deploy: 2f1479e

_sources/getting_started/mobile/hardware_setup.rst

@@ -1,3 +1,5 @@
 ===========================
 Mobile ALOHA Hardware Setup
 ===========================
+
+Coming soon!

_sources/getting_started/mobile/software_setup.rst

@@ -244,4 +244,4 @@ Assuming that dependencies of ACT were installed using a venv, to create an alia
 
 .. code-block:: bash
 
-  alias setup_act="setup_aloha && source ~/act/bin/activate"
+  alias setup_act="setup_aloha && source /<path_to_aloha_venv>/bin/activate"

_sources/getting_started/stationary/software_setup.rst

@@ -221,4 +221,4 @@ Assuming that dependencies of ACT were installed using a venv, to create an alia
 
 .. code-block:: bash
 
-  alias setup_act="setup_aloha && source ~/act/bin/activate"
+  alias setup_act="setup_aloha && source /<path_to_aloha_venv>/bin/activate"

_sources/operation.rst

@@ -5,4 +5,5 @@ Operation
 .. toctree::
   :maxdepth: 2
 
+  ./operation/mobile.rst
   ./operation/stationary.rst

_sources/operation/mobile.rst

@@ -1,3 +1,76 @@
 ================
 Mobile Operation
 ================
+
+Running ALOHA Bringup
+=====================
+
+In a terminal, run the following commands:
+
+.. code-block:: bash
+
+  $ export INTERBOTIX_ALOHA_IS_MOBILE=true # 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/mobile: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=true # 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 /<path_to_aloha_venv>/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.
+While doing teleop, another person can use the included PS4 controller to move the base.
+
+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 /<path_to_aloha_venv>/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
+.. ============================

_sources/operation/stationary.rst

@@ -29,7 +29,7 @@ While ALOHA bringup is running in another terminal, open a new one and run the f
   $ 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
+  $ source /<path_to_aloha_venv>/bin/activate # configure ALOHA Python environment
   $ cd ~/interbotix_ws/src/aloha/scripts/
   $ python3 dual_side_teleop.py
 
@@ -50,7 +50,7 @@ While ALOHA bringup is running in another terminal, open a new one and run the f
   $ 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
+  $ source /<path_to_aloha_venv>/bin/activate # configure ALOHA Python environment
   $ cd ~/interbotix_ws/src/aloha/scripts/
   $ python3 sleep.py
 

getting_started/mobile/hardware_setup.html

@@ -102,6 +102,7 @@
 
   <div class="section" id="mobile-aloha-hardware-setup">
 <h1>Mobile ALOHA Hardware Setup<a class="headerlink" href="#mobile-aloha-hardware-setup" title="Permalink to this headline"></a></h1>
+<p>Coming soon!</p>
 </div>
 
 

getting_started/mobile/software_setup.html

@@ -353,7 +353,7 @@ <h3>Alias Setup<a class="headerlink" href="#alias-setup" title="Permalink to thi
 </pre></div>
 </div>
 <p>Assuming that dependencies of ACT were installed using a venv, to create an alias that can be used to set up the ROS 2 and ACT environments, add the following line to the <code class="docutils literal notranslate"><span class="pre">~/.bash_aliases</span></code> file:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">alias</span><span class="w"> </span><span class="nv">setup_act</span><span class="o">=</span><span class="s2">&quot;setup_aloha &amp;&amp; source ~/act/bin/activate&quot;</span>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">alias</span><span class="w"> </span><span class="nv">setup_act</span><span class="o">=</span><span class="s2">&quot;setup_aloha &amp;&amp; source /&lt;path_to_aloha_venv&gt;/bin/activate&quot;</span>
 </pre></div>
 </div>
 </div>

getting_started/stationary/software_setup.html

@@ -332,7 +332,7 @@ <h3>Alias Setup<a class="headerlink" href="#alias-setup" title="Permalink to thi
 </pre></div>
 </div>
 <p>Assuming that dependencies of ACT were installed using a venv, to create an alias that can be used to set up the ROS 2 and ACT environments, add the following line to the <code class="docutils literal notranslate"><span class="pre">~/.bash_aliases</span></code> file:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">alias</span><span class="w"> </span><span class="nv">setup_act</span><span class="o">=</span><span class="s2">&quot;setup_aloha &amp;&amp; source ~/act/bin/activate&quot;</span>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">alias</span><span class="w"> </span><span class="nv">setup_act</span><span class="o">=</span><span class="s2">&quot;setup_aloha &amp;&amp; source /&lt;path_to_aloha_venv&gt;/bin/activate&quot;</span>
 </pre></div>
 </div>
 </div>

index.html

@@ -134,6 +134,12 @@ <h2>Table of Contents<a class="headerlink" href="#table-of-contents" title="Perm
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="operation.html">Operation</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="operation/mobile.html">Mobile Operation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="operation/mobile.html#running-aloha-bringup">Running ALOHA Bringup</a></li>
+<li class="toctree-l3"><a class="reference internal" href="operation/mobile.html#teleoperation">Teleoperation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="operation/mobile.html#sending-arms-to-sleep-configuration">Sending Arms to Sleep Configuration</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="operation/stationary.html">Stationary Operation</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="operation/stationary.html#running-aloha-bringup">Running ALOHA Bringup</a></li>
 <li class="toctree-l3"><a class="reference internal" href="operation/stationary.html#teleoperation">Teleoperation</a></li>

operation.html

@@ -25,7 +25,7 @@
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="Index" href="genindex.html" />
     <link rel="search" title="Search" href="search.html" />
-    <link rel="next" title="Stationary Operation" href="operation/stationary.html" />
+    <link rel="next" title="Mobile Operation" href="operation/mobile.html" />
     <link rel="prev" title="Stationary ALOHA Software Setup" href="getting_started/stationary/software_setup.html" /> 
 </head>
 
