Fixed Reviewed Code 1-Pending

docs/_data/bringup.csv

@@ -9,7 +9,7 @@ leader_modes_left,the file path to the 'mode config' YAML file for the left lead
 leader_modes_right,the file path to the 'mode config' YAML file for the right leader arm.,LocalVar('FindPackageShare\(pkg= ``aloha``\) + 'config' + 'leader_modes_right.yaml''),
 follower_modes_left,the file path to the 'mode config' YAML file for the left follower arm.,LocalVar('FindPackageShare\(pkg= ``aloha``\) + 'config' + 'follower_modes_left.yaml''),
 follower_modes_right,the file path to the 'mode config' YAML file for the right follower arm.,LocalVar('FindPackageShare\(pkg= ``aloha``\) + 'config' + 'follower_modes_right.yaml''),
-launch_leaders,"if ``true``, launches both the leader and follower arms; if ``false, just the followers are launched.",``true``,"``true``, ``false``"
+launch_leaders,"if ``true``, launches both the leader and follower arms; if ``false``, just the followers are launched.",``true``,"``true``, ``false``"
 use_cameras,"if ``true``, launches the camera drivers.",``true``,"``true``, ``false``"
 cam_high_name,,``cam_high``,
 cam_low_name,,``cam_low``,

docs/getting_started/solo/hardware_setup.rst

@@ -26,6 +26,10 @@ Steps
 #. Find a stable, flat surface to place your arms. Once satisfied, secure them using `Gorilla Tape <https://a.co/d/2v591vP>`_ or G-Clamps.
 #. Connect the power cables to the arms.
 #. Position the tripod so the camera effectively covers the experiment space.
-   **Warning:** Keep the camera position consistent throughout data collection and evaluation for optimal results.
+
+   .. warning::
+
+      Keep the camera position consistent throughout data collection and evaluation for optimal results.
+
 #. Connect the camera cables and arm cables to the USB hub.
 #. Connect the USB hub to your computer.

docs/getting_started/solo/software_setup.rst

@@ -121,36 +121,40 @@ Depending on the orientation of the pair you plan to use, configure the device n
 
 To set these up, do the following:
 
-1.  Plug in only the leader left robot to the computer.
+#. Plug in only the leader robot to the computer.
 
-2.  Determine its device name by checking the ``/dev`` directory before and after plugging the device in.
+#. Determine its device name by checking the ``/dev`` directory before and after plugging the device in.
     This is likely something like ``/dev/ttyUSB0``.
 
-3.  Print out the device serial number by running the following command:
+#. Print out the device serial number by running the following command:
 
   .. code-block:: bash
 
     $ udevadm info --name=/dev/ttyUSB0 --attribute-walk | grep ATTRS{serial} | head -n 1 | cut -d '"' -f2
     FT88YWBJ
 
-4.  The output of the command will look like ``FT88YWBJ`` and be the serial number of the arm's U2D2 serial converter.
+#. The output of the command will look like ``FT88YWBJ`` and be the serial number of the arm's U2D2 serial converter.
 
-5.  Add the following line to the computer's fixed Interbotix udev rules at ``/etc/udev/rules.d/99-fixed-interbotix-udev.rules``:
+#. Add the following line to the computer's Interbotix udev rules file located at ``/etc/udev/rules.d/99-fixed-interbotix-udev.rules``. 
+   You only need to configure a leader and a follower.
+   The orientation (left or right) depends on your choice.
+   If you use a right leader, ensure you pair it with a right follower, and similarly for the left orientation.
+   Update the serial number and symlink name accordingly for your chosen configuration:
 
   .. code-block:: bash
 
     SUBSYSTEM=="tty", ATTRS{serial}=="<SERIAL NUMBER>", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="ttyDXL_leader_left"
     #                                 ^^^^^^^^^^^^^^^ The result from the previous step
 
-6.  Repeat for the other arm.
+#.  Repeat for the other arm.
 
-7.  To update and refresh the rules, run the following command:
+#.  To update and refresh the rules, run the following command:
 
   .. code-block:: bash
 
     $ sudo udevadm control --reload && sudo udevadm trigger
 
-8. Plug both arms back into the computer and verify that you can see all devices. 
+#. Plug both arms back into the computer and verify that you can see all devices. 
    Depending on whether you configured the arms for a left or right orientation, you will see the corresponding device names:
 
    .. code-block:: bash
@@ -196,7 +200,7 @@ Camera Setup
 
 4.  Put the camera serial number in the appropriate config entry at ``~/interbotix_ws/src/aloha/config/robot/aloha_solo.yaml``.
 
-5.  Repeat for the rest of the cameras.
+5.  Repeat for the other camera.
     If the workspace has not been symbolically-linked, a rebuild may be necessary.
 
 Post-Install Software Tips

docs/gui.rst

@@ -81,9 +81,11 @@ Application Features
    - Re-Record: Allows re-recording of the current episode if necessary.
 
