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Skylark0924 · Sep 19, 2022 · 5537226 · 5537226
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diff --git a/doc/source/_static/my_theme.css b/doc/source/_static/my_theme.css
@@ -0,0 +1,3 @@
+.wy-table-responsive table td, .wy-table-responsive table th {
+    white-space: inherit;
+}
diff --git a/doc/source/conf.py b/doc/source/conf.py
@@ -68,6 +68,10 @@
 # a list of builtin themes.
 #
 html_theme = 'sphinx_rtd_theme'
+html_theme_options = {
+    "rightsidebar": "true",
+    "relbarbgcolor": "black"
+}
 
 # 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,
@@ -90,3 +94,4 @@ def setup(app):
         'enable_auto_doc_ref': True,
     }, True)
     app.add_transform(AutoStructify)
+    app.add_css_file('my_theme.css')
diff --git a/doc/source/index.rst b/doc/source/index.rst
@@ -9,7 +9,7 @@ Rofunc: The Full Process Python Package for Robot Learning from Demonstration
 Rofunc
 ----------------
 :doc:`overview`
-
+   Show motivation, pipeline and list the available functions of `rofunc` package.
 :doc:`devices/README`
    How to record, process, visual and export the multimodal demonstration data.
 :doc:`lfd/README`

diff --git a/doc/source/overview.md b/doc/source/overview.md
diff --git a/doc/source/overview.rst b/doc/source/overview.rst
@@ -0,0 +1,120 @@
+Overview
+=====
+
+Rofunc package focuses on the **robotic Imitation Learning (IL) and Learning from Demonstration (LfD)** fields and provides valuable and 
+convenient python functions for robotics, including _demonstration collection, data pre-processing, LfD algorithms, planning, and control methods_. We also plan to provide an Isaac Gym-based robot simulator for evaluation. This package aims to advance the field by building a full-process toolkit and validation platform that simplifies and standardizes the process of demonstration data collection, processing, learning, and its deployment on robots.
+
+.. image:: ../../img/pipeline.png
+
+Installation
+----
+The installation is very easy,
+
+.. code-block:: python
+
+   pip install rofunc
+
+and as you'll find later, it's easy to use as well!
+
+.. code-block:: python
+
+   import rofunc as rf
+
+
+Thus, have fun in the robotics world!
+
+
+Available functions
+---
+Currently, we provide a simple document; please refer to [here](./rofunc/). A comprehensive one with both English and 
+Chinese versions is built via the [readthedoc](https://rofunc.readthedocs.io/en/stable/). 
+The available functions and plans can be found as follows.
+
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+| Classes                          | Types         | Functions                | Description                                                           |
++==================================+===============+==========================+=======================================================================+
+| **Devices**                      | Xsens         | `xsens.record`           | Record The Human Motion Via Network Streaming                         |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  |               | `xsens.process`          | Decode The .mvnx File                                                 |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  |               | `xsens.visualize`        | Show Or Save Gif About The Motion                                     |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  | Optitrack     | `optitrack.record`       | Record The Motion Of Markers Via Network Streaming                    |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  |               | `optitrack.process`      | Process The Output .csv Data                                          |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  |               | `optitrack.visualize`    | Show Or Save Gif About The Motion                                     |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  | ZED           | `zed.record`             | Record With Multiple Cameras                                          |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  |               | `zed.playback`           | Playback The Recording And Save Snapshots                             |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  |               | `zed.export`             | Export The Recording To Mp4                                           |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  | Multimodal    | `mmodal.record`          | Record Multi-Modal Demonstration Data Simultaneously                  |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  |               | `mmodal.export`          | Export Multi-Modal Demonstration Data In One Line                     |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+| **Learning From Demonstration**  | DMP           | `dmp.uni`                | DMP For One Agent With Several (or One) Demonstrated Trajectories     |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  | GMR           | `gmr.uni`                | GMR For One Agent With Several (or One) Demonstrated Trajectories     |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  | TP-GMM        | `tpgmm.uni`              | TP-GMM For One Agent With Several (or One) Demonstrated Trajectories  |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  |               | `tpgmm.bi`               | TP-GMM For Two Agent With Coordination Learned From Demonstration     |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  | TP-GMR        | `tpgmr.uni`              | TP-GMR For One Agent With Several (or One) Demonstrated Trajectories  |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  |               | `tpgmr.bi`               | TP-GMR For Two Agent With Coordination Learned From Demonstration     |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+| **Planning**                     | LQT           | `lqt.uni`                | LQT For One Agent With Several Via-Points                             |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  |               | `lqt.bi`                 | LQT For Two Agent With Coordination Constraints                       |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  |               | `lqt.recursive`          | Generate Smooth Trajectories For Robot Execution Recursively          |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+| **Logger**                       |               | `logger.write`           | Custom Tensorboard-Based Logger                                       |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+| **Coordinate**                   |               | `coord.custom_class`     | Define The Custom Class Of `Pose`                                     |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  |               | `coord.transform`        | Useful Functions About Coordinate Transformation                      |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+| **VisuaLab**                     | Trajectory    | `visualab.trajectory`    | 2-Dim/3-Dim/with Ori Trajectory Visualization                         |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  | Distribution  | `visualab.distribution`  | 2-Dim/3-Dim Distribution Visualization                                |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+|                                  | Ellipsoid     | `visualab.ellipsoid`     | 2-Dim/3-Dim Ellipsoid Visualization                                   |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
+| **RoboLab**                      | Kinematics    | `robolab.kinematics`     | ...                                                                   |
++----------------------------------+---------------+--------------------------+-----------------------------------------------------------------------+
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diff --git a/doc/source/releaselog.md b/doc/source/releaselog.md
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+# Release log