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:
  - ./docs/extra.css

markdown_extensions:
  - pymdownx.highlight
  - pymdownx.superfences
  - pymdownx.inlinehilite
  - pymdownx.keys
  - admonition
  - pymdownx.tabbed:
      alternate_style: true

plugins:
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#  - 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:
  - Getting to Know Stretch:
      - Quick Start: docs/getting_started/quick_start_guide.md
      - Robot Safety: docs/getting_started/robot_safety_guide.md
      - Best Practices: docs/getting_started/best_practices.md
      - Advanced:
        - Untethered Operation: docs/getting_started/untethered_operation.md
        - Updating Software: docs/getting_started/updating_software.md
  - Stretch Body:
    - Basics:
        - Safe Coding: tutorial_safe_coding.md
        - Command line Tools: tutorial_command_line_tools.md
        - Simple Coding: tutorial_simple_coding.py
        - Robot Motion: tutorial_robot_motion.md
        - Robot Sensors: tutorial_robot_sensors.md
    - Advanced:
        - Dynamixel Servos: tutorial_dynamixel_servos.md
        - Parameter Management: tutorial_parameter_management.md
        - Splined Trajectories: tutorial_splined_trajectories.md
        - Collision Avoidance: tutorial_collision_avoidance.md
        - Custom Wrist DOF: ./extending_wrist_dof/README.md
  - ROS1:
    - Overview: README.md
    - Basics:
      - Getting Started: getting_started.md
      - Gazebo Basics:  gazebo_basics.md
      - Teleoperating Stretch: teleoperating_stretch.md
      - Internal State of Stretch: internal_state_of_stretch.md
      - RViz Basics: rviz_basics.md
      - Navigation Stack: navigation_stack.md
      - MoveIt! Basics: moveit_basics.md
      - Follow Joint Trajectory Commands: follow_joint_trajectory.md
      - Perception: perception.md
      - ArUco Marker Detection: aruco_marker_detection.md
      - ReSpeaker Microphone Array: respeaker_microphone_array.md
      - FUNMAP: https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap
      - ROS testing: foo.md
      - Other Nav Stack Features: foo.md
    - Other Examples:
      - Teleoperate Stretch with a Node: example_1.md
      - Filter Laser Scans: example_2.md
      - Mobile Base Collision Avoidance: example_3.md
      - Give Stretch a Balloon: example_4.md
      - Print Joint States: example_5.md
      - Store Effort Values: example_6.md
      - Capture Image: example_7.md
      - Voice to Text: example_8.md
      - Voice Teleoperation of Base: example_9.md
      - Tf2 Broadcaster and Listener: example_10.md
      - PointCloud Transformation: example_11.md
      - ArUco Tag Locator: example_12.md
  - ROS2:
    - Overview: README.md
    - Basics:
      - Getting Started: getting_started.md
      - Gazebo Basics:  gazebo_basics.md
      - Teleoperating Stretch: teleoperating_stretch.md
      - Internal State of Stretch: internal_state_of_stretch.md
      - RViz Basics: rviz_basics.md
      - Navigation Stack: navigation_stack.md
      - MoveIt! Basics: moveit_basics.md
      - Follow Joint Trajectory Commands: follow_joint_trajectory.md
      - Perception: perception.md
      - ArUco Marker Detection: aruco_marker_detection.md
      - ReSpeaker Microphone Array: respeaker_microphone_array.md
      - FUNMAP: https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap
      - ROS testing: foo.md
      - Other Nav Stack Features: foo.md
    - Other Examples:
      - Teleoperate Stretch with a Node: example_1.md
      - Filter Laser Scans: example_2.md
      - Mobile Base Collision Avoidance: example_3.md
      - Give Stretch a Balloon: example_4.md
      - Print Joint States: example_5.md
      - Store Effort Values: example_6.md
      - Capture Image: example_7.md
      - Voice to Text: example_8.md
      - Voice Teleoperation of Base: example_9.md
      - Tf2 Broadcaster and Listener: example_10.md
      - PointCloud Transformation: example_11.md
      - ArUco Tag Locator: example_12.md