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mkdocs.yml
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site_name: Stretch Tutorials
site_url: https://docs.hello-robot.com/stretch_tutorials
site_description: "Hello Robot Stretch Tutorials"
copyright: 'Copyright © 2022 Hello Robot Inc'
site_author: Hello Robot Inc
use_directory_urls: True
docs_dir: .
site_dir: ../site
theme:
name: material
#font: Arial
palette:
- scheme: default
primary: hello-robot-light
toggle:
icon: material/lightbulb-outline
name: Switch to dark mode
- scheme: slate
primary: hello-robot-dark
toggle:
icon: material/lightbulb
name: Switch to light mode
logo: images/hello_robot_logo_light.png
favicon: images/hello_robot_favicon.png
features:
- navigation.instant
extra_css:
- ./extra.css
markdown_extensions:
- pymdownx.highlight
- pymdownx.superfences
- pymdownx.inlinehilite
- pymdownx.keys
- admonition
- pymdownx.tabbed:
alternate_style: true
plugins:
- same-dir
# - simple:
# merge_docs_dir: true
# include_extensions: [".css", ".png"]
# include_folders: ['../hello_helpers']
- mike:
# these fields are all optional; the defaults are as below...
version_selector: true # set to false to leave out the version selector
css_dir: css # the directory to put the version selector's CSS
javascript_dir: js # the directory to put the version selector's JS
canonical_version: null # the version for <link rel="canonical">; `null`
# uses the version specified via `mike deploy`
- search
- tags
- mkdocstrings:
default_handler: python
handlers:
python:
selection:
docstring_style: numpy
rendering:
show_root_heading: true
show_source: false
members_order: source
heading_level: 3
show_if_no_docstring: true
extra:
version:
provider: mike
default: latest
social:
- icon: material/home
link: https://hello-robot.com
- icon: material/twitter
link: https://twitter.com/HelloRobotInc
- icon: material/github
link: https://github.com/hello-robot
- icon: material/linkedin
link: https://linkedin.com/company/hello-robot-inc
nav:
- Overview: ./README.md
- Getting to Know Stretch:
- Overview: ./getting_started/README.md
- Basics:
- Safety Guide: ./getting_started/safety_guide.md
- Quick Start Stretch RE1: ./getting_started/quick_start_guide_re1.md
- Quick Start Stretch 2: ./getting_started/quick_start_guide_re2.md
- Best Practices: ./getting_started/best_practices.md
- Troubleshooting: ./getting_started/troubleshooting_guide.md
- Advanced:
- Command Line Tools: ./getting_started/command_line_tools.md
- Untethered Operation: ./getting_started/untethered_operation.md
- Updating Software: ./getting_started/updating_software.md
- Stretch Body Python SDK:
- Overview: ./stretch_body/README.md
- Basics:
- Introduction: ./stretch_body/tutorial_introduction.md
- Command line Tools: ./stretch_body/tutorial_command_line_tools.md
- Robot Motion: ./stretch_body/tutorial_robot_motion.md
- Robot Sensors: ./stretch_body/tutorial_robot_sensors.md
- Advanced:
- Dynamixel Servos: ./stretch_body/tutorial_dynamixel_servos.md
- Parameter Management: ./stretch_body/tutorial_parameter_management.md
- Splined Trajectories: ./stretch_body/tutorial_splined_trajectories.md
- Collision Avoidance: ./stretch_body/tutorial_collision_avoidance.md
- Contact Models: ./stretch_body/tutorial_contact_models.md
- Changing Tools: ./stretch_body/tutorial_tool_change.md
- Custom Wrist DOF: ./stretch_body/tutorial_custom_wrist_dof.md
- Safety Features: ./stretch_body/tutorial_safe_coding.md
- ROS:
- Overview: ./ros1/README.md
- Basics:
- Getting Started: ./ros1/getting_started.md
- Teleoperating Stretch: ./ros1/teleoperating_stretch.md
