[feat] Update installation and wandering ...

grutopia · Jul 18, 2024 · bd4015d · bd4015d
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diff --git a/docs/_modules/grutopia/core/datahub/api.html b/docs/_modules/grutopia/core/datahub/api.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/datahub/isaac_data.html b/docs/_modules/grutopia/core/datahub/isaac_data.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/datahub/web_api.html b/docs/_modules/grutopia/core/datahub/web_api.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/datahub/web_ui_api.html b/docs/_modules/grutopia/core/datahub/web_ui_api.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/env.html b/docs/_modules/grutopia/core/env.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/register/register.html b/docs/_modules/grutopia/core/register/register.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/robot/controller.html b/docs/_modules/grutopia/core/robot/controller.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/robot/robot.html b/docs/_modules/grutopia/core/robot/robot.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/robot/sensor.html b/docs/_modules/grutopia/core/robot/sensor.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/scene/object.html b/docs/_modules/grutopia/core/scene/object.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/scene/scene/util/usd_op.html b/docs/_modules/grutopia/core/scene/scene/util/usd_op.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/task/task.html b/docs/_modules/grutopia/core/task/task.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/util/array.html b/docs/_modules/grutopia/core/util/array.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/util/configclass.html b/docs/_modules/grutopia/core/util/configclass.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/util/dict.html b/docs/_modules/grutopia/core/util/dict.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/util/omni_usd_util.html b/docs/_modules/grutopia/core/util/omni_usd_util.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/util/python.html b/docs/_modules/grutopia/core/util/python.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/grutopia/core/util/string.html b/docs/_modules/grutopia/core/util/string.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_modules/index.html b/docs/_modules/index.html
@@ -157,7 +157,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/_sources/get_started/installation.md.txt b/docs/_sources/get_started/installation.md.txt
@@ -7,6 +7,17 @@
 - GPU: NVIDIA RTX 2070+
 - NVIDIA Driver: 525.85+
 
+> GRUtopia is built upon NVIDIA's [Omniverse](https://www.nvidia.com/en-us/omniverse/) and [Isaac Sim](https://developer.nvidia.com/isaac-sim) platforms, so we inherit their dependencies. For more information, please see [Isaac Sim's Requirements](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/requirements.html).
+
+Two ways of installation are provided:
+
+- Install from source (Linux): [workstation installation](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html) of Isaac Sim is required, and is recommended for users who wants to run Isaac Sim as a GUI application on Linux workstation with a GPU.
+- Install with Docker (Linux): [container installation](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html) of Isaac Sim is required, and is recommended for deployment on remote headless servers or the Cloud using a Docker container running Linux.
+
+See more: [Differences Between Workstation And Docker](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_faq.html#isaac-sim-setup-differences).
+
+Windows support is in our roadmap, welcome to contribute!
+
 ## Install from source (Linux)
 
 Make sure you have [Isaac Sim 2023.1.1](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html) installed.
@@ -59,9 +70,11 @@ Make sure you have [Isaac Sim 2023.1.1](https://docs.omniverse.nvidia.com/isaacs
    $ python ./GRUtopia/demo/h1_locomotion.py  # start simulation
    ```
 
+   If properly installed, Isaac Sim GUI window should pop up and you can see a humanoid robot (Unitree H1) walking following a pre-defined trajectory in Isaac Sim.
+
 ## Install with Docker (Linux)
 
-Make sure you have [Docker](https://docs.docker.com/get-docker/) installed.
+Make sure you have [Docker](https://docs.docker.com/get-docker/) and [NVIDIA Container Toolkit](https://github.com/NVIDIA/nvidia-container-toolkit) installed. You can refer to the [container installation doc](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html) of Isaac Sim for detailed instructions.
 
 1. Clone the GRUtopia repository to any desired location.
 
@@ -133,3 +146,5 @@ Make sure you have [Docker](https://docs.docker.com/get-docker/) installed.
    # run inside container
    $ python ./GRUtopia/demo/h1_locomotion.py  # start simulation
    ```
+
+   If properly installed, observation from simulation will be displayed in the terminal every 100 steps, and you can access the Isaac Sim through WebRTC at <http://127.0.0.1:8211/streaming/webrtc-demo/?server=127.0.0.1> (if you have set a different `WEBUI_HOST`, use that instead of `127.0.0.1`).
diff --git a/docs/_sources/get_started/wander-with-keyboard.md.txt b/docs/_sources/get_started/wander-with-keyboard.md.txt
@@ -4,6 +4,8 @@
 
 ## Wander in house
 
+VRAM requirement: 12GB+
+
 ```bash
 # decompress the house scene
 $ cd PATH/TO/GRUTOPIA/ROOT
@@ -27,6 +29,8 @@ You can change camera view to perspective/first-person/third-person camera.
 
 ## Wander in city
 
+VRAM requirement: 16GB+
+
 ```bash
 # decompress the city scene
 $ cd PATH/TO/GRUTOPIA/ROOT

diff --git a/docs/_sources/index.rst.txt b/docs/_sources/index.rst.txt
@@ -8,7 +8,7 @@ Welcome to GRUtopia's documentation!
 
