Lyceum

LyceumDocs.jl is part of the Lyceum eco-system and contains the documentation for several of the packages it is comprised of, alongside tutorials. To contribute, see below.

UPDATE

These docs are tremendously out of date. Instead you may find working code snippets at the following repository for a MuJoCo model based around the Franka Emika robot arm: FrankaTest

Contributing

Literate and Documenter

The documentation contained in LyceumDocs.jl is written with one of two packages:

1. Documenter.jl formatted Markdown, used primarily for auto-generated docstrings or docs which don't feature a lot of source code examples.
2. Literate.jl formatted .jl scripts, designed for Literate programming and used when docs are comprised largely of Julia source code, like tutorials. Literate allows you to generate Markdown, regular .jl scripts, and IPython notebooks from a single source file.

Each has their pros and cons, and the syntax is similar enough that switching between them is fairly seamless. See each package's documentation to get a better idea of what their respective pros and cons are, as well as how to use them.

Adding documentation

Once you've chosen which syntax you'll use, go ahead and create the respective .md (for Documenter) or .jl (for Literate) file under docs/src. Files within sub-folders denote sub-pages of the parent folder. For example, the following would result in one top-level page, index.md, along with a single group containing a single sub-page, foo/bar.jl:

index.md
foo/bar.jl

How a document file is processed and built is controlled by the following parameters:

• active::Bool: This document is skipped iff active is false. Defaults to true.
• builds::Tuple: Controls what build products should be genereated from this source file. The default is all build products, e.g. (:markdown, :notebook, :script). Note that :notebook and :script are ignored for Documenter/.md source.
• hide::Bool: Whether this page should be displayed in the side bar or not. Defaults to false.
• title::String: The title for this document. A Markdown H1 header containing this title is automatically added. Required.
• short_title::Union{String, Symbol}: The title displayed in the sidebar. If set to :use_title, then the title defined above is used. Defaults to :use_title.
• weight::Int: Controls the order in which pages are displayed in the sidebar, with the lowest weight page or group appearing first. Required.

For Literate/.jl files, this is controlled by a header at the top of the file that looks like:

#cfg title = "Running a simple controller"
#cfg weight = 10

And for Documenter/.md files:

```@cfg
title = "Home"
weight = 1
```

Each sub-folder should also contain a _config.jl with title and weight defined as well, which controls the title and order that the group of sub-pages appears in, as well as any defaults for sub-pages contained within:

title = "Home"
weight = 1
active = false # defaults all sub-pages in this folder to have active=false

Building the docs

Once you've created your source file, run julia --project in the root of this folder and run:

julia> using LyceumDocs
julia> LyceumDocs.make(clean=true)

Which will delete any existing build products and generate the documentation in a new folder: build. You can examine the page locally by opening build/index.html in your browser. Note that links are often broken when built locally. You can also find the generated scripts and notebooks under build/static/{notebook, script}.