docs: restructures and adds content

README.md

@@ -1,138 +1,58 @@
 # Robot Control Stack
-RCS is a unified and multilayered robot control interface over a MuJoCo simulation and real world robot currently implemented for the FR3/Panda, xArm7, UR5e and SO101.
+
+**Robot Control Stack (RCS)** is a unified and multilayered robot control interface over a MuJoCo simulation and real world robot currently implemented for the FR3/Panda, xArm7, UR5e and SO101.
 
 ## Installation
+
 We build and test RCS on the latest Debian and on the latest Ubuntu LTS.
 
-1. Install the system dependencies:
-```shell
-sudo apt install $(cat debian_deps.txt)
-```
-2. Create, activate and configure a [Python virtual environment](https://docs.python.org/3/library/venv.html):
-```shell
-python3 -m venv .venv
-source .venv/bin/activate
-``` 
-Then, install the package:
-```shell
-pip install -r requirements_dev.txt
-pip config --site set global.no-build-isolation false
-```
-3. Build and install RCS:
-```shell
-pip install -ve .
-```
+1.  **System Dependencies**:
+    ```shell
+    sudo apt install $(cat debian_deps.txt)
+    ```
 
-For a docker deployment see the [docker](docker) folder.
-
-## Usage
-The python package is called `rcs`.
-
-### Direct Robot Control
-Simple direct robot control:
-```python
-import rcs
-from rcs import sim
-from rcs._core.sim import CameraType
-from rcs.camera.sim import SimCameraConfig, SimCameraSet
-from time import sleep
-simulation = sim.Sim(rcs.scenes["fr3_empty_world"].mjb)
-urdf_path = rcs.scenes["fr3_empty_world"].urdf
-ik = rcs.common.RL(str(urdf_path))
-cfg = sim.SimRobotConfig()
-cfg.add_id("0")
-cfg.tcp_offset = rcs.common.Pose(rcs.common.FrankaHandTCPOffset())
-robot = rcs.sim.SimRobot(simulation, ik, cfg)
-
-gripper_cfg_sim = sim.SimGripperConfig()
-gripper_cfg_sim.add_id("0")
-gripper = sim.SimGripper(simulation, gripper_cfg_sim)
-
-camera_set = SimCameraSet(simulation, {})
-simulation.open_gui()
-# wait for gui
-sleep(5)
-# step the robot 10 cm in x direction
-robot.set_cartesian_position(
-    robot.get_cartesian_position() * rcs.common.Pose(translation=np.array([0.1, 0, 0]))
-)
-# close gripper
-gripper.grasp()
-simulation.step_until_convergence()
-input("press enter to close")
-```
-### Gym Env Interface
-```python
-from rcs.envs.creators import SimEnvCreator
-from rcs.envs.utils import (
-    default_mujoco_cameraset_cfg,
-    default_sim_gripper_cfg,
-    default_sim_robot_cfg,
-)
-from rcs.envs.base import ControlMode, RelativeTo
-env_rel = SimEnvCreator()(
-    control_mode=ControlMode.JOINTS,
-    robot_cfg=default_sim_robot_cfg(),
-    gripper_cfg=default_sim_gripper_cfg(),
-    cameras=default_mujoco_cameraset_cfg(),
-    max_relative_movement=np.deg2rad(5),
-    relative_to=RelativeTo.LAST_STEP,
-)
-env_rel.get_wrapper_attr("sim").open_gui()
-
-for _ in range(100):
-    obs, info = env_rel.reset()
-    for _ in range(10):
-        # sample random relative action and execute it
-        act = env_rel.action_space.sample()
-        print(act)
-        obs, reward, terminated, truncated, info = env_rel.step(act)
-        print(obs)
-```
+2.  **Python Environment**:
+    ```shell
+    python3 -m venv .venv
+    source .venv/bin/activate
+    pip install -r requirements_dev.txt
+    ```
 
