Generating the documentation#

← Tutorial Library · Environment and Training Tools

This section introduces the general functions of LeRobot. Please configure the example according to the target robot, data set and operating environment; before using it with AlohaMini 2 / 2 Pro, you need to confirm the hardware and interface compatibility.

To generate the documentation, you first have to build it. Several packages are necessary to build the doc, you can install them with the following command, at the root of the code repository:

pip install -e . -r docs-requirements.txt

You will also need nodejs. Please refer to their installation page

NOTE

You only need to generate the documentation to inspect it locally (if you’re planning changes and want to check how they look before committing for instance). You don’t have to git commit the built documentation.

Building the documentation#

Once you have setup the doc-builder and additional packages, you can generate the documentation by typing the following command:

doc-builder build lerobot docs/source/ --build_dir ~/tmp/test-build

You can adapt the --build_dir to set any temporary folder that you prefer. This command will create it and generate the MDX files that will be rendered as the documentation on the main website. You can inspect them in your favorite Markdown editor.

Previewing the documentation#

To preview the docs, first install the watchdog module with:

pip install watchdog

Then run the following command:

doc-builder preview lerobot docs/source/

The docs will be viewable at http://localhost:3000. You can also preview the docs once you have opened a PR. You will see a bot add a comment to a link where the documentation with your changes lives.

NOTE

The preview command only works with existing doc files. When you add a completely new file, you need to update _toctree.yml & restart preview command (ctrl-c to stop it & call doc-builder preview ... again).

Adding a new element to the navigation bar#

Accepted files are Markdown (.md).

Create a file with its extension and put it in the source directory. You can then link it to the toc-tree by putting the filename without the extension in the _toctree.yml file.

Renaming section headers and moving sections#

It helps to keep the old links working when renaming the section header and/or moving sections from one document to another. This is because the old links are likely to be used in Issues, Forums, and Social media and it’d make for a much more superior user experience if users reading those months later could still easily navigate to the originally intended information.

Therefore, we simply keep a little map of moved sections at the end of the document where the original section was. The key is to preserve the original anchor.

So if you renamed a section from: “Section A” to “Section B”, then you can add at the end of the file:

Sections that were moved:

[ <a href="#section-b">Section A</a><a id="section-a"></a> ]

and of course, if you moved it to another file, then:

Sections that were moved:

[ <a href="../new-file#section-b">Section A</a><a id="section-a"></a> ]

Use the relative style to link to the new file so that the versioned docs continue to work.

For an example of a rich moved sections set please see the very end of the transformers Trainer doc.

Adding a new tutorial#

Adding a new tutorial or section is done in two steps:

  • Add a new file under ./source. This file can either be ReStructuredText (.rst) or Markdown (.md).

  • Link that file in ./source/_toctree.yml on the correct toc-tree.

Make sure to put your new file under the proper section. If you have a doubt, feel free to ask in a Github Issue or PR.

Writing source documentation#

Values that should be put in code should either be surrounded by backticks: `like so`. Note that argument names and objects like True, None or any strings should usually be put in code.

Writing a multi-line code block#

Multi-line code blocks can be useful for displaying examples. They are done between two lines of three backticks as usual in Markdown:

```
# first line of code
# second line
# etc
```

Adding an image#

Due to the rapidly growing repository, it is important to make sure that no files that would significantly weigh down the repository are added. This includes images, videos, and other non-text files. We prefer to leverage a hf.co hosted dataset like the ones hosted on hf-internal-testing in which to place these files and reference them by URL. We recommend putting them in the following dataset: huggingface/documentation-images. If an external contribution, feel free to add the images to your PR and ask a Hugging Face member to migrate your images to this dataset.