Install required packages:

conda install -c conda-forge doxygen==1.8.16
conda install jinja2 pygments docutils

To build the docs, you will also need to install the following packages on Linux :

sudo apt install --allow-change-held-packages \
                  texlive-base \
                  texlive-latex-extra \
                  texlive-fonts-extra \
                  texlive-fonts-recommended

or on OSX :

brew install --cask mactex

Note: You might also need to run the following command as suggested by this page

export PATH=$PATH:/Library/TeX/Distributions/.DefaultTeX/Contents/Programs/texbin

python setup.py build_ext --inplace
cd docs
git submodule update --init
./build.sh # or ./build-public.sh when deploying to aihabitat.org

If you're having trouble with doxygen, check your version with

doxygen -v

and make sure you're using 1.8.16.

After a successful build, the build.sh script will show clickable links pointing to the output. The output for C++ and Python docs is located at:

../build/docs-public/habitat-sim/index.html

For Corrade and Magnum, up-to-date tagfiles can be found at https://magnum.graphics/doc-downloads/; STL tagfile is linked from there as well. Update the docs/corrade.tag, docs/magnum.tag and docs/stl.tag with those.

For Bullet, the upstream doesn't generate or distribute a tagfile, so it's needed to build it manually. The current one is generated from version 2.88 and was created like this:

git clone https://github.com/bulletphysics/bullet3
cd bullet3
git checkout 2.88
nano Doxyfile # modify it to have GENERATE_TAGFILE = bullet.tag
doxygen # it'll complain about some CHM file, ignore that
cp bullet.tag ../habitat-sim/docs/

Make your changes to theme.css. Easiest is to experiment in a browser inspector and then copy the updated colors over to the theme file. Note that the color variables are shared by multiple places, so for example changing colors of the warning note will also affect labels and table backgrounds.

Then, run ./build.sh (which regenerates theme-compiled.css, which is deliberately not tracked in Git) and verify the generated output in the browser again.

The theme.css should then get synced with the habitat-lab and habitat-website repositories so it's always possible to play with the colors in context of one repository and sync it to the others.