@@ -63,6 +63,7 @@
 <li class="toctree-l1"><a class="reference internal" href="specifications.html">Specifications</a></li>
 <li class="toctree-l1"><a class="reference internal" href="getting_started.html">Getting Started</a></li>
 <li class="toctree-l1 current"><a class="current reference internal" href="#">Operation</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="operation/mobile.html">Mobile Operation</a></li>
 <li class="toctree-l2"><a class="reference internal" href="operation/stationary.html">Stationary Operation</a></li>
 </ul>
 </li>
@@ -97,6 +98,12 @@
 <h1>Operation<a class="headerlink" href="#operation" title="Permalink to this headline"></a></h1>
 <div class="toctree-wrapper compound">
 <ul>
+<li class="toctree-l1"><a class="reference internal" href="operation/mobile.html">Mobile Operation</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="operation/mobile.html#running-aloha-bringup">Running ALOHA Bringup</a></li>
+<li class="toctree-l2"><a class="reference internal" href="operation/mobile.html#teleoperation">Teleoperation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="operation/mobile.html#sending-arms-to-sleep-configuration">Sending Arms to Sleep Configuration</a></li>
+</ul>
+</li>
 <li class="toctree-l1"><a class="reference internal" href="operation/stationary.html">Stationary Operation</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="operation/stationary.html#running-aloha-bringup">Running ALOHA Bringup</a></li>
 <li class="toctree-l2"><a class="reference internal" href="operation/stationary.html#teleoperation">Teleoperation</a></li>
@@ -112,7 +119,7 @@ <h1>Operation<a class="headerlink" href="#operation" title="Permalink to this he
           </div>
           <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
         <a href="getting_started/stationary/software_setup.html" class="btn btn-neutral float-left" title="Stationary ALOHA Software Setup" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
-        <a href="operation/stationary.html" class="btn btn-neutral float-right" title="Stationary Operation" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+        <a href="operation/mobile.html" class="btn btn-neutral float-right" title="Mobile Operation" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
     </div>
 
   <hr/>

operation/mobile.html

@@ -24,7 +24,9 @@
         <script src="../_static/copybutton.js"></script>
     <script src="../_static/js/theme.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
-    <link rel="search" title="Search" href="../search.html" /> 
+    <link rel="search" title="Search" href="../search.html" />
+    <link rel="next" title="Stationary Operation" href="stationary.html" />
+    <link rel="prev" title="Operation" href="../operation.html" /> 
 </head>
 
 <body class="wy-body-for-nav"> 
@@ -57,10 +59,19 @@
 </div>
 
         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
-              <ul>
+              <ul class="current">
 <li class="toctree-l1"><a class="reference internal" href="../specifications.html">Specifications</a></li>
 <li class="toctree-l1"><a class="reference internal" href="../getting_started.html">Getting Started</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../operation.html">Operation</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../operation.html">Operation</a><ul class="current">
+<li class="toctree-l2 current"><a class="current reference internal" href="#">Mobile Operation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#running-aloha-bringup">Running ALOHA Bringup</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#teleoperation">Teleoperation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#sending-arms-to-sleep-configuration">Sending Arms to Sleep Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="stationary.html">Stationary Operation</a></li>
+</ul>
+</li>
 <li class="toctree-l1"><a class="reference internal" href="../troubleshooting.html">Troubleshooting</a></li>
 </ul>
 
@@ -78,6 +89,7 @@
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
       <li><a href="../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../operation.html">Operation</a></li>
       <li class="breadcrumb-item active">Mobile Operation</li>
       <li class="wy-breadcrumbs-aside">
               <a href="https://github.com/TrossenRobotics/aloha_docs/blob/main/docs/operation/mobile.rst" class="fa fa-github"> Edit on GitHub</a>
@@ -90,12 +102,70 @@
 
