3.12+ 风格 + +GeneLab 锁定 Python `>=3.12`。只写现代代码，不要为旧解释器加兼容垫片： + +- **不要** `from __future__ import annotations`。注解会立即被求值；只在 `TYPE_CHECKING` 下导入的 + 名字在使用点引号化（`def f(env: "ManagerBasedRlEnv") -> ...`）。 +- **PEP 604 union**：`X | Y`、`X | None`，不要 `Optional[X]` / `Union[X, Y]`。 +- **PEP 585 内置泛型**：`list[T]`、`dict[K, V]`、`tuple[T, ...]`、`type[T]`，不要 `typing.List` 等。 +- **PEP 695 泛型**：`class Foo[T]:`、`def f[T](...)`、`type Alias = ...`，不要 `TypeVar + Generic[T]`。 +- 用 `collections.abc` 代替 `typing` 中的 `Callable` / `Iterable` / `Iterator` / `Sequence` / `Mapping`。 +- 仅以下 `typing` 名字预期出现：`Any`、`cast`、`Protocol`、`Literal`、`Final`、`Annotated`、 + `TYPE_CHECKING`、`runtime_checkable`、`get_args`、`get_origin`、`get_type_hints`。其他名字 + 视为可疑。 + +## PR 前检查 + +```bash +uv run ruff check # lint +uv run ruff format --check # 格式（用 `uv run ruff format` 自动修复） +uv run pyright # src/genelab 的 strict 类型检查 +uv run pytest # 完整测试套件 +``` + +四项均须通过 —— CI 把同一组检查设为每个 PR 的必需 status checks。 + +## 分支与 PR 流程 + +`main` 受保护：直接推送会被拒绝，必需的 CI 检查（`lint`、`typecheck`、`test`）必须全绿后才能 +合入 PR。 + +1. 从 `main` 派生分支，使用描述性前缀：`fix/...`、`feat/...`、`ci/...`、`chore/...`、`docs/...`。 +2. 本地跑上述检查。 +3. 推送并开 PR —— CI 会在每次 push 时自动运行。 +4. 评审期间若 `main` 前进，把 `main` 合入分支（或 rebase），让 PR 保持最新。 + +## 提交信息 + +- 祈使语气、首字母大写："Bump…"、"Fix…"、"Add…"。不要前缀、不要 emoji。 +- 主题行控制在约 72 字符内。正文解释 *why* —— *what* 已经被 diff 表达。 diff --git a/docs/examples/overview.en.md b/docs/examples/overview.en.md new file mode 100644 index 00000000..778e7b3e --- /dev/null +++ b/docs/examples/overview.en.md @@ -0,0 +1,46 @@ +# Examples + +The repository ships several reference extensions under `examples/`. They double as integration +tests for the CLI and registry. + +## genelab_examples + +Path: [`examples/genelab_examples/`](https://github.com/KraHsu/GeneLab/tree/main/examples/genelab_examples) + +The canonical in-tree extension. Two tasks are wired up: + +- **`wuji_hand`** — a hand-manipulation task. +- **`rubiks`** — a Rubik's cube task. + +`pyproject.toml` declares the `genelab.extensions` entry point, so this extension is discovered +automatically when the package is installed (it is also on `pytest`'s `pythonpath` via the +project's `pyproject.toml`, allowing the tests to import from it without installation). + +## unitree + +Path: [`examples/unitree/`](https://github.com/KraHsu/GeneLab/tree/main/examples/unitree) + +A robot example focused on Unitree platforms. Same extension shape as `genelab_examples` — +entry point, `register()`, and per-module registration files. + +## external_project + +Path: [`examples/external_project/`](https://github.com/KraHsu/GeneLab/tree/main/examples/external_project) + +A minimal downstream project template. This is what `genelab project new` produces, kept in-tree +as a reference for the scaffolding output. + +## Using an example + +```bash +# Confirm the example tasks are visible. +uv run genelab list tasks + +# Play a task with visualization. +uv run genelab play wuji_hand --vis --steps 200 +``` + +## See also + +- [Project new](../cli/project-new.md) — scaffold your own extension. +- [Extensions](../concepts/extensions.md) — how extensions are discovered and loaded. diff --git a/docs/examples/overview.zh.md b/docs/examples/overview.zh.md new file mode 100644 index 00000000..41722033 --- /dev/null +++ b/docs/examples/overview.zh.md @@ -0,0 +1,43 @@ +# 示例 + +仓库在 `examples/` 下提供数个参考扩展，同时也是 CLI 与注册表的集成测试。 + +## genelab_examples + +路径：[`examples/genelab_examples/`](https://github.com/KraHsu/GeneLab/tree/main/examples/genelab_examples) + +仓库内的标准扩展，接通两个任务： + +- **`wuji_hand`** —— 手部操作任务。 +- **`rubiks`** —— 魔方任务。 + +`pyproject.toml` 声明了 `genelab.extensions` entry point，因此安装该包后会被自动发现 +（通过项目 `pyproject.toml` 的 `pythonpath` 设置，测试也可以直接 import，而无需安装）。 + +## unitree + +路径：[`examples/unitree/`](https://github.com/KraHsu/GeneLab/tree/main/examples/unitree) + +聚焦 Unitree 平台的机器人示例。形态与 `genelab_examples` 相同 —— entry point、`register()`、 +按模块拆分的注册文件。 + +## external_project + +路径：[`examples/external_project/`](https://github.com/KraHsu/GeneLab/tree/main/examples/external_project) + +下游项目最小模板。`genelab project new` 生成的内容与之结构一致，留在仓库里作为脚手架输出参考。 + +## 使用示例 + +```bash +# 确认示例任务可见。 +uv run genelab list tasks + +# 可视化运行一个任务。 +uv run genelab play wuji_hand --vis --steps 200 +``` + +## 另见 + +- [新建项目](../cli/project-new.md) —— 生成自己的扩展包。 +- [扩展加载](../concepts/extensions.md) —— 扩展如何被发现与加载。 diff --git a/docs/getting-started/installation.en.md b/docs/getting-started/installation.en.md new file mode 100644 index 00000000..d329d21e --- /dev/null +++ b/docs/getting-started/installation.en.md @@ -0,0 +1,75 @@ +# Installation + +GeneLab requires **Python 3.12 or newer** and uses [`uv`](https://docs.astral.sh/uv/) for +dependency management. + +## 1. Sync the environment + +From the repository root: + +```bash +uv sync +uv run genelab --help +``` + +`uv sync` creates the project virtual environment, installs GeneLab from this checkout, and +installs the dependencies pinned by `uv.lock`. `uv run ...` runs commands inside that environment. +A bare `genelab` command works only after `.venv` is activated or GeneLab is installed into the +active Python environment. + +## 2. Pick exactly one PyTorch extra + +The `torch-*` extras are **mutually exclusive** — pick one that matches your hardware: + +```bash +# CPU-only or non-NVIDIA development machines. +uv sync --extra torch-cpu + +# NVIDIA machines; choose the CUDA wheel supported by your driver. +uv sync --extra torch-cu126 +uv sync --extra torch-cu128 +uv sync --extra torch-cu130 +``` + +!!! warning "PyTorch version requirement" + Genesis requires `torch>=2.8.0` — older builds emit a `'torch<2.8.0' is not supported` warning + at import time and may break Genesis runtime assumptions. All `torch-*` extras pin + `torch>=2.8.0`, so `uv sync` will pull a compatible wheel automatically. PyTorch only publishes + 2.8+ wheels on the `cpu`, `cu126`, `cu128`, and `cu130` indices; older CUDA flavours + (`cu118` / `cu121` / `cu124`) are intentionally not offered as extras. If you already have an + older `torch` in your environment, run + `uv sync --reinstall-package torch --extra torch-cuXXX` to refresh it. + +If you are not sure which CUDA build to use, check `nvidia-smi` and follow the PyTorch +installation selector for your platform. + +## 3. Initialize project-local caches + +Genesis, Quadrants, and Matplotlib all want a writable cache directory. Create the project-local +folders and the matching environment variables in one shot: + +```bash +uv run genelab cache +``` + +This sets `XDG_CACHE_HOME` and `MPLCONFIGDIR` under `.cache/`, so the simulator never writes to +your home directory. + +## 4. Verify + +```bash +uv run python -c "import genelab; print(genelab.__version__)" +uv run python -c "from genelab.lab import ManagerBasedEnvCfg; print(ManagerBasedEnvCfg.__name__)" +uv run python -c "import genesis; print(genesis.