- Internal State of Stretch: ./ros1/internal_state_of_stretch.md
- RViz Basics: ./ros1/rviz_basics.md
- Navigation Stack: ./ros1/navigation_stack.md
# - MoveIt! Basics: ./ros1/moveit_basics.md
- Follow Joint Trajectory Commands: ./ros1/follow_joint_trajectory.md
- Perception: ./ros1/perception.md
- ArUco Marker Detection: ./ros1/aruco_marker_detection.md
- ReSpeaker Microphone Array: ./ros1/respeaker_microphone_array.md
- FUNMAP: https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap
- Gazebo Basics: ./ros1/gazebo_basics.md
- Other Examples:
- Mobile Base Velocity Control: ./ros1/example_1.md
- Filter Laser Scans: ./ros1/example_2.md
- Mobile Base Collision Avoidance: ./ros1/example_3.md
- Give Stretch a Balloon: ./ros1/example_4.md
- Print Joint States: ./ros1/example_5.md
- Store Effort Values: ./ros1/example_6.md
- Capture Image: ./ros1/example_7.md
- Voice to Text: ./ros1/example_8.md
- Voice Teleoperation of Base: ./ros1/example_9.md
- Tf2 Broadcaster and Listener: ./ros1/example_10.md
- PointCloud Transformation: ./ros1/example_11.md
- ArUco Tag Locator: ./ros1/example_12.md
- 2D Navigation Goals: ./ros1/example_13.md
- Autodocking: ./ros1/autodocking_nav_stack.md
- ROS 2 (Beta):
- Overview: ./ros2/README.md
- Basics:
- Getting Started: ./ros2/getting_started.md
- Introduction to ROS 2: ./ros2/intro_to_ros2.md
- Introduction to HelloNode: ./ros2/intro_to_hellonode.md
- Teleoperating Stretch: ./ros2/teleoperating_stretch.md
- Internal State of Stretch: ./ros2/internal_state_of_stretch.md
- RViz Basics: ./ros2/rviz_basics.md
- Nav2 Stack:
- Overview: ./ros2/navigation_overview.md
- Nav2 Basics: ./ros2/navigation_stack.md
- Nav2 Simple Commander: ./ros2/navigation_simple_commander.md
- Follow Joint Trajectory Commands: ./ros2/follow_joint_trajectory.md
- Perception: ./ros2/perception.md
- ArUco Marker Detection: ./ros2/aruco_marker_detection.md
- ReSpeaker Microphone Array:
- Respeaker Mic Array: ./ros2/respeaker_mic_array.md
- Respeaker Topics: ./ros2/respeaker_topics.md
- FUNMAP: https://github.com/hello-robot/stretch_ros2/tree/humble/stretch_funmap
# - MoveIt 2:
# - MoveIt Basics: ./ros2/moveit_basics.md
# - MoveIt with RViz: ./ros2/moveit_rviz_demo.md
# - MoveGroup C++ API: ./ros2/moveit_movegroup_demo.md
# - ROS testing: ./ros2/ros_testing.md
# - Other Nav Stack Features: ./ros2/other_nav_features.md
# - Gazebo Basics: ./ros2/gazebo_basics.md
- Other Examples:
- Mobile Base Velocity Control: ./ros2/example_1.md
- Filter Laser Scans: ./ros2/example_2.md
- Mobile Base Collision Avoidance: ./ros2/example_3.md
- Give Stretch a Balloon: ./ros2/example_4.md
- Print Joint States: ./ros2/example_5.md
- Store Effort Values: ./ros2/example_6.md
- Capture Image: ./ros2/example_7.md
- Voice to Text: ./ros2/example_8.md
- Voice Teleoperation of Base: ./ros2/example_9.md
- Tf2 Broadcaster and Listener: ./ros2/example_10.md
- ArUco Tag Locator: ./ros2/example_12.md
- Obstacle Avoider: ./ros2/obstacle_avoider.md
- Align to ArUco: ./ros2/align_to_aruco.md
- Deep Perception: ./ros2/deep_perception.md
- Avoiding Race Conditions and Deadlocks: ./ros2/avoiding_deadlocks_race_conditions.md
# - PointCloud Transformation: ./ros2/example_11.md
- Stretch Tool Share:
- Overview: ./stretch_tool_share/README.md
- Basics:
- Gripper Removal: ./stretch_tool_share/gripper_removal.md
- Gripper Puller: ./stretch_tool_share/gripper_puller.md
- Dry Erase Holder: ./stretch_tool_share/dry_erase_holder.md
- Dex Wrist: ./stretch_tool_share/dexwrist.md
- Dex to Standard Wrist: ./stretch_tool_share/dex_to_standard.md
- Advanced:
- Updating URDF: ./stretch_tool_share/updating_urdf.md