Add stationary hardware setup docs (#4)

* Add specifications * Add getting started skeletons * Set index max depth to 3 * Add stationary hardware setup * Format, add support link * Minor source clearnup
TrossenRobotics · Apr 26, 2024 · 9591432 · 9591432
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diff --git a/docs/getting_started/stationary/hardware_setup.rst b/docs/getting_started/stationary/hardware_setup.rst
@@ -1,3 +1,238 @@
 ===============================
 Stationary ALOHA Hardware Setup
 ===============================
+
+.. tip::
+
+  Don't tighten bolts all the way until every bolt is partially installed.
+
+1) Lay Out AA/AB Sub-Assembly on Surface
+========================================
+
+Use the orientation of T-nuts to determine which side each one goes on.
+
+.. image:: images/001_aaab_prep.jpeg
+  :align: center
+  :height: 400px
+
+2) Attach Front and Back 1220 Bars to AA/AB Sub-Assembly
+========================================================
+
+.. image:: images/002_aaab_back1220.jpeg
+  :align: center
+  :height: 400px
+
+AA/AB SUB-ASSEMBLY with BACK 1220 attached.
+
+.. list-table::
+  :widths: 50 50
+  :align: center
+
+  * - .. image:: images/003_aaab_back1220_attach_1.jpeg
+        :align: center
+        :height: 400px
+
+    - .. image:: images/004_aaab_back1220_attach_2.jpeg
+        :align: center
+        :height: 400px
+
+Attach AA/AB SUB-ASSEMBLIES to BACK 1220 BAR with **(4x) M5x10s** bolts at these 20/30 BRACKETS.
+
+.. image:: images/005_aaab_front1220.jpeg
+  :align: center
+  :height: 400px
+
+Upside-Down AA/AB SUB-ASSEMBLY with FRONT 1220 attached.
+
+.. list-table::
+  :widths: 50 50
+  :align: center
+
+  * - .. image:: images/006_aaab_front1220_attach_1.jpeg
+        :align: center
+        :height: 400px
+
+    - .. image:: images/007_aaab_front1220_attach_2.jpeg
+        :align: center
+        :height: 400px
+
+Install **(8x) M5x10s** bolts at these CORNER PLATES.
+
+3) Attach 200 Bars to H Bars and 890 Bar
+========================================
+
+.. list-table::
+  :widths: 50 50
+  :align: center
+
+  * - .. image:: images/008_p_to_h_1.jpeg
+        :align: center
+        :height: 400px
+
+    - .. image:: images/009_p_to_h_2.jpeg
+        :align: center
+        :height: 400px
+
+Use **(12x) M5x10s** bolts to attach (2) 200 P BARS to H BARS.
+
+.. image:: images/010_g_to_890.jpeg
+  :align: center
+  :height: 400px
+
+Use **(8x) M5x10s** bolts to attach (2) 200 G BARS to 890 BAR.
+
+4) Attach 890 Bar on top of the two H Bars
+==========================================
+
+.. image:: images/011_890_to_h_top.jpeg
+  :align: center
+  :height: 400px
+
+Use **(8x) M5x10s** bolts to install 890 BAR to top of H BARS.
+
+5) Attach H Bars to AA/AB Sub-Assembly
+======================================
+
+.. image:: images/012_h_installed_aaab.jpeg
+  :align: center
+  :height: 400px
+
+H BARS fully installed onto AA/AB SUB-ASSEMBLY
+
+.. list-table::
+  :widths: 50 50
+  :align: center
+
+  * - .. image:: images/013_2030_hbar_1.jpeg
+        :align: center
+        :height: 400px
+
+    - .. image:: images/014_2030_hbar_2.jpeg
+        :align: center
+        :height: 400px
+
+Install **(2x) M5x10s** bolts at these 20/30 BRACKETS to keep H BAR in place.
+
+6) Attach 305 Bars on back of H Bar and top of AA/AB Sub-Assembly
+=================================================================
+
+.. image:: images/015_corner_hbar_to_aaab.jpeg
+  :align: center
+  :height: 400px
+
+Install **(8x) M5x12s** bolts to CORNER BRACKETS to connect H-BAR and AA/AB SUB-ASSEMBLY.
+
+7) Clamp frame to stationary table
+==================================
+
+.. list-table::
+  :widths: 50 50
+  :align: center
+
+  * - .. image:: images/016_clamp_1.jpeg
+        :align: center
+        :height: 400px
+
+    - .. image:: images/017_clamp_2.jpeg
+        :align: center
+        :height: 400px
+
+8) Install WidowX arms to the front of the Aloha Stationary
+===========================================================
+
+.. image:: images/018_wx_right.jpeg
+  :align: center
+  :height: 400px
+
+WidowX Arm placed on right side location
+
+9) Install ViperX arms to the back of the Aloha Stationary
+==========================================================
+
+.. list-table::
+  :widths: 50 50
+  :align: center
+
+  * - .. image:: images/019_vx_1.jpeg
+        :align: center
+        :height: 400px
+
+    - .. image:: images/020_vx_2.jpeg
+        :align: center
+        :height: 400px
+
+Use **(4x) M5x14s** bolts for each ViperX Arm to install into AA/AB SUB-ASSEMBLY.
+
+10) Install Pulley System
+=========================
+
+.. image:: images/021_gcomp_200g.jpeg
+  :align: center
+  :height: 400px
+
+Install AERO-MOTIVE GRAVITY COMPENSATORS to the 200 G BARS.
+
+.. image:: images/022_carab_hbars.jpeg
+  :align: center
+  :height: 400px
+
+Install CARABINERS at ROPE GUIDES on both H BARS.
+
+.. image:: images/023_carab_wx.jpeg
+  :align: center
+  :height: 400px
+
+Install CARABINER onto both WidowX Arms.
+
+.. list-table::
+  :widths: 50 50
+  :align: center
+
+  * - .. image:: images/024_guides_1220_1.jpeg
+        :align: center
+        :height: 400px
+
+    - .. image:: images/025_guides_1220_2.jpeg
+        :align: center
+        :height: 400px
+
+Install SPRINGS into both ROPE GUIDES at the front 1220 BAR with a PULLEY at the end.
+
+.. list-table::
+  :widths: 50 50
+  :align: center
+
+  * - .. image:: images/026_cable_to_guide_1.jpeg
+        :align: center
+        :height: 400px
+
+    - .. image:: images/027_cable_to_guide_2.jpeg
+        :align: center
+        :height: 400px
+
+Connect 110mm STEEL CABLE from WidowX Arm to top ROPE GUIDE.
+
+.. image:: images/028_gcomp_to_wx.jpeg
+  :align: center
+  :height: 400px
+
+Attach cable from GRAVITY COMPENSATORS to WidowX Arm.
+
+11) Add Camera Mounts
+=====================
+
+.. image:: images/029_cam_1.jpeg
+  :align: center
+  :height: 400px
+
+Use **(4x) M5x8s** bolts to install camera mount.
+
+.. image:: images/030_cam_2.jpeg
+  :align: center
+  :height: 400px
+
+Use **(4x) M5x8s** bolts to install camera mount.
+
+If you need any assistance or have questions, please `contact our customer service`_.
+
+.. _`contact our customer service`: https://www.trossenrobotics.com/support
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