reworking doc

AntoineRichard · Sep 10, 2024 · 6d474e8 · 6d474e8
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diff --git a/README.md b/README.md
@@ -1,26 +1,23 @@
 <center>
-<img src="media/Logov2.png" width=520/>
+<img src="docs/media/Logov2.png" width=520/>
 </center>
 
 In this repository, you will find the simulation tools developped jointly by the Space Robotics group from the University of Luxembourg (SpaceR),
 and the Space Robotics Lab from Tohoku University in Japan (SRL). We are now opening it to the community and strongly encourage Space Roboticists to help us grow the feature set of this simulation! Don't be shy shoot a PR!
 
-**This readme provides basic information on how to use the simulation. For more complete information please [visit our wiki](https://github.com/AntoineRichard/OmniLRS/wiki)!**
+**This readme provides basic information on how to use the simulation. For a more complete introduction to the simulation and its inner workings please [visit our wiki](https://github.com/AntoineRichard/OmniLRS/wiki)!**
 
 ## Simulation Environments Overview
 
 
-|  <div style="width:90px">Name</div>  |  <div style="width:290px">Description</div>  | Images            |
+|  <div style="width:70px">Name</div>  |  <div style="width:230px">Description</div>  | Images            |
 |------------|-------------|---------------------------------|
-| **Lunalab**            |  <div style="width:290px"> Digital-Twin of lunar analog at the University of Luxembourg. This environment also supports terrain deformation as the rover drives on it. </div> | <img src="media/env_img/lunalab.png" width=520/> |
-| **Lunaryard**            |  <div style="width:290px">A small scale procedually generated lunar environment. If lunar coordinates and a date is provided the position of the earth and sun are computed using ephemerides resulting in realistic lighting. This feature is also available in the large scale environments. This environment also support terrain deformation as the rover drives on it.</div>  | <img src="media/env_img/lunaryard_husky_ex1.png" width=520/> |
-| **LargeScale**           |  <div style="width:290px">Semi procedural lunar environment. It uses real DEM to reconstuct the coarse terrain, usually 5meters per pixel and then uses procedural generation to augment it to 2.5cm per pixel. The terrain itself can be generated at a even higher resolution to smooth out shadows. This very fine terrain allows to reconstruct fine terrain features increasing the engineering value of the sim. The whole of this is bundled inside Geometry clip maps, allowing to render very large scenes.</div> | <img src="docs/media/large_scale.png" width=520/>
-</center>
-
-
-> Please note that this is a partial release. More robots will be made available at a later date.
-> Should you run into any bug, or would like to have a new feature, feel free to open an issue.
+| **Lunalab**            |  <div style="width:230px"> Digital-Twin of lunar analog at the University of Luxembourg. This environment also supports terrain deformation as the rover drives on it. </div> | <img src="docs/media/env_img/lunalab.png" width=520/> |
+| **Lunaryard**            |  <div style="width:230px">A small scale procedually generated lunar environment. If lunar coordinates and a date is provided the position of the earth and sun are computed using ephemerides resulting in realistic lighting. This feature is also available in the large scale environments. This environment also support terrain deformation as the rover drives on it.</div>  | <img src="docs/media/env_img/lunaryard_husky_ex1.png" width=520/> |
+| **LargeScale**           |  <div style="width:230px">Semi procedural lunar environment. It uses real DEM to reconstuct the coarse terrain, usually 5meters per pixel and then uses procedural generation to augment it to 2.5cm per pixel. The terrain itself can be generated at a even higher resolution to smooth out shadows. This very fine terrain allows to reconstruct fine terrain features increasing the engineering value of the sim. The whole of this is bundled inside Geometry clip maps, allowing to render very large scenes.</div> | <img src="docs/media/env_img/large_scale.png" width=520/>
 
+> [!NOTE]
+> Please note that this is a partial release. More robots will be made available at a later date. Should you run into a bug, or would like to request a new feature, feel free to open an issue. Want to collaborate, reach out to us!
 
 ## Installation
 
@@ -45,17 +42,17 @@ To install the simulation we strongly suggest using [docker](#docker-install). T
 
 The first thing that needs to be done before we proceed with the native installation is to install Isaac. We support two version 2023.1.1 and 4.1.0. Though we'd recommend sticking to **2023.1.1** as there are some issues with renderings in 4.1.0. Our dockers currently come in the 2023.1.1 version of Isaac.
 
