Migrate to MkDocs

roboticslab-uc3m/questions-and-answers#99
roboticslab-uc3m · Nov 14, 2023 · 2ece46b · 2ece46b
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diff --git a/.github/workflows/gh-pages.yml b/.github/workflows/gh-pages.yml
@@ -0,0 +1,31 @@
+name: GitHub Pages
+
+on:
+  push:
+    branches:
+    - master
+    paths-ignore:
+    - README.md
+    - CONTRIBUTING.md
+    - CMakeLists.txt
+  workflow_dispatch:
+
+jobs:
+  deploy:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: fkirc/skip-duplicate-actions@v5
+      with:
+        cancel_others: 'true'
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0 # for the 'Last updated' timestamp
+    - name: Install requirements
+      run: pip install -r requirements.txt
+    - name: Build site
+      run: mkdocs build
+    - uses: crazy-max/ghaction-github-pages@v4
+      with:
+        build_dir: site
+      env:
+        GITHUB_TOKEN: ${{secrets.GITHUB_TOKEN}}
diff --git a/.github/workflows/gitbook.yml b/.github/workflows/gitbook.yml
diff --git a/.gitignore b/.gitignore
@@ -1,22 +1,12 @@
-# .gitignore
 ## Files we want to have locally, but do not want to push to remote
 
 ## Editor swap files
 *~
 *.swp
 *.orig
 
-## CMake and C/C++
+## CMake build system
 **/build*/
-CMakeLists.txt.user
-*.cproject
-*.project
-tags
 
-## doxygen
-doc/html
-doc/doxygen_sqlite3.db
-
-## gitbook generated
-/_book/
-/node_modules/
+## mkdocs generated
+/site/
diff --git a/README.md b/README.md
@@ -22,18 +22,19 @@ Please read the Developer Manual's [Asking Questions](https://robots.uc3m.es/dev
 
 It is useful to serve on `localhost` to modify the website and see changes locally.
 
-1. From the root of the project, run the following command (which is universal for all [Gitbook (legacy)](https://github.com/GitbookIO/gitbook)-based projects):
+1. From the root of the project, run the following command:
 
    ```bash
-   gitbook serve # command builds and serves; for installing required plugins, before first  run please: gitbook install
+   pip install -r requirements.txt
+   mkdocs serve
    ```
 
-1. You can now browse the site at the default location: <http://127.0.0.1:4000>
+1. You can now browse the site at the default location: <http://127.0.0.1:8000>
 
 ### How to upload changes to GitHub
 
-This project is managed as any project on [GitHub](https://www.github.com). You may use [Git](https://git-scm.com) or even the GitHub web interface, both on which you can find many tutorials online. The following points are specific to the [Gitbook (legacy)](https://github.com/asrob-uc3m/actas/issues/148#issuecomment-449748350) mechanism used:
+This project is managed as any project on [GitHub](https://www.github.com). You may use [Git](https://git-scm.com) or even the GitHub web interface, both on which you can find many tutorials online. The following points are specific to the MkDocs mechanism used:
 
-1. Please **do not upload** the `_book/` folder. It is auto-generated locally, and the same should happen on the Gitbook (legacy) servers.
+1. Please **do not upload** the `site/` folder. It is auto-generated locally, and the same should happen on the MkDocs servers.
 
