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/
stretch_tutorials
mirror of https://github.com/hello-robot/stretch_tutorials.git


								site_name: Stretch Tutorials

								site_url: https://docs.hello-robot.com/stretch_tutorials

								site_description: "Hello Robot Stretch Tutorials"

								copyright: 'Copyright &copy; 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

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								  - pymdownx.keys

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								      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