+3.  **Install RCS**:
+    ```shell
+    pip install -ve .
+    ```
 
-### Examples
-Checkout the python examples in the [examples](examples) folder. For example
-[fr3_direct_control.py](examples/fr3/fr3_direct_control.py) shows direct robot control with RCS's python bindings.
-And [fr3_env_joint_control.py](examples/fr3/fr3_env_joint_control.py) and [fr3_env_cartesian_control.py](examples/fr3/fr3_env_cartesian_control.py) demonstrates RCS's high level [gymnasium](https://gymnasium.farama.org/) interface both for joint- and end effector space control
-Checkout the other sub folders for other robot-specific examples.
-Most of these examples work both in the MuJoCo simulation as well as on hardware.
+## Hardware Extensions
 
+RCS supports various hardware extensions (e.g., FR3, xArm7, RealSense). These are located in the `extensions` directory.
+
+To install an extension:
 
-### Hardware Extensions
-To enable hardware usage in RCS, install the needed hardware extensions via pip. RCS itself comes with a couple of supported extensions e.g. control of the FR3 via the [`rcs_fr3`](extensions/rcs_fr3) extension. All native supported extension are located in [extensions](extensions).
-To install extensions:
 ```shell
 pip install -ve extensions/rcs_fr3
 ```
-For more details real the readme file of the respective extension.
 
-After the required hardware extensions are installed the examples also above work on real hardware:
-Switch to hardware by setting the following flag:
-```python
-# ROBOT_INSTANCE = RobotPlatform.SIMULATION
-ROBOT_INSTANCE = RobotPlatform.HARDWARE
-```
+For a full list of extensions and detailed documentation, visit [robot-control-stack.org/extensions](https://robot-control-stack.org/extensions).
+
+## Documentation
 
-#### Command Line Interface
-Some modules include command line interfaces, e.g. rcs_fr3 defines useful commands to handle the FR3 robot without the need to use the Desk Website.
-You can see the available subcommands as follows:
-```shell
-python -m rcs_fr3 --help
-python -m rcs_realsense --help
-```
 
-## Developer Documentation
-See [robot-control-stack.org](https://robot-control-stack.org) for the development documentation.
+For full documentation, including installation, usage, and API reference, please visit:
 
+**[robot-control-stack.org](https://robot-control-stack.org)**
 
 ## Citation
+
 If you find RCS useful for your academic work, please consider citing it:
-```
+
+```bibtex
 @misc{juelg2025robotcontrolstack,
   title={{Robot Control Stack}: {A} Lean Ecosystem for Robot Learning at Scale}, 
   author={Tobias J{\"u}lg and Pierre Krack and Seongjin Bien and Yannik Blei and Khaled Gamal and Ken Nakahara and Johannes Hechtl and Roberto Calandra and Wolfram Burgard and Florian Walter},
   year={2025},
   howpublished = {\url{https://arxiv.org/abs/2509.14932}}
 }
-```
+```
+
+For more scientific info, visit the [paper website](https://robotcontrolstack.github.io/).

docs/README.md

@@ -0,0 +1,34 @@
+# Documentation
+
+This directory contains the source code for the Robot Control Stack (RCS) documentation.
+
+## Building Locally
+
+To build the documentation locally, follow these steps:
+
+1.  **Install Dependencies**:
+    Ensure you have the documentation dependencies installed.
+
+    ```shell
+    pip install -r requirements.txt
+    ```
+
+2.  **Build**:
+    Run `sphinx-build` to generate the HTML documentation.
+
+    ```shell
+    sphinx-build -b html . _build/html
+    ```
+
+3.  **View**:
+    Open `_build/html/index.html` in your web browser.
+
+## Live Reloading
+
+For a better development experience, you can use `sphinx-autobuild` to automatically rebuild the documentation when you make changes.
+
+```shell
+sphinx-autobuild . _build/html
+```
+
+This will start a local server (usually at http://127.0.0.1:8000) and refresh the page whenever you save a file.