 1. It is safe to `git push` to any upstream branch, just remember that what is on `master` is what will be actually rendered as the website.
diff --git a/SUMMARY.md b/SUMMARY.md
diff --git a/book.json b/book.json
diff --git a/additional-resources.md → docs/additional-resources.md b/additional-resources.md → docs/additional-resources.md
diff --git a/architecture.md → docs/architecture.md b/architecture.md → docs/architecture.md
diff --git a/connectors.md → docs/connectors.md b/connectors.md → docs/connectors.md
diff --git a/csv/bom.csv → docs/csv/bom.csv b/csv/bom.csv → docs/csv/bom.csv
diff --git a/csv/deprecated/dh-transformations.csv → docs/csv/deprecated/dh-transformations.csv b/csv/deprecated/dh-transformations.csv → docs/csv/deprecated/dh-transformations.csv
diff --git a/csv/deprecated/dh-trunk.csv → docs/csv/deprecated/dh-trunk.csv b/csv/deprecated/dh-trunk.csv → docs/csv/deprecated/dh-trunk.csv
diff --git a/csv/dh-fetch.csv → docs/csv/dh-fetch.csv b/csv/dh-fetch.csv → docs/csv/dh-fetch.csv
diff --git a/csv/dh-head-transformations.csv → docs/csv/dh-head-transformations.csv b/csv/dh-head-transformations.csv → docs/csv/dh-head-transformations.csv
diff --git a/csv/dh-head.csv → docs/csv/dh-head.csv b/csv/dh-head.csv → docs/csv/dh-head.csv
diff --git a/csv/dh-leftArm.csv → docs/csv/dh-leftArm.csv b/csv/dh-leftArm.csv → docs/csv/dh-leftArm.csv
diff --git a/csv/dh-leftLeg.csv → docs/csv/dh-leftLeg.csv b/csv/dh-leftLeg.csv → docs/csv/dh-leftLeg.csv
diff --git a/csv/dh-rightArm.csv → docs/csv/dh-rightArm.csv b/csv/dh-rightArm.csv → docs/csv/dh-rightArm.csv
diff --git a/csv/dh-rightLeg.csv → docs/csv/dh-rightLeg.csv b/csv/dh-rightLeg.csv → docs/csv/dh-rightLeg.csv
diff --git a/csv/dh-root-head.csv → docs/csv/dh-root-head.csv b/csv/dh-root-head.csv → docs/csv/dh-root-head.csv
diff --git a/csv/dh-root-leftArm.csv → docs/csv/dh-root-leftArm.csv b/csv/dh-root-leftArm.csv → docs/csv/dh-root-leftArm.csv
diff --git a/csv/dh-root-leftLeg.csv → docs/csv/dh-root-leftLeg.csv b/csv/dh-root-leftLeg.csv → docs/csv/dh-root-leftLeg.csv
diff --git a/csv/dh-root-rightArm.csv → docs/csv/dh-root-rightArm.csv b/csv/dh-root-rightArm.csv → docs/csv/dh-root-rightArm.csv
diff --git a/csv/dh-root-rightLeg.csv → docs/csv/dh-root-rightLeg.csv b/csv/dh-root-rightLeg.csv → docs/csv/dh-root-rightLeg.csv
diff --git a/csv/dynamic_info_absolute.csv → docs/csv/dynamic_info_absolute.csv b/csv/dynamic_info_absolute.csv → docs/csv/dynamic_info_absolute.csv
diff --git a/csv/dynamic_info_relative.csv → docs/csv/dynamic_info_relative.csv b/csv/dynamic_info_relative.csv → docs/csv/dynamic_info_relative.csv
diff --git a/csv/editable/motores.ods → docs/csv/editable/motores.ods b/csv/editable/motores.ods → docs/csv/editable/motores.ods
diff --git a/csv/lengths.csv → docs/csv/lengths.csv b/csv/lengths.csv → docs/csv/lengths.csv
diff --git a/csv/motores-motores.csv → docs/csv/motores-motores.csv b/csv/motores-motores.csv → docs/csv/motores-motores.csv
diff --git a/csv/motores-protecciones-brazos.csv → docs/csv/motores-protecciones-brazos.csv b/csv/motores-protecciones-brazos.csv → docs/csv/motores-protecciones-brazos.csv
diff --git a/csv/motores-protecciones-piernas.csv → docs/csv/motores-protecciones-piernas.csv b/csv/motores-protecciones-piernas.csv → docs/csv/motores-protecciones-piernas.csv
diff --git a/csv/motores-transmision.csv → docs/csv/motores-transmision.csv b/csv/motores-transmision.csv → docs/csv/motores-transmision.csv
diff --git a/csv/teo-center-of-masses.csv → docs/csv/teo-center-of-masses.csv b/csv/teo-center-of-masses.csv → docs/csv/teo-center-of-masses.csv
diff --git a/demo-procedure.md → docs/demo-procedure.md b/demo-procedure.md → docs/demo-procedure.md
@@ -6,11 +6,11 @@
 1. Place the robot in a position where it can have space and cannot hit any obstacle.
 1. Make sure all emergency stop buttons (main and per robot part) are closed.
 1. Turn on both [42V power supplies](fig/power-supply.jpg) (check they are actually at 42V before proceeding further) and open the main emergency button.
-1. On the [rear panel](/fig/main-switches.jpg) of the robot, press the "General" red button first. The button should light up.
+1. On the [rear panel](fig/main-switches.jpg) of the robot, press the "General" red button first. The button should light up.
 1. Press other relevant buttons and make sure they light up: manipulation PC and the robot parts you want to use.
 1. Turn on the manipulation PC.
 1. Wait until the manipulation PC has finished booting. You can monitor this through `ping manipulation` issued from another PC connected to the robot's local network.
-1. Open the [emergency buttons](/fig/emergency-buttons.jpg) for the robot parts you need. Keep these buttons close and ready to be used.
+1. Open the [emergency buttons](fig/emergency-buttons.jpg) for the robot parts you need. Keep these buttons close and ready to be used.
 
