From 6a7c56867c2e395318c7e430aa27bd498770ef3c Mon Sep 17 00:00:00 2001 From: Luke Schmitt Date: Wed, 22 May 2024 17:10:02 -0500 Subject: [PATCH] Add brief operation, troubleshooting docs --- docs/conf.py | 11 ++--- docs/index.rst | 4 ++ docs/operation.rst | 8 ++++ docs/operation/mobile.rst | 3 ++ docs/operation/stationary.rst | 75 +++++++++++++++++++++++++++++++++++ docs/specifications.rst | 23 +++++------ docs/troubleshooting.rst | 17 ++++++++ 7 files changed, 123 insertions(+), 18 deletions(-) create mode 100644 docs/operation.rst create mode 100644 docs/operation/mobile.rst create mode 100644 docs/operation/stationary.rst create mode 100644 docs/troubleshooting.rst diff --git a/docs/conf.py b/docs/conf.py index c09912d..3fe4d7e 100644 --- a/docs/conf.py +++ b/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. diff --git a/docs/index.rst b/docs/index.rst index b624c39..7e94d6c 100644 --- a/docs/index.rst +++ b/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 diff --git a/docs/operation.rst b/docs/operation.rst new file mode 100644 index 0000000..1e84f31 --- /dev/null +++ b/docs/operation.rst @@ -0,0 +1,8 @@ +========= +Operation +========= + +.. toctree:: + :maxdepth: 2 + + ./operation/stationary.rst diff --git a/docs/operation/mobile.rst b/docs/operation/mobile.rst new file mode 100644 index 0000000..9532de9 --- /dev/null +++ b/docs/operation/mobile.rst @@ -0,0 +1,3 @@ +================ +Mobile Operation +================ diff --git a/docs/operation/stationary.rst b/docs/operation/stationary.rst new file mode 100644 index 0000000..b7cd1b9 --- /dev/null +++ b/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 +.. ============================ diff --git a/docs/specifications.rst b/docs/specifications.rst index 537ac6b..e277831 100644 --- a/docs/specifications.rst +++ b/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! diff --git a/docs/troubleshooting.rst b/docs/troubleshooting.rst new file mode 100644 index 0000000..2d92b4d --- /dev/null +++ b/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