 #. Progress Tracking:
+
    - A progress bar tracks the recording session in real-time, displaying completion percentage.
 
 #. Camera Views:
+
    - View multiple camera feeds in real-time during recording for better monitoring.
 
 #. Configuration Management:
@@ -92,6 +94,7 @@ Application Features
    - Edit Task Configuration: Adjust task-specific parameters via a YAML editor.
 
 #. Quit Button:
+
    - Use the Quit button in the menu to gracefully exit the application.
 
 Configuration Management
@@ -114,23 +117,23 @@ Task-specific parameters are stored in the `tasks_config.yaml` file. Below is an
        episode_length_s: 12
        warmup_time_s: 1
        reset_time_s: 5
-       hf_user: "TrossenRobotics"
+       hf_user: "YourUser"
        fps: 30
        push_to_hub: false
 
      - task_name: "aloha_mobile_dummy"
        episode_length_s: 15
        warmup_time_s: 5
        reset_time_s: 10
-       hf_user: "TrossenRobotics"
+       hf_user: "YourUser"
        fps: 30
        push_to_hub: false
 
      - task_name: "aloha_stationary_dummy"
        episode_length_s: 9
        warmup_time_s: 5
        reset_time_s: 5
-       hf_user: "TrossenRobotics"
+       hf_user: "YourUser"
        fps: 30
        push_to_hub: false
 
@@ -207,16 +210,11 @@ Below is a simplified version of a robot configuration file:
 - **leader_arms / follower_arms**: Specifies motor configurations for both leader and follower arms, including ports and motor models.
 - **cameras**: Configures Intel RealSense cameras with serial numbers, frame rates, and resolutions.
 
-**Steps to Configure the Robot YAML:**
-
-#. **Set Ports for Arms**:
-   Update the `port` fields for `leader_arms` and `follower_arms` based on the symbolic links set for the robotic arms.
+#. **Set Ports for Arms**: Update the `port` fields for `leader_arms` and `follower_arms` based on the symbolic links set for the robotic arms.
 
-#. **Add Serial Numbers for Cameras**:
-   Use the Intel RealSense Viewer to obtain and add the correct serial numbers for each camera under the `cameras` section.
+#. **Add Serial Numbers for Cameras**: Use the Intel RealSense Viewer to obtain and add the correct serial numbers for each camera under the `cameras` section.
 
-#. **Verify Calibration**:
-   Ensure the `calibration_dir` points to the appropriate calibration files.
+#. **Verify Calibration**: Ensure the `calibration_dir` points to the appropriate calibration files.
 
 Once the above configurations are completed, your setup is ready for teleoperation, data recording, and other tasks.
 
@@ -228,9 +226,8 @@ For detailed instructions on the hardware setup, please refer to the official do
 
 This guide provides comprehensive information, including:
 
-- Connecting the Arms: Step-by-step guidance to assemble and connect the robotic arms.
-- Serial Number Configuration: Instructions on setting up and verifying serial numbers for the arms.
-- Camera Setup: Using the Intel RealSense Viewer for calibrating and positioning cameras effectively.
+- `Arm Configuration <https://docs.trossenrobotics.com/aloha_docs/getting_started/stationary/software_setup.html#arm-symlink-setup>`_: Step-by-step guidance to assemble and connect the robotic arms.
+- `Camera Setup <https://docs.trossenrobotics.com/aloha_docs/getting_started/stationary/software_setup.html#camera-setup>`_: Using the Intel RealSense Viewer for calibrating and positioning cameras effectively.
 
 
 License

docs/operation/bringup_shutdown.rst

@@ -109,3 +109,4 @@ Please refer to the following table for details:
   :file: ../_data/bringup.csv
   :header-rows: 1
   :widths: 20, 60, 20, 20
+

docs/operation/data_collection.rst

@@ -235,4 +235,4 @@ Aloha Solo
 What's Next?
 ============
 
-With the data collected, we are ready to :doc:`train and evaluate </operation/training>` the machine learning models.
+With the data collected, we are ready to :doc:`train and evaluate <../training>` the machine learning models.

docs/training.rst

@@ -47,8 +47,8 @@ Conda Setup
 
 
 
-Training and Evaluation
-=======================
+Train and Evaluate
+==================
 
 Depending upon the setup you are using 
 

docs/training/hugging_face.rst

@@ -10,8 +10,8 @@ If you don't already have an account, sign up for a new account on the `Hugging
 Creating a New Dataset Repository
 ---------------------------------
 
-Web Interface
-^^^^^^^^^^^^^
+Web Interface (Create Repository)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 #. Navigate to the `Hugging Face website <https://huggingface.co>`_.
 #. Log in to your account.
@@ -38,8 +38,8 @@ Uploading Your Dataset
 
 You have two primary methods to upload datasets: through the web interface or using the Python API.
 
-Web Interface
-^^^^^^^^^^^^^
+Web Interface (Upload Dataset)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 #. Navigate to your dataset repository on the Hugging Face website.
 #. Click on the "Files and versions" tab.