 ## Demonstration Instructions
 
@@ -24,4 +24,4 @@ Refer to the specific instructions of the demo you want to launch:
 ## See also
 
 - [driver check procedure](driver-check-procedure.md)
-- <https://apps-robots.uc3m.es/robots/wiki/Qu%C3%A9_llevar_a_Demos_(TEO)>
+- wiki: [Qué llevar a Demos (TEO)](https://apps-robots.uc3m.es/robots/wiki/Qu%C3%A9_llevar_a_Demos_(TEO))
diff --git a/diagrams.md → docs/diagrams.md b/diagrams.md → docs/diagrams.md
@@ -24,11 +24,12 @@
 ## Link Names
 
 ```mermaid
-!INCLUDE "./fig/editable/teo.mermaid"
+{% include "fig/editable/teo.mermaid" %}
 ```
 
-- Github: [teo-link-names.pdf](fig/teo-link-names.pdf)
-- Gitbook: {% pdf src="fig/teo-link-names.pdf", width="100%", height="1100" %}{% endpdf %}
+[teo-link-names.pdf](fig/teo-link-names.pdf)
+
+![TEO link names](fig/teo-link-names.pdf){ type=application/pdf style="width: 100%; height: 967px;" }
 
 ## COGs
 
@@ -46,19 +47,22 @@
 
 ### F/T sensors (Mechanical)
 
-- Github: [Jr3 50M31 corregido.pdf](fig/Jr3_50M31_corregido.pdf)
-- Gitbook: {% pdf src="fig/Jr3_50M31_corregido.pdf", width="100%", height="590" %}{% endpdf %}
+[Jr3 50M31 corregido.pdf](fig/Jr3_50M31_corregido.pdf)
+
+![Jr3 50M31 corregido](fig/Jr3_50M31_corregido.pdf){ type=application/pdf style="width: 100%; height: 509px;" }
 
 ## Lacquey Fetch
 
 This sketches were made with SolidWorks in order to provide the position of the next joints, in this case the fingers from the origin of the hand, not to provide detailed mechanical annotations for the hand.
 
 ### Lacquey Fetch (Hand)
 
-- Github: [fetch-hand.pdf](fig/fetch-hand.pdf)
-- Gitbook: {% pdf src="fig/fetch-hand.pdf", width="100%", height="590" %}{% endpdf %}
+[fetch-hand.pdf](fig/fetch-hand.pdf)
+
+![fetch-hand](fig/fetch-hand.pdf){ type=application/pdf style="width: 100%; height: 509px;" }
 
 ### Lacquey Fetch (Proximal Falange)
 
-- Github: [fetch-proximal-falange.pdf](fig/fetch-proximal-falange.pdf)
-- Gitbook: {% pdf src="fig/fetch-proximal-falange.pdf", width="100%", height="590" %}{% endpdf %}
+[fetch-proximal-falange.pdf](fig/fetch-proximal-falange.pdf)
+
+![fetch-proximal-falange](fig/fetch-proximal-falange.pdf){ type=application/pdf style="width: 100%; height: 509px;" }
diff --git a/driver-check-procedure.md → docs/driver-check-procedure.md b/driver-check-procedure.md → docs/driver-check-procedure.md
@@ -6,7 +6,7 @@ Basic steps to power things up and check the drivers of the robot:
 