__version__)" +uv run pytest +uv run ruff check +uv run pyright +``` + +After syncing one of the `torch-*` extras, verify the selected PyTorch build: + +```bash +uv run python -c "import torch; print(torch.__version__, torch.version.cuda)" +``` + +Next: head over to the [Quickstart](quickstart.md) to run a registered task. diff --git a/docs/getting-started/installation.zh.md b/docs/getting-started/installation.zh.md new file mode 100644 index 00000000..3be0ab81 --- /dev/null +++ b/docs/getting-started/installation.zh.md @@ -0,0 +1,68 @@ +# 安装 + +GeneLab 需要 **Python 3.12 或更新版本**，使用 [`uv`](https://docs.astral.sh/uv/) 管理依赖。 + +## 1. 同步环境 + +在仓库根目录运行： + +```bash +uv sync +uv run genelab --help +``` + +`uv sync` 会创建项目虚拟环境，从当前 checkout 安装 GeneLab，并安装 `uv.lock` 锁定的依赖。 +`uv run ...` 会在该环境中运行命令。裸 `genelab` 命令只有在 `.venv` 已激活、或 GeneLab 已安装 +到当前 Python 环境后才可用。 + +## 2. 挑选一个 PyTorch extra（互斥） + +`torch-*` extras **互斥**，只能挑选一个匹配你的硬件： + +```bash +# 仅 CPU 或非 NVIDIA 开发机器。 +uv sync --extra torch-cpu + +# NVIDIA 机器，按驱动支持的 CUDA wheel 挑选。 +uv sync --extra torch-cu126 +uv sync --extra torch-cu128 +uv sync --extra torch-cu130 +``` + +!!! warning "PyTorch 版本要求" + Genesis 要求 `torch>=2.8.0`，旧版本在导入时会报 `'torch<2.8.0' is not supported`，并可能 + 破坏 Genesis 的运行时假设。所有 `torch-*` extras 都固定 `torch>=2.8.0`，`uv sync` 会自动 + 拉取兼容 wheel。PyTorch 只在 `cpu`、`cu126`、`cu128`、`cu130` 索引提供 2.8+ wheel，因此 + 较旧的 CUDA flavour（`cu118` / `cu121` / `cu124`）不再以 extra 形式提供。如果环境里已经 + 存在旧 torch，可用 `uv sync --reinstall-package torch --extra torch-cuXXX` 刷新。 + +不确定使用哪个 CUDA build 时，用 `nvidia-smi` 查看驱动，并参考 PyTorch 官方安装选择器。 + +## 3. 初始化项目本地缓存 + +Genesis、Quadrants、Matplotlib 都需要可写缓存目录。一条命令同时创建项目本地目录和环境变量： + +```bash +uv run genelab cache +``` + +它会把 `XDG_CACHE_HOME` 和 `MPLCONFIGDIR` 指向 `.cache/`，避免仿真器写到用户主目录。 + +## 4. 验证 + +```bash +uv run python -c "import genelab; print(genelab.__version__)" +uv run python -c "from genelab.lab import ManagerBasedEnvCfg; print(ManagerBasedEnvCfg.__name__)" +uv run python -c "import genesis; print(genesis.__version__)" +uv run pytest +uv run ruff check +uv run pyright +``` + +同步任意 `torch-*` extra 后，可验证当前 PyTorch build： + +```bash +uv run python -c "import torch; print(torch.__version__, torch.version.cuda)" +``` + +下一步：阅读 [快速开始](quickstart.md) 运行一个已注册任务。 diff --git a/docs/getting-started/quickstart.en.md b/docs/getting-started/quickstart.en.md new file mode 100644 index 00000000..1169bdc2 --- /dev/null +++ b/docs/getting-started/quickstart.en.md @@ -0,0 +1,69 @@ +# Quickstart + +This walks through the shortest path from a fresh `uv sync` to running a registered task. + +## List what's available + +The core `genelab` package ships with empty registries — robots, environments, and tasks come from +extension packages. The example extension under `examples/genelab_examples/` is discovered +automatically because its `pyproject.toml` declares a `genelab.extensions` entry point. + +```bash +uv run genelab list robots +uv run genelab list envs +uv run genelab list tasks +``` + +If a registry is empty, install or import an extension (see [Extensions](../concepts/extensions.md)). + +## Play a task + +```bash +uv run genelab play +``` + +The CLI loads the registered factory for ``, applies any config overrides you pass on the +command line, and runs the rollout in the configured Genesis backend. + +Common shortcuts: + +```bash +uv run genelab play --vis # enable visualization +uv run genelab play --steps 500 # cap the episode length +uv run genelab play --gpu 1 # pin to a single GPU +``` + +For arbitrary overrides, use the dotted `--a.b.c VALUE` syntax — strings are coerced to the type +declared on the target dataclass field. See [Play and Train](../cli/play-train.md) for the full +override grammar. + +## Train (when a runner exists) + +If a task ships with an RL runner (rsl_rl, etc.), launch training with: + +```bash +uv run genelab train +uv run genelab train --gpus 4 # multi-GPU via torchrun +uv run genelab train --checkpoint path/to/model.pt +``` + +The `--gpus N` flag transparently dispatches through `torchrun` for distributed training; the +target task's runner needs to be `torchrun`-compatible. + +## Start a downstream project + +When you outgrow the example extension and want your own package: + +```bash +uv run genelab project new my_robot_project +``` + +This scaffolds `config.py`, `robots.py`, `envs.py`, `tasks.py`, and a `pyproject.toml` with a +`genelab.extensions` entry point. See [Project new](../cli/project-new.md). + +## Next steps + +- [CLI overview](../cli/overview.md) — all subcommands and global flags. +- [Registry](../concepts/registry.md) — how `ROBOTS` / `ENVS` / `TASKS` work. +- [Configs](../concepts/configs.md) — `ManagerBasedEnvCfg` and `apply_overrides`. +- [Extensions](../concepts/extensions.md) — three ways to register downstream code. diff --git a/docs/getting-started/quickstart.zh.md b/docs/getting-started/quickstart.zh.md new file mode 100644 index 00000000..8d5e0038 --- /dev/null +++ b/docs/getting-started/quickstart.zh.md @@ -0,0 +1,66 @@ +# 快速开始 + +本节走通从 `uv sync` 到运行已注册任务的最短路径。 + +## 列出可用项 + +核心 `genelab` 包自带空注册表 —— 机器人、环境、任务都由扩展包贡献。仓库内 +`examples/genelab_examples/` 通过 `pyproject.toml` 中的 `genelab.extensions` entry point +被自动发现。 + +```bash +uv run genelab list robots +uv run genelab list envs +uv run genelab list tasks +``` + +如果某个注册表为空，请安装或导入扩展（详见 [扩展加载](../concepts/extensions.md)）。 + +## 运行一个任务 + +```bash +uv run genelab play +``` + +CLI 会查找 `` 的注册工厂，应用命令行传入的配置 override，然后在 Genesis 后端运行。 + +常用快捷： + +```bash +uv run genelab play --vis # 启用可视化 +uv run genelab play --steps 500 # 限制单 episode 步数 +uv run genelab play --gpu 1 # 锁定到单张 GPU +``` + +任意 override 使用 `--a.b.c VALUE` 点路径写法 —— 字符串会按目标 dataclass 字段的类型注解 +自动转换。完整 override 语法见 [play 与 train](../cli/play-train.md)。 + +## 训练（任务带 runner 时） + +如果任务自带 RL runner（rsl_rl 等），可用： + +```bash +uv run genelab train +uv run genelab train --gpus 4 # 多 GPU 通过 torchrun 启动 +uv run genelab train --checkpoint path/to/model.pt +``` + +`--gpus N` 会透明走 `torchrun` 启动分布式训练，前提是任务自身的 runner 支持 `torchrun`。 + +## 新建下游项目 + +当示例扩展不够用、想要自己的包时： + +```bash +uv run genelab project new my_robot_project +``` + +生成包含 `config.py`、`robots.py`、`envs.py`、`tasks.py` 以及带 `genelab.extensions` entry +point 的 `pyproject.toml`。详见 [新建项目](../cli/project-new.md)。 + +## 下一步 + +- [CLI 总览](../cli/overview.md) —— 所有子命令与全局 flag。 +- [注册表](../concepts/registry.md) —— `ROBOTS` / `ENVS` / `TASKS` 的工作机制。 +- [配置系统](../concepts/configs.md) —— `ManagerBasedEnvCfg` 与 `apply_overrides`。 +- [扩展加载](../concepts/extensions.md) —— 三种注册下游代码的方式。 