-If you're unsure on how to install Isaac sim, look-up the following: [How to install Isaac Sim.](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html)
+> [!TIP]
+> If you're unsure on how to install Isaac sim, look-up the following: [How to install Isaac Sim.](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html)
 
 To simplify the remainder of the installation process of the framework we provide a script that will automatically download all the assets, as well as install the required dependencies. It will not install Isaac Sim.
+> [!IMPORTANT]
+> Run this command at the root of the repository. 
 
 ```bash
 scripts/install_native.sh
 ```
 
-<span style="color: red;">**Important**: This should be ran from the repository's root.</span> 
-
-
 If you'd rather do it yourself, here are the commands:
 ```bash
 # Pulls WorldBuilder
@@ -75,9 +72,12 @@ python3 -m pip instal gdal==$version gdown black
 # Download the assets from Google Drive
 gdown 1LfdJ8cogFU8Eid2EL-0bu9E383lftC_W 
 unzip assets_v6.zip
-rm assets.zip
+rm assets_v6.zip
+gdown 1sXrsT7ZdA3VslMREBtjo6-Ou1-v8-8dI
+unzip lunar_rocks.zip -d assets/USD_Assets/rocks
+rm lunar_rocks.zip
 
-# Download the DEMs of the lunar southpole and format them.
+# Download the DEMs of the lunar southpole and format them. This can take a long time.
 ./scripts/get_dems.sh
 ./scripts/extract_dems_override.sh
 # Get Ephemeris data

diff --git a/docs/Contribute.md b/docs/Contribute.md
@@ -0,0 +1,65 @@
+<style>
+  .sidebar {
+    position: fixed;
+    top: 50px;
+    left: 10px;
+    width: 200px;
+    background-color: #f9f9f9;
+    padding: 10px;
+    border-radius: 5px;
+    border: 1px solid #ddd;
+  }
+
+  .content {
+    margin-left: 220px; /* Ensures content does not overlap with sidebar */
+    padding: 20px;
+  }
+
+  a {
+    text-decoration: none;
+    color: #3498db;
+  }
+
+  a:hover {
+    text-decoration: underline;
+  }
+</style>
+
+<div class="sidebar">
+  <h3>Navigation</h3>
+  <ul>
+    <li><a href="#introduction">Introduction</a></li>
+    <li><a href="#getting-started">Getting Started</a></li>
+    <li><a href="#installation">Installation</a></li>
+    <li><a href="#configuration">Configuration</a></li>
+    <li><a href="#advanced-topics">Advanced Topics</a></li>
+      <ul>
+        <li><a href="#performance-tuning">Performance Tuning</a></li>
+        <li><a href="#customization">Customization</a></li>
+      </ul>
+  </ul>
+</div>
+
+<div class="content">
+
+## Introduction
+This is the introduction section.
+
+## Getting Started
+Details for getting started.
+
+## Installation
+Instructions for installing the software.
+
+## Configuration
+Steps to configure the application.
+
+## Advanced Topics
+
+### Performance Tuning
+Information about tuning performance.
+
+### Customization
+Guide to customizing the application.
+
+</div>
diff --git a/docs/_Sidebar.md b/docs/_Sidebar.md
@@ -1,5 +1,25 @@
-## Main Sections
-- [Home](Home)
-- [Getting Started](getting_started)
-- [Configurations](Configuration)
-- [Contributing](contribute)
+## Table of Contents
+
+- [Configurations](#configurations)
+ - [How to Hydra](#how-to-hydra)
+ - [Environments Configs](#environments-configs)
+  - [Lunalab](#lunalab)
+  - [Lunaryard](#lunaryard)
+  - [LargeScale](#largescale)
+ - [Extras: Light Sources](#extras:-light-sources)
+  - [Sun](#sun)
+  - [Coordinates](#coordinates)
+  - [Date](#date)
+  - [Stellar Engine](#stellar-engine)
+ - [Extras: Rocks](#extras:-rocks)
+  - [Request](#request)
+  - [Request Group](#request-group)
+  - [Rock Generation](#rock-generation)
+  - [ROS1](#ros1)
+  - [ROS2](#ros2)
+  - [SDG](#sdg)
+ - [Rendering Configs](#rendering-configs)
+  - [RTXRealTime & RTXInteractive](#rtxrealtime-&-rtxinteractive)
+  - [Lens Flares](#lens-flares)
+  - [Motion Blur](#motion-blur)
+  - [Chromatic Aberrations](#chromatic-aberrations)