 1. Make sure all emergency stop buttons (main and per robot part) are closed.
 1. Turn on both [42V power supplies](fig/power-supply.jpg) (check they are actually at 42V before proceeding further) and open the main emergency button.
-1. On the [rear panel](/fig/main-switches.jpg) of the robot, press the "General" red button first. The button should light up.
+1. On the [rear panel](fig/main-switches.jpg) of the robot, press the "General" red button first. The button should light up.
 1. Press other relevant buttons and make sure they light up: manipulation PC and the desired robot part.
 1. Turn on the manipulation PC.
 1. Wait until the manipulation PC has finished booting. You can monitor this through `ping manipulation` issued from another PC connected to the robot's local network.
@@ -25,7 +25,7 @@ Once all connection issues (if present) have been sorted out, you can proceed to
 
 1. Assuming we want to send joint commands to the right arm, while still logged in via SSH to the manipulation PC: `launchCanBus --from manipulation-rightArm.ini`.
 1. Identify any errors, if present. The controller has restart mechanisms that may attempt to recover from errors and may or may not succeed.
-1. [Absolute encoders](/fig/cui-absolute-circuit.jpg) are prone to fail. They are given a fixed number of retries. If it is not possible to establish communication, the YARP plugin related to this iPOS drive and encoder also fails on initialization. Terminate the `launchCanBus` process and try again.
+1. [Absolute encoders](fig/cui-absolute-circuit.jpg) are prone to fail. They are given a fixed number of retries. If it is not possible to establish communication, the YARP plugin related to this iPOS drive and encoder also fails on initialization. Terminate the `launchCanBus` process and try again.
 1. On either the robot's PC through another SSH session or on an external PC connected to the robot's local network, issue `yarp rpc /teo/rightArm/rpc:i`.
 1. On startup, robot joints should be set in position control mode. Within the RPC session, issue `get icmd cmds`. This should return a list of `pos` vocabs.
 1. If any vocab is not equal to `pos` (usually in case of failure its value is `cfgn`, which means "not configured"), identify the error in the console output.

