Yuval Tassa
7b83f96e49
PiperOrigin-RevId: 918445755 Change-Id: I4884c7f349ef39fab2678ba68eae422e6140b0a2
275 lines
8.4 KiB
Python
275 lines
8.4 KiB
Python
# Copyright 2021 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Configuration file for the Sphinx documentation builder."""
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import os
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import sys
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# -- Path setup --------------------------------------------------------------
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#
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# If extensions (or modules to document with autodoc) are in another directory,
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# add these directories to sys.path here. If the directory is relative to the
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# documentation root, use os.path.abspath to make it absolute, like shown here.
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sys.path.insert(0, os.path.abspath('../'))
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sys.path.append(os.path.abspath('ext'))
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sys.path.insert(0, os.path.abspath('../mjx/mujoco/mjx/third_party'))
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from sphinxcontrib import katex # pylint: disable=g-import-not-at-top
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from sphinxcontrib import youtube # pylint: disable=g-import-not-at-top,unused-import
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# -- Project information -----------------------------------------------------
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project = 'MuJoCo'
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copyright = 'DeepMind Technologies Limited' # pylint: disable=redefined-builtin
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author = 'Google DeepMind'
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# -- General configuration ---------------------------------------------------
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master_doc = 'index'
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# Add any Sphinx extension module names here, as strings. They can be
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# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
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# ones.
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extensions = [
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'sphinx.ext.autodoc',
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'sphinx.ext.napoleon',
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'sphinx.ext.viewcode',
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'sphinx.ext.extlinks',
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'sphinxcontrib.bibtex',
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'sphinxcontrib.katex',
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'sphinxcontrib.youtube',
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'sphinx_copybutton',
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'sphinx_design',
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'sphinx_favicon',
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'sphinx_reredirects',
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'sphinx_toolbox.collapse',
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'sphinx_toolbox.github',
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'sphinx_toolbox.sidebar_links',
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'mujoco_include',
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]
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napoleon_custom_sections = [('warp only fields', 'attributes')]
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# Links to GitHub issues and pull requests.
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extlinks = {
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'issue': (
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'https://github.com/google-deepmind/mujoco/issues/%s',
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'issue #%s',
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),
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'pr': ('https://github.com/google-deepmind/mujoco/pull/%s', 'PR #%s'),
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}
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# MuJoCo Warp documentation
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napoleon_google_docstring = True
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autodoc_class_signature = 'separated'
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add_module_names = False
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toc_object_entries_show_parents = 'hide'
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default_role = 'literal'
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# Suppress warnings from docstrings with RST formatting issues
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def setup(app):
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import logging
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class SphinxWarningFilter(logging.Filter):
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def filter(self, record):
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msg = record.getMessage()
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# e.g. qpos0: qpos values at default pose (*, nq)
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if 'Inline emphasis start-string' in msg:
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return False
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# e.g. see `name` for details
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if 'Inline interpreted text' in msg:
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return False
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# e.g. multi-line definition without trailing blank line
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if 'Definition list ends without a blank line' in msg:
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return False
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# e.g. mjsactuator_ reference in C++ docstrings
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if 'Unknown target name' in msg:
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return False
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return True
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for handler in logging.getLogger('sphinx').handlers:
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handler.addFilter(SphinxWarningFilter())
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# GitHub-related options
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github_username = 'google-deepmind'
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github_repository = 'mujoco'
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# Bibtex references for sphinxcontrib.bibtex
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bibtex_bibfiles = ['references.bib']
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# Add any paths that contain templates here, relative to this directory.
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templates_path = ['templates']
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# List of patterns, relative to source directory, that match files and
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# directories to ignore when looking for source files.
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# This pattern also affects html_static_path and html_extra_path.
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exclude_patterns = [
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'_build',
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'Thumbs.db',
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'.DS_Store',
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'includes/*',
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'APIreference/functions.rst',
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'APIreference/functions_override.rst',
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'XMLschema.rst',
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]
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redirects = {
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# index.rst just contains the table of contents definition.
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'index': 'overview.html',
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'computation': 'computation/index.html',
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'programming': 'programming/index.html',
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'APIreference': 'APIreference/index.html',
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}
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rst_prolog = """
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.. include:: /includes/macros.rst
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.. include:: /includes/roles.rst
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.. include:: <isonum.txt>
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"""
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# -- Options for autodoc -----------------------------------------------------
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autodoc_default_options = {
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'member-order': 'bysource',
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'special-members': True,
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'exclude-members': '__repr__, __str__, __weakref__',
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}
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# -- Options for HTML output -------------------------------------------------
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# The theme to use for HTML and HTML Help pages. See the documentation for
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# a list of builtin themes.