diff --git a/docs/index.en.md b/docs/index.en.md new file mode 100644 index 00000000..1b48253a --- /dev/null +++ b/docs/index.en.md @@ -0,0 +1,68 @@ +# GeneLab + +GeneLab is an Isaac Lab-inspired API for RL and robotics research powered by +[Genesis](https://github.com/Genesis-Embodied-AI/Genesis). It keeps the familiar shape of registered +robots, environments, tasks, manager-based MDP configuration, and CLI dispatch, while using Genesis +as the simulation backend. + +## Goals + +- Provide small registries for robots, environments, and tasks. +- Keep core API layers separate from example assets and demo scripts. +- Use manager-style config hooks for actions, observations, rewards, events, and terminations. +- Keep Genesis backend integration explicit and easy to extend. +- Support downstream robotics projects through a stable package layout and CLI. + +## Quick start + +
+ +- :material-download:{ .lg .middle } **Install** + + --- + + Set up `uv`, pick a `torch-*` extra, and verify. + + [:octicons-arrow-right-24: Installation](getting-started/installation.md) + +- :material-rocket-launch-outline:{ .lg .middle } **Run** + + --- + + List registered tasks and play one. + + [:octicons-arrow-right-24: Quickstart](getting-started/quickstart.md) + +- :material-console-line:{ .lg .middle } **CLI** + + --- + + `play`, `train`, `project new`, and override syntax. + + [:octicons-arrow-right-24: CLI overview](cli/overview.md) + +- :material-package-variant-closed:{ .lg .middle } **Extend** + + --- + + Write a downstream extension package. + + [:octicons-arrow-right-24: Extensions](concepts/extensions.md) + +
+ +## Requirements + +- Python 3.12 or newer. +- [uv](https://docs.astral.sh/uv/) for dependency management. + +## At a glance + +- `genelab.registry` — registries, registration helpers, and extension loading. +- `genelab.configs` — reusable dataclass configs, including `ManagerBasedEnvCfg` and `TaskCfg`. +- `genelab.lab` — public facade for registry and manager-based environment primitives. +- `genelab.envs` / `genelab.robots` / `genelab.tasks` — core registry helper namespaces. +- `genelab.actuator` / `genelab.entity` / `genelab.scene` / `genelab.sensor` / `genelab.terrains` / + `genelab.rl` — extension namespaces for robotics research code. + +See the [API Reference](api/reference.md) for the full auto-generated module documentation. diff --git a/docs/index.zh.md b/docs/index.zh.md new file mode 100644 index 00000000..05ae6775 --- /dev/null +++ b/docs/index.zh.md @@ -0,0 +1,67 @@ +# GeneLab + +GeneLab 是一个面向强化学习与机器人研究的 Isaac Lab 风格 API，由 +[Genesis](https://github.com/Genesis-Embodied-AI/Genesis) 提供仿真后端。它保留了机器人、环境、 +任务注册，manager-based MDP 配置，以及 CLI 调度这些常见的组织方式。 + +## 目标 + +- 提供小型机器人、环境和任务注册表。 +- 将核心 API 层与示例资产、演示脚本分离。 +- 使用 manager 风格配置钩子组织 actions、observations、rewards、events 和 terminations。 +- 保持 Genesis 后端集成显式，便于扩展。 +- 通过稳定的包结构与 CLI 支持下游机器人研究项目。 + +## 快速开始 + +
+ +- :material-download:{ .lg .middle } **安装** + + --- + + 准备 `uv`，挑选一个 `torch-*` extra，并完成验证。 + + [:octicons-arrow-right-24: 安装](getting-started/installation.md) + +- :material-rocket-launch-outline:{ .lg .middle } **运行** + + --- + + 列出已注册任务并 play 一个。 + + [:octicons-arrow-right-24: 快速开始](getting-started/quickstart.md) + +- :material-console-line:{ .lg .middle } **CLI** + + --- + + `play`、`train`、`project new` 与 override 语法。 + + [:octicons-arrow-right-24: CLI 总览](cli/overview.md) + +- :material-package-variant-closed:{ .lg .middle } **扩展** + + --- + + 编写下游扩展包接入注册表。 + + [:octicons-arrow-right-24: 扩展加载](concepts/extensions.md) + +
