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:
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  - 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:
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extra_css:
  - ./extra.css

markdown_extensions:
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#  - simple:
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      css_dir: css             # the directory to put the version selector's CSS
      javascript_dir: js       # the directory to put the version selector's JS
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    - icon: material/github
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    - 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
        - Stretch Body API: ./stretch_body/tutorial_stretch_body_api.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:
      - Teleoperate Stretch with a Node: ./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
      # - Teleoperating Stretch: ./ros2/teleoperating_stretch.md
      - Follow Joint Trajectory Commands: ./ros2/follow_joint_trajectory.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
      - MoveIt 2:
        - MoveIt Basics: ./ros2/moveit_basics.md
        - MoveIt with RViz: ./ros2/moveit_rviz_demo.md
        - MoveGroup C++ API: ./ros2/moveit_movegroup_demo.md
      # - Perception: ./ros2/perception.md
      # - ArUco Marker Detection: ./ros2/aruco_marker_detection.md
      # - ReSpeaker Microphone Array: ./ros2/respeaker_microphone_array.md
      # - FUNMAP: https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap
      # - ROS testing: ./ros2/ros_testing.md
      # - Other Nav Stack Features: ./ros2/other_nav_features.md
      # - Gazebo Basics:  ./ros2/gazebo_basics.md
    - Other Examples:
      - Teleoperate Stretch with a Node: ./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
      - Obstacle Avoider: ./ros2/obstacle_avoider.md
      - Align to ArUco: ./ros2/align_to_aruco.md
      - Deep Perception: ./ros2/deep_perception.md
      # - PointCloud Transformation: ./ros2/example_11.md
      # - ArUco Tag Locator: ./ros2/example_12.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