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#
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html_theme = 'furo'
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html_title = 'MuJoCo Documentation'
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html_logo = 'images/banner.svg'
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SHARED_CSS_VARIABLES = {
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'admonition-font-size': '1rem',
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'admonition-title-font-size': '1rem',
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'sidebar-item-font-size': '130%',
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}
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# font-stack--monospace used in code blocks, Inconsolata fits in 100 chars.
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html_theme_options = {
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'light_css_variables': {
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'color-brand-visited': 'var(--color-brand-content)',
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'font-stack--monospace': 'Inconsolata,Consolas,ui-monospace,monospace',
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'at-color': '#830b2b',
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'at-val-color': '#bc103e',
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'body-color': '#14234b',
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'color-highlight-on-target': '#e5e8ed',
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'primary-header-color': '#0053d6',
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'row-odd-background-color': '#f0f3f7',
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'rst-content-a-color': '#2980b9',
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'secondary-header-color': '#123693',
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'wy-menu-vertical-background-color': '#0053d6',
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'wy-menu-vertical-color': 'white',
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'wy-nav-side-background-color': '#0053d6',
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},
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'dark_css_variables': {
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'color-brand-visited': 'var(--color-brand-content)',
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'at-color': '#ffaab7',
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'at-val-color': '#ff95a6',
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'body-color': '#14234b',
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'color-admonition-background': '#1e1e21',
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'color-highlight-on-target': '#3d4045',
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'primary-header-color': '#a8caff',
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'row-odd-background-color': '#222326',
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'rst-content-a-color': '#2980b9',
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'secondary-header-color': '#458dff',
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'wy-menu-vertical-background-color': '#0053d6',
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'wy-menu-vertical-color': 'white',
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'wy-nav-side-background-color': '#0053d6',
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},
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}
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for v in html_theme_options.values():
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if isinstance(v, dict):
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v.update(SHARED_CSS_VARIABLES)
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pygments_style = 'default'
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pygments_dark_style = 'monokai'
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# Add any paths that contain custom static files (such as style sheets) here,
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# relative to this directory. They are copied after the builtin static files,
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# so a file named "default.css" will overwrite the builtin "default.css".
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html_static_path = [
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'_static',
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'css',
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'js',
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]
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html_css_files = [
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'theme_overrides.css',
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'theme_overrides_mjwarp.css',
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]
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html_js_files = [
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'linenumbers.js',
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'onthispage_mjwarp.js',
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]
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favicons = [
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{
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'sizes': '16x16',
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'href': 'favicons/favicon-16x16.png',
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},
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{
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'sizes': '32x32',
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'href': 'favicons/favicon-32x32.png',
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},
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{
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'rel': 'apple-touch-icon',
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'sizes': '180x180',
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'href': 'favicons/favicon-180x180.png',
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},
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{
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'sizes': '180x180',
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'href': 'favicons/favicon-180x180.png',
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},
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{
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'sizes': '192x192',
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'href': 'favicons/favicon-192x192.png',
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},
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]
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html_permalinks_icon = '#'
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# -- Options for katex ------------------------------------------------------
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# See: https://sphinxcontrib-katex.readthedocs.io/en/0.4.1/macros.html
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# {ar au, ac} are {reference, unconstrained, constrained} acceleration, resp.
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latex_macros = r"""
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\def \d #1{\operatorname{#1}}
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\def \ar {a_{\rm ref}}
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\def \au {a_0}
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\def \ac {a_1}
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\def \ari {a_{{\rm ref},i}}
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\def \aui {a_{0,i}}
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\def \aci {a_{1,i}}
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\def \nv {n_{\scriptscriptstyle V}}
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\def \nc {n_{\scriptscriptstyle C}}
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\def \nq {n_{\scriptscriptstyle Q}}
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"""
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# Translate LaTeX macros to KaTeX and add to options for HTML builder
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katex_macros = katex.latex_defs_to_katex_macros(latex_macros)
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katex_options = 'macros: {' + katex_macros + '}'
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# Add LaTeX macros for LATEX builder
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latex_elements = {'preamble': latex_macros}
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