Add brief operation, troubleshooting docs

docs/conf.py

@@ -23,14 +23,15 @@
 # Add any Sphinx extension module names here, as strings. They can be extensions coming with Sphinx
 # (named 'sphinx.ext.*') or your custom ones.
 extensions = [
-    'sphinx.ext.githubpages',
+    'sphinx_collapse',
+    'sphinx_copybutton',
+    'sphinx_tabs.tabs',
     'sphinx.ext.extlinks',
+    'sphinx.ext.githubpages',
     'sphinx.ext.graphviz',
     'sphinx.ext.mathjax',
     'sphinxcontrib.youtube',
-    'sphinx_copybutton',
-    'sphinx_tabs.tabs',
-    'sphinx_collapse',
+    "sphinx.ext.autosectionlabel",
 ]
 
 # True to prefix each section label with the name of the document it is in, followed by a colon.
@@ -42,7 +43,7 @@
 # If set, autosectionlabel chooses the sections for labeling by its depth. For example, when set 1
 # to autosectionlabel_maxdepth, labels are generated only for top level sections, and deeper
 # sections are not labeled. It defaults to None (disabled).
-autosectionlabel_maxdepth = 4
+# autosectionlabel_maxdepth = 4
 
 # Used by the sphinx_copybutton extension - Define the prompt text that should be removed from
 # copied text in code blocks.

docs/index.rst

@@ -11,6 +11,8 @@ What's Here
 
 * :doc:`specifications` - Specifications for the ALOHA, Mobile ALOHA and related hardware.
 * :doc:`getting_started` - Guides to walk you through the process of setting up your ALOHA and Mobile ALOHA kits.
+* :doc:`operation` - Guides demonstrating usage of the ALOHA platforms.
+* :doc:`troubleshooting` - Small guides to walk users through possible issues that may occur when using the ALOHA kits.
 
 Table of Contents
 =================
@@ -20,3 +22,5 @@ Table of Contents
 
   specifications.rst
   getting_started.rst
+  operation.rst
+  troubleshooting.rst

docs/operation.rst

@@ -0,0 +1,8 @@
+=========
+Operation
+=========
+
+.. toctree::
+  :maxdepth: 2
+
+  ./operation/stationary.rst

docs/operation/mobile.rst

@@ -0,0 +1,3 @@
+================
+Mobile Operation
+================

docs/operation/stationary.rst

@@ -0,0 +1,75 @@
+====================
+Stationary Operation
+====================
+
+Running ALOHA Bringup
+=====================
+
+In a terminal, run the following commands:
+
+.. code-block:: bash
+
+  $ export INTERBOTIX_ALOHA_IS_MOBILE=false # if not already in your environment
+  $ source /opt/ros/humble/setup.bash # configure ROS system install environment
+  $ source ~/interbotix_ws/install/setup.bash # configure ROS workspace environment
+  $ ros2 launch aloha aloha_bringup.launch.py # launch hardware drivers and control software
+
+.. warning::
+
+  Terminating bringup while the follower arms are not in their sleep configurations will cause them to collapse!
+  Be sure to run the :ref:`operation/stationary:Sending Arms to Sleep Configuration` process before doing so.
+
+Teleoperation
+=============
+
+While ALOHA bringup is running in another terminal, open a new one and run the following commands:
+
+.. code-block:: bash
+
+  $ export INTERBOTIX_ALOHA_IS_MOBILE=false # if not already in your environment
+  $ source /opt/ros/humble/setup.bash # configure ROS system install environment
+  $ source ~/interbotix_ws/install/setup.bash # configure ROS workspace environment
+  $ source ~/aloha/bin/activate # configure ALOHA Python environment
+  $ cd ~/interbotix_ws/src/aloha/scripts/
+  $ python3 dual_side_teleop.py
+
+The arms will lift themselves up into their "staged" configurations.
+Close both grippers on the leader arms to begin teleop.
+
+You should now be able to teleoperate both sets of arms.
+Press :kbd:`Ctrl` + :kbd:`C` on the teleoperation terminal to stop teleoperation.
+Place the leader arms in their cradles.
+
+Sending Arms to Sleep Configuration
+===================================
+
+While ALOHA bringup is running in another terminal, open a new one and run the following commands:
+
+.. code-block:: bash
+
+  $ export INTERBOTIX_ALOHA_IS_MOBILE=false # if not already in your environment
+  $ source /opt/ros/humble/setup.bash # configure ROS system install environment
+  $ source ~/interbotix_ws/install/setup.bash # configure ROS workspace environment
+  $ source ~/aloha/bin/activate # configure ALOHA Python environment
+  $ cd ~/interbotix_ws/src/aloha/scripts/
+  $ python3 sleep.py
+
+The follower arms will move to their "staged" configurations and then place themselves into their sleep configurations.
+
+.. tip::
+
+  You can optionally append the ``-a|--all`` flag to the sleep script command to send all arms to their sleep configurations:
+
+  .. code-block:: bash
+
+    $ python3 sleep.py -a
+    # or
+    $ python3 sleep.py --all
+
+.. Episode Collection
+.. ==================
+
+
+
+.. Automatic Episode Collection
+.. ============================

docs/specifications.rst

@@ -5,8 +5,8 @@ Specifications
 Aloha Stationary
 ================
 
-Packing List
-------------
+Stationary Packing List
+-----------------------
 
 .. table::
   :align: center
@@ -111,11 +111,8 @@ Packing List
   | USB-A to Micro USB, 10 Foot, Black                                                       | 4       |
   +------------------------------------------------------------------------------------------+---------+
 
-
-
-
-Specifications
---------------
+Stationary Specifications
+-------------------------
 
 .. list-table::
   :width: 50%
@@ -138,8 +135,8 @@ Specifications
   * - Gravity Compensators
     - Yes
 
-Technical Drawing
------------------
+Stationary Technical Drawing
+----------------------------
 
 Coming Soon!
 
@@ -148,8 +145,8 @@ Aloha Mobile
 ============
 
 
-Specifications
---------------
+Mobile Specifications
+---------------------
 
 .. list-table::
   :width: 50%
@@ -186,8 +183,8 @@ Specifications
   * - Mobile Power Station Battery
     - Yes - 1.4kWh
 
-Technical Drawing
------------------
+Mobile Technical Drawing
+------------------------
 
 Coming Soon!
 

docs/troubleshooting.rst

@@ -0,0 +1,17 @@
+===============
+Troubleshooting
+===============
+
+X-Series Arms
+=============
+
+See the guides on `the X-Series Arms documentation site`_.
+
+.. _`the X-Series Arms documentation site`: https://docs.trossenrobotics.com/interbotix_xsarms_docs/troubleshooting.html
+
+SLATE Base
+==========
+
+See the guides on `the SLATE Base documentation site`_.
+
+.. _`the SLATE Base documentation site`: https://docs.trossenrobotics.com/slate_docs/troubleshooting.html