deploy: 52bcf73

_sources/getting_started/stationary/software_setup.rst

@@ -73,7 +73,11 @@ ALOHA Software Installation
 
 .. _`link`: https://github.com/Interbotix/interbotix_ros_toolboxes/blob/c187bcea89b60391244bb19943ebd78f770aa975/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/arm.py#L81
 
-4.  Build the workspace:
+4.  Change the ``IS_MOBILE`` constant in ``~/interbotix_ws/src/aloha/aloha/constants.py`` to ``False``.
+
+5.  Change the ``is_mobile`` launch argument default value in ``~/interbotix_ws/src/aloha/launch/aloha_bringup.launch.py`` to ``false``.
+
+6.  Build the workspace:
 
   .. code-block:: bash
 

getting_started/stationary/software_setup.html

@@ -178,6 +178,8 @@ <h2>ALOHA Software Installation<a class="headerlink" href="#aloha-software-insta
 <li>Set the <code class="docutils literal notranslate"><span class="pre">InterbotixManipulatorXS</span></code>’s <code class="docutils literal notranslate"><span class="pre">iterative_update_fk</span></code> constructor arg to <code class="docutils literal notranslate"><span class="pre">False</span></code> at <code class="docutils literal notranslate"><span class="pre">~/interbotix_ws/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/arm.py</span></code> (<a class="reference external" href="https://github.com/Interbotix/interbotix_ros_toolboxes/blob/c187bcea89b60391244bb19943ebd78f770aa975/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/arm.py#L81" rel="noopener noreferrer" target="_blank">link</a>).</li>
 </ol>
 <ol class="arabic simple" start="4">
+<li>Change the <code class="docutils literal notranslate"><span class="pre">IS_MOBILE</span></code> constant in <code class="docutils literal notranslate"><span class="pre">~/interbotix_ws/src/aloha/aloha/constants.py</span></code> to <code class="docutils literal notranslate"><span class="pre">False</span></code>.</li>
+<li>Change the <code class="docutils literal notranslate"><span class="pre">is_mobile</span></code> launch argument default value in <code class="docutils literal notranslate"><span class="pre">~/interbotix_ws/src/aloha/launch/aloha_bringup.launch.py</span></code> to <code class="docutils literal notranslate"><span class="pre">false</span></code>.</li>
 <li>Build the workspace:</li>
 </ol>
 <blockquote>