+ +## 要求 + +- Python 3.12 或更新版本。 +- 使用 [uv](https://docs.astral.sh/uv/) 管理依赖。 + +## 模块速览 + +- `genelab.registry`：注册表、注册 helper 与扩展加载。 +- `genelab.configs`：可复用的 dataclass 配置，包括 `ManagerBasedEnvCfg` 与 `TaskCfg`。 +- `genelab.lab`：注册表与 manager-based 环境原语的公共 API facade。 +- `genelab.envs` / `genelab.robots` / `genelab.tasks`：核心注册 helper 的命名空间。 +- `genelab.actuator` / `genelab.entity` / `genelab.scene` / `genelab.sensor` / + `genelab.terrains` / `genelab.rl`：面向机器人研究代码的扩展命名空间。 + +完整自动生成的模块文档见 [API 参考](api/reference.md)。 diff --git a/docs/stylesheets/extra.css b/docs/stylesheets/extra.css new file mode 100644 index 00000000..25541b2a --- /dev/null +++ b/docs/stylesheets/extra.css @@ -0,0 +1,166 @@ +/* GeneLab docs — soft, flat, modern tweaks on top of Material. */ + +:root { + --md-text-font: "Inter", -apple-system, BlinkMacSystemFont, "Segoe UI", + "Helvetica Neue", Arial, "PingFang SC", "Hiragino Sans GB", + "Microsoft YaHei", sans-serif; + --md-code-font: "JetBrains Mono", "SF Mono", Menlo, 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border-radius: 12px; + overflow: hidden; + border: 1px solid var(--md-default-fg-color--lightest); + font-size: 0.85rem; +} + +.md-typeset table:not([class]) th { + background: var(--md-code-bg-color); + font-weight: 600; +} + +.md-typeset blockquote { + border-left-width: 3px; + border-radius: 0 12px 12px 0; + background: var(--md-code-bg-color); + padding: 0.6rem 1rem; + color: var(--md-default-fg-color--light); +} + +.md-nav__link--active, +.md-nav__link:focus, +.md-nav__link:hover { + color: var(--md-primary-fg-color); +} + +.md-button { + border-radius: 10px; + border-width: 1px; + font-weight: 500; + padding: 0.55em 1.2em; +} + +.md-button--primary { + background-color: var(--md-primary-fg-color); + border-color: var(--md-primary-fg-color); +} + +.md-button--primary:hover, +.md-button--primary:focus { + background-color: var(--md-primary-fg-color--dark); + border-color: var(--md-primary-fg-color--dark); +} + +.md-typeset .grid.cards > :is(ul, ol) > li, +.md-typeset .grid > .card { + border-radius: 14px; + border: 1px solid var(--md-default-fg-color--lightest); + box-shadow: none; + transition: border-color 120ms ease, transform 120ms ease; +} + +.md-typeset .grid.cards > :is(ul, ol) > li:hover, +.md-typeset .grid > .card:hover { + border-color: var(--md-primary-fg-color--light); + transform: translateY(-2px); +} + +.md-footer { + background: var(--md-default-bg-color); + color: var(--md-default-fg-color--light); + border-top: 1px solid var(--md-default-fg-color--lightest); +} + +.md-footer-meta { + background: transparent; +} + +[data-md-color-scheme="slate"] .md-footer { + border-top-color: rgba(255, 255, 255, 0.06); +} diff --git a/mkdocs.yml b/mkdocs.yml new file mode 100644 index 00000000..5cc3fd6f --- /dev/null +++ b/mkdocs.yml @@ -0,0 +1,165 @@ +site_name: GeneLab +site_description: Isaac Lab-inspired API for RL and robotics research powered by Genesis. +site_url: https://krahsu.github.io/GeneLab/ +site_author: GeneLab contributors + +repo_name: KraHsu/GeneLab +repo_url: https://github.com/KraHsu/GeneLab +edit_uri: edit/main/docs/ + +docs_dir: docs +site_dir: site + +exclude_docs: | + README_CN.md + +theme: + name: material + language: en + font: + text: Inter + code: JetBrains Mono + icon: + repo: fontawesome/brands/github + edit: material/pencil + features: + - navigation.tabs + - navigation.tabs.sticky + - navigation.sections + - navigation.indexes + - navigation.top + - navigation.footer + - navigation.tracking + - content.code.copy + - content.code.annotate + - content.action.edit + - content.tooltips + - search.suggest + - search.highlight + - search.share + - toc.follow + palette: + - media: "(prefers-color-scheme)" + toggle: + icon: material/brightness-auto + name: Switch to light mode + - media: "(prefers-color-scheme: light)" + scheme: default + primary: indigo + accent: teal + toggle: + icon: material/brightness-7 + name: Switch to dark mode + - media: "(prefers-color-scheme: dark)" + scheme: slate + primary: indigo + accent: teal + toggle: + icon: material/brightness-4 + name: Switch to system preference + +extra_css: + - stylesheets/extra.css + +extra: + social: + - icon: fontawesome/brands/github + link: https://github.com/KraHsu/GeneLab + +plugins: + - search: + lang: + - en + - zh + - include-markdown + - i18n: + docs_structure: suffix + reconfigure_material: true + reconfigure_search: true + languages: + - locale: en + default: true + name: English + build: true + - locale: zh + name: 简体中文 + build: true + site_name: GeneLab + nav_translations: + Home: 首页 + Getting Started: 快速上手 + Installation: 安装 + Quickstart: 快速开始 + CLI: 命令行 + Overview: 总览 + Play and Train: play 与 train + Project New: 新建项目 + Concepts: 核心概念 + Registry: 注册表 + Configs: 配置系统 + Extensions: 扩展加载 + Examples: 示例 + API Reference: API 参考 + Contributing: 贡献指南 + - mkdocstrings: + default_handler: python + handlers: + python: + paths: [src] + options: + docstring_style: google + show_source: true + show_signature_annotations: true + separate_signature: true + members_order: source + heading_level: 2 + show_root_heading: true + show_root_full_path: false + show_symbol_type_heading: true + show_symbol_type_toc: true + +markdown_extensions: + - admonition + - attr_list + - md_in_html + - footnotes + - tables + - toc: + permalink: true + - pymdownx.details + - pymdownx.highlight: + anchor_linenums: true + line_spans: __span + pygments_lang_class: true + - pymdownx.inlinehilite + - pymdownx.snippets: + base_path: + - . + - docs + check_paths: true + - pymdownx.superfences + - pymdownx.tabbed: + alternate_style: true + - pymdownx.tasklist: + custom_checkbox: true + - pymdownx.emoji: + emoji_index: !!python/name:material.extensions.emoji.twemoji + emoji_generator: !!python/name:material.extensions.emoji.to_svg + +nav: + - Home: index.md + - Getting Started: + - Installation: getting-started/installation.md + - Quickstart: getting-started/quickstart.md + - CLI: + - Overview: cli/overview.md + - Play and Train: cli/play-train.md + - Project New: cli/project-new.md + - Concepts: + - Registry: concepts/registry.md + - Configs: concepts/configs.md + - Extensions: concepts/extensions.md + - Examples: + - Overview: examples/overview.md + - API Reference: api/reference.md + - Contributing: contributing.md diff --git a/pyproject.toml b/pyproject.toml index dd7e4988..4898a639 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -25,6 +25,19 @@ rl = [ "gymnasium>=1.0", "tensorboard>=2.20.0", ] +docs = [ + "mkdocs>=1.6", + "mkdocs-material>=9.5", + "mkdocs-static-i18n>=1.2", + "mkdocs-include-markdown-plugin>=7", + "mkdocstrings[python]>=0.26", + "pymdown-extensions>=10", +] + +[project.urls] +Documentation = "https://krahsu.github.io/GeneLab/" +Repository = "https://github.com/KraHsu/GeneLab" +Issues = "https://github.com/KraHsu/GeneLab/issues" [project.scripts] genelab = "genelab.cli:main" diff --git a/uv.lock b/uv.lock index 9a55065c..5899d81b 100644 --- a/uv.lock +++ b/uv.lock @@ -61,6 +61,46 @@ 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