 .. toctree::
    :maxdepth: 1
-   :caption: Overview
+   :caption: Introduction
 
 
    introduction/overview.md

diff --git a/docs/_sources/introduction/introduction.md.txt b/docs/_sources/introduction/introduction.md.txt
diff --git a/docs/_sources/introduction/overview.md.txt b/docs/_sources/introduction/overview.md.txt
@@ -1,5 +1,6 @@
 # Overview
 
-This document introduces installation steps, tutorials, and reference APIs of [GRUtopia](https://github.com/OpenRobotLab/GRUtopia). 
+This document introduces installation steps, tutorials, and reference APIs of [GRUtopia](https://github.com/OpenRobotLab/GRUtopia).
 
 GRUtopia, built on NVIDIA Isaac Sim, is an embodied AI research platform. It aims to reduce the burden of engineering implementation, tackle the data scarcity in the field of embodied intelligence, and offer simulations that are more reflective of real-world scenarios.
+
diff --git a/docs/_static/image/benchmark.png b/docs/_static/image/benchmark.png
diff --git a/docs/_static/image/teaser.png b/docs/_static/image/teaser.png
diff --git a/docs/advanced_tutorials/how-to-add-controller.html b/docs/advanced_tutorials/how-to-add-controller.html
@@ -160,7 +160,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/advanced_tutorials/how-to-add-robot.html b/docs/advanced_tutorials/how-to-add-robot.html
@@ -160,7 +160,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/advanced_tutorials/how-to-add-sensor.html b/docs/advanced_tutorials/how-to-add-sensor.html
@@ -160,7 +160,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/api/datahub.html b/docs/api/datahub.html
@@ -160,7 +160,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../introduction/overview.html">Overview</a></li>
 </ul>
@@ -508,7 +508,7 @@ <h2>datahub<a class="headerlink" href="#datahub" title="Permalink to this headin
 
 <dl class="py function">
 <dt class="sig sig-object py" id="grutopia.core.datahub.web_ui_api.send_log_data">
-<span class="sig-prename descclassname"><span class="pre">grutopia.core.datahub.web_ui_api.</span></span><span class="sig-name descname"><span class="pre">send_log_data</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">log_data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">log_type</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'message'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">user</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'Bob'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">photo_url</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'http://10.1.52.70:8080/static/avatar_default.jpg'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">uuid</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'none'</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="reference internal" href="../_modules/grutopia/core/datahub/web_ui_api.html#send_log_data"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#grutopia.core.datahub.web_ui_api.send_log_data" title="Permalink to this definition">¶</a></dt>
+<span class="sig-prename descclassname"><span class="pre">grutopia.core.datahub.web_ui_api.</span></span><span class="sig-name descname"><span class="pre">send_log_data</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">log_data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">log_type</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'message'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">user</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'Bob'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">photo_url</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'http://127.0.0.1:8080/static/avatar_default.jpg'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">uuid</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'none'</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="reference internal" href="../_modules/grutopia/core/datahub/web_ui_api.html#send_log_data"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#grutopia.core.datahub.web_ui_api.send_log_data" title="Permalink to this definition">¶</a></dt>
 <dd><p>Send log data.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>

diff --git a/docs/api/env.html b/docs/api/env.html
@@ -160,7 +160,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../introduction/overview.html">Overview</a></li>
 </ul>

diff --git a/docs/api/register.html b/docs/api/register.html
@@ -160,7 +160,7 @@
 
 
 
-        <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+        <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="../introduction/overview.html">Overview</a></li>
 </ul>
-Original file line number
+Diff line change
@@ Expand Up / @@ -157,7 +157,7 @@ @@
-            <p class="caption" role="heading"><span class="caption-text">Overview</span></p>
+            <p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
     <ul>
     <li class="toctree-l1"><a class="reference internal" href="../../../../introduction/overview.html">Overview</a></li>
     </ul>
@@ Expand Down @@