docs/_static/version_switcher.json

@@ -0,0 +1,7 @@
+[
+    {
+        "name": "latest",
+        "version": "latest",
+        "url": "https://robot-control-stack.org/"
+    }
+]

docs/api/index.md

@@ -0,0 +1,10 @@
+# API
+
+```{toctree}
+:maxdepth: 2
+
+../getting_started/index
+../user_guide/architecture
+../user_guide/gym_interface
+../user_guide/low_level_api
+```

docs/conf.py

@@ -1,48 +1,73 @@
 import os
 import sys
-sys.path.insert(0, os.path.abspath('..'))
 
-project = 'Robot Control Stack'
-author = 'Tobias Jülg'
-release = '0.4'
+# inject path to rcs package to enable autodoc/autoapi to find packages
+sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "../python")))
+
+project = "Robot Control Stack"
+copyright = "2025, RCS Contributors"
+author = "Tobias Jülg"
+release = "0.5.2"
+version = "0.5.2"
 
 extensions = [
-    'myst_parser',
-    'sphinx.ext.autodoc',
-    'sphinx.ext.napoleon',
-    'sphinx.ext.viewcode',
+    "sphinx.ext.autodoc",
+    "sphinx.ext.autosummary",
+    "sphinx.ext.mathjax",
+    "sphinx.ext.viewcode",
+    "sphinx.ext.napoleon",
+    "sphinx.ext.intersphinx",
+    "sphinx_copybutton",
+    "myst_parser",
+    "sphinx_design",
 ]
 
-templates_path = ['_templates']
-exclude_patterns = []
+# https://myst-parser.readthedocs.io/en/latest/syntax/optional.html
+myst_enable_extensions = ["colon_fence", "dollarmath"]
+myst_heading_anchors = 4
 
-html_theme = 'pydata_sphinx_theme'
-html_static_path = ['_static']
-html_logo = "images/rcs_logo_multiline.svg"
-html_favicon = "images/favicon.ico"
+exclude_patterns = ["README.md"]
+
+templates_path = ["_templates"]
+
+html_theme = "pydata_sphinx_theme"
+html_logo = "_static/rcs_logo_multiline.svg"
+html_favicon = "_static/favicon.ico"
 
 html_theme_options = {
-    "github_url": "https://github.com/RobotControlStack/robot-control-stack",
     "use_edit_page_button": True,
-    "show_prev_next": False,
-    "navbar_start": ["navbar-logo"],  # ensures the logo is shown
+    "icon_links": [
+        {
+            "name": "GitHub",
+            "url": "https://github.com/RobotControlStack/robot-control-stack",
+            "icon": "fa-brands fa-github",
+        },
+    ],
     "logo": {
-        "image_light": "images/rcs_logo_multiline.svg",  # your PNG
-        "image_dark": "images/rcs_logo_multiline.svg",   # can be same or a dark-mode version
+        "image_dark": "_static/rcs_logo_multiline.svg",
+    },
+    "navbar_center": ["version-switcher", "navbar-nav"],
+    "show_version_warning_banner": False,
+    "switcher": {
+        "json_url": "/_static/version_switcher.json",
+        "version_match": "latest",
     },
-
 }
 
 html_context = {
+    "display_github": True,
     "github_user": "RobotControlStack",
     "github_repo": "robot-control-stack",
-    "github_version": "main",  # branch name
-    "doc_path": "docs",        # relative path in the repo where your docs live
+    "github_version": "main",
+    "conf_py_path": "/docs/",
 }
 
+html_static_path = ['_static']
+
+# autodoc configs
+autosummary_generate = True
+autodoc_typehints = "description"
+autodoc_member_order = "groupwise"
 
-myst_enable_extensions = [
-    "colon_fence",
-    "deflist",
-    "linkify",
-]
+# Intersphinx mapping
+intersphinx_mapping = {'gymnasium': ('https://gymnasium.farama.org/', None)}