   <div class="section" id="mobile-operation">
 <h1>Mobile Operation<a class="headerlink" href="#mobile-operation" title="Permalink to this headline"></a></h1>
+<div class="section" id="running-aloha-bringup">
+<h2>Running ALOHA Bringup<a class="headerlink" href="#running-aloha-bringup" title="Permalink to this headline"></a></h2>
+<p>In a terminal, run the following commands:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span><span class="nb">export</span><span class="w"> </span><span class="nv">INTERBOTIX_ALOHA_IS_MOBILE</span><span class="o">=</span><span class="nb">true</span><span class="w"> </span><span class="c1"># if not already in your environment</span>
+$<span class="w"> </span><span class="nb">source</span><span class="w"> </span>/opt/ros/humble/setup.bash<span class="w"> </span><span class="c1"># configure ROS system install environment</span>
+$<span class="w"> </span><span class="nb">source</span><span class="w"> </span>~/interbotix_ws/install/setup.bash<span class="w"> </span><span class="c1"># configure ROS workspace environment</span>
+$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>aloha<span class="w"> </span>aloha_bringup.launch.py<span class="w"> </span><span class="c1"># launch hardware drivers and control software</span>
+</pre></div>
+</div>
+<div class="admonition warning">
+<p class="first admonition-title">Warning</p>
+<p class="last">Terminating bringup while the follower arms are not in their sleep configurations will cause them to collapse!
+Be sure to run the <a class="reference internal" href="#sending-arms-to-sleep-configuration"><span class="std std-ref">Sending Arms to Sleep Configuration</span></a> process before doing so.</p>
+</div>
+</div>
+<div class="section" id="teleoperation">
+<h2>Teleoperation<a class="headerlink" href="#teleoperation" title="Permalink to this headline"></a></h2>
+<p>While ALOHA bringup is running in another terminal, open a new one and run the following commands:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span><span class="nb">export</span><span class="w"> </span><span class="nv">INTERBOTIX_ALOHA_IS_MOBILE</span><span class="o">=</span><span class="nb">true</span><span class="w"> </span><span class="c1"># if not already in your environment</span>
+$<span class="w"> </span><span class="nb">source</span><span class="w"> </span>/opt/ros/humble/setup.bash<span class="w"> </span><span class="c1"># configure ROS system install environment</span>
+$<span class="w"> </span><span class="nb">source</span><span class="w"> </span>~/interbotix_ws/install/setup.bash<span class="w"> </span><span class="c1"># configure ROS workspace environment</span>
+$<span class="w"> </span><span class="nb">source</span><span class="w"> </span>/&lt;path_to_aloha_venv&gt;/bin/activate<span class="w"> </span><span class="c1"># configure ALOHA Python environment</span>
+$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/interbotix_ws/src/aloha/scripts/
+$<span class="w"> </span>python3<span class="w"> </span>dual_side_teleop.py
+</pre></div>
+</div>
+<p>The arms will lift themselves up into their “staged” configurations.
+Close both grippers on the leader arms to begin teleop.
+While doing teleop, another person can use the included PS4 controller to move the base.</p>
+<p>You should now be able to teleoperate both sets of arms.
+Press <kbd class="kbd docutils literal notranslate">Ctrl</kbd> + <kbd class="kbd docutils literal notranslate">C</kbd> on the teleoperation terminal to stop teleoperation.
+Place the leader arms in their cradles.</p>
+</div>
+<div class="section" id="sending-arms-to-sleep-configuration">
+<h2>Sending Arms to Sleep Configuration<a class="headerlink" href="#sending-arms-to-sleep-configuration" title="Permalink to this headline"></a></h2>
+<p>While ALOHA bringup is running in another terminal, open a new one and run the following commands:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span><span class="nb">export</span><span class="w"> </span><span class="nv">INTERBOTIX_ALOHA_IS_MOBILE</span><span class="o">=</span><span class="nb">false</span><span class="w"> </span><span class="c1"># if not already in your environment</span>
+$<span class="w"> </span><span class="nb">source</span><span class="w"> </span>/opt/ros/humble/setup.bash<span class="w"> </span><span class="c1"># configure ROS system install environment</span>
+$<span class="w"> </span><span class="nb">source</span><span class="w"> </span>~/interbotix_ws/install/setup.bash<span class="w"> </span><span class="c1"># configure ROS workspace environment</span>
+$<span class="w"> </span><span class="nb">source</span><span class="w"> </span>/&lt;path_to_aloha_venv&gt;/bin/activate<span class="w"> </span><span class="c1"># configure ALOHA Python environment</span>
+$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/interbotix_ws/src/aloha/scripts/
+$<span class="w"> </span>python3<span class="w"> </span>sleep.py
+</pre></div>
+</div>
+<p>The follower arms will move to their “staged” configurations and then place themselves into their sleep configurations.</p>
+<div class="admonition tip">
+<p class="first admonition-title">Tip</p>
+<p>You can optionally append the <code class="docutils literal notranslate"><span class="pre">-a|--all</span></code> flag to the sleep script command to send all arms to their sleep configurations:</p>
+<div class="last highlight-bash notranslate"><div class="highlight"><pre><span></span>$<span class="w"> </span>python3<span class="w"> </span>sleep.py<span class="w"> </span>-a
+<span class="c1"># or</span>
+$<span class="w"> </span>python3<span class="w"> </span>sleep.py<span class="w"> </span>--all
+</pre></div>
+</div>
+</div>
+</div>
 </div>
 
 
            </div>
           </div>
-          <footer>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
+        <a href="../operation.html" class="btn btn-neutral float-left" title="Operation" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="stationary.html" class="btn btn-neutral float-right" title="Stationary Operation" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
 
   <hr/>