diff --git a/dynamic-information.md → docs/dynamic-information.md b/dynamic-information.md → docs/dynamic-information.md
diff --git a/...2020-10-01-teo-cognitive-architecture.svg → ...2020-10-01-teo-cognitive-architecture.svg b/...2020-10-01-teo-cognitive-architecture.svg → ...2020-10-01-teo-cognitive-architecture.svg
diff --git a/fig/CAN.png → docs/fig/CAN.png b/fig/CAN.png → docs/fig/CAN.png
diff --git a/fig/Directions.png → docs/fig/Directions.png b/fig/Directions.png → docs/fig/Directions.png
diff --git a/fig/Ftsensors.png → docs/fig/Ftsensors.png b/fig/Ftsensors.png → docs/fig/Ftsensors.png
diff --git a/fig/Joints_(can).png → docs/fig/Joints_(can).png b/fig/Joints_(can).png → docs/fig/Joints_(can).png
diff --git a/fig/Joints_(yarp).png → docs/fig/Joints_(yarp).png b/fig/Joints_(yarp).png → docs/fig/Joints_(yarp).png
diff --git a/fig/Jr3_50M31_corregido.pdf → docs/fig/Jr3_50M31_corregido.pdf b/fig/Jr3_50M31_corregido.pdf → docs/fig/Jr3_50M31_corregido.pdf
diff --git a/fig/Lengths.png → docs/fig/Lengths.png b/fig/Lengths.png → docs/fig/Lengths.png
diff --git a/fig/Masses.png → docs/fig/Masses.png b/fig/Masses.png → docs/fig/Masses.png
diff --git a/fig/README.md → docs/fig/README.md b/fig/README.md → docs/fig/README.md
diff --git a/fig/TEO_by_links.jpg → docs/fig/TEO_by_links.jpg b/fig/TEO_by_links.jpg → docs/fig/TEO_by_links.jpg
diff --git a/fig/cui-absolute-circuit.jpg → docs/fig/cui-absolute-circuit.jpg b/fig/cui-absolute-circuit.jpg → docs/fig/cui-absolute-circuit.jpg
diff --git a/fig/dh-drawing.png → docs/fig/dh-drawing.png b/fig/dh-drawing.png → docs/fig/dh-drawing.png
diff --git a/...-10-01-teo-cognitive-architecture.graphml → ...-10-01-teo-cognitive-architecture.graphml b/...-10-01-teo-cognitive-architecture.graphml → ...-10-01-teo-cognitive-architecture.graphml
diff --git a/fig/editable/CAN.svg → docs/fig/editable/CAN.svg b/fig/editable/CAN.svg → docs/fig/editable/CAN.svg
diff --git a/fig/editable/Directions.svg → docs/fig/editable/Directions.svg b/fig/editable/Directions.svg → docs/fig/editable/Directions.svg
diff --git a/fig/editable/Joints_(can).svg → docs/fig/editable/Joints_(can).svg b/fig/editable/Joints_(can).svg → docs/fig/editable/Joints_(can).svg
diff --git a/fig/editable/Joints_(yarp).svg → docs/fig/editable/Joints_(yarp).svg b/fig/editable/Joints_(yarp).svg → docs/fig/editable/Joints_(yarp).svg
diff --git a/fig/editable/Lengths.svg → docs/fig/editable/Lengths.svg b/fig/editable/Lengths.svg → docs/fig/editable/Lengths.svg
diff --git a/fig/editable/Masses.svg → docs/fig/editable/Masses.svg b/fig/editable/Masses.svg → docs/fig/editable/Masses.svg
diff --git a/fig/editable/README.md → docs/fig/editable/README.md b/fig/editable/README.md → docs/fig/editable/README.md
diff --git a/fig/editable/Rekha.ttf → docs/fig/editable/Rekha.ttf b/fig/editable/Rekha.ttf → docs/fig/editable/Rekha.ttf
diff --git a/fig/editable/SixCaps-license.txt → docs/fig/editable/SixCaps-license.txt b/fig/editable/SixCaps-license.txt → docs/fig/editable/SixCaps-license.txt
diff --git a/fig/editable/SixCaps.ttf → docs/fig/editable/SixCaps.ttf b/fig/editable/SixCaps.ttf → docs/fig/editable/SixCaps.ttf
diff --git a/fig/editable/dh-drawing.svg → docs/fig/editable/dh-drawing.svg b/fig/editable/dh-drawing.svg → docs/fig/editable/dh-drawing.svg
diff --git a/fig/editable/teo-template.svg → docs/fig/editable/teo-template.svg b/fig/editable/teo-template.svg → docs/fig/editable/teo-template.svg
diff --git a/fig/editable/teo.mermaid → docs/fig/editable/teo.mermaid b/fig/editable/teo.mermaid → docs/fig/editable/teo.mermaid
diff --git a/fig/emergency-buttons-connectors.jpg → docs/fig/emergency-buttons-connectors.jpg b/fig/emergency-buttons-connectors.jpg → docs/fig/emergency-buttons-connectors.jpg
diff --git a/fig/emergency-buttons.jpg → docs/fig/emergency-buttons.jpg b/fig/emergency-buttons.jpg → docs/fig/emergency-buttons.jpg
diff --git a/docs/fig/favicon.ico b/docs/fig/favicon.ico
diff --git a/fig/fetch-hand.pdf → docs/fig/fetch-hand.pdf b/fig/fetch-hand.pdf → docs/fig/fetch-hand.pdf
diff --git a/fig/fetch-proximal-falange.pdf → docs/fig/fetch-proximal-falange.pdf b/fig/fetch-proximal-falange.pdf → docs/fig/fetch-proximal-falange.pdf
diff --git a/fig/ipos-rs232-connector.jpg → docs/fig/ipos-rs232-connector.jpg b/fig/ipos-rs232-connector.jpg → docs/fig/ipos-rs232-connector.jpg
diff --git a/fig/jr3-circuit-connectors.jpg → docs/fig/jr3-circuit-connectors.jpg b/fig/jr3-circuit-connectors.jpg → docs/fig/jr3-circuit-connectors.jpg
diff --git a/fig/kinfu.png → docs/fig/kinfu.png b/fig/kinfu.png → docs/fig/kinfu.png
diff --git a/fig/main-switches.jpg → docs/fig/main-switches.jpg b/fig/main-switches.jpg → docs/fig/main-switches.jpg
diff --git a/fig/pc-switches.jpg → docs/fig/pc-switches.jpg b/fig/pc-switches.jpg → docs/fig/pc-switches.jpg
diff --git a/fig/power-supply.jpg → docs/fig/power-supply.jpg b/fig/power-supply.jpg → docs/fig/power-supply.jpg
diff --git a/fig/roboticslab-banner-350px.png → docs/fig/roboticslab-banner-350px.png b/fig/roboticslab-banner-350px.png → docs/fig/roboticslab-banner-350px.png