From 1d83e929e5d5b403080d3f32a4e495549c6a822a Mon Sep 17 00:00:00 2001 From: Felix Kloss Date: Mon, 23 Sep 2024 15:40:04 +0200 Subject: [PATCH 1/3] doc: Hide toctree on main page It will still be shown in the navigation bar, which should be enough. --- doc_mainpage.rst | 1 + 1 file changed, 1 insertion(+) diff --git a/doc_mainpage.rst b/doc_mainpage.rst index 0cc442f..aa01a07 100644 --- a/doc_mainpage.rst +++ b/doc_mainpage.rst @@ -14,6 +14,7 @@ software, see also our paper_ on the open-source version of the TriFinger robot. .. toctree:: :caption: General Documentation :maxdepth: 1 + :hidden: doc/installation.rst doc/getting_started.rst From 20c445d5ecf467c79215bfadf3feac9bf1b31e60 Mon Sep 17 00:00:00 2001 From: Felix Kloss Date: Mon, 23 Sep 2024 16:04:45 +0200 Subject: [PATCH 2/3] doc: Add page about joint order and directions --- doc/actions_and_observations.rst | 4 +- doc/images/fingerpro_joint_axes.png | Bin 0 -> 142288 bytes doc/images/fingerpro_joint_axes.svg | 430 +++++++++++++++++++++++++ doc/images/fingerpro_zero_position.png | Bin 0 -> 110628 bytes doc/joint_order.rst | 46 +++ doc_mainpage.rst | 1 + 6 files changed, 478 insertions(+), 3 deletions(-) create mode 100644 doc/images/fingerpro_joint_axes.png create mode 100644 doc/images/fingerpro_joint_axes.svg create mode 100644 doc/images/fingerpro_zero_position.png create mode 100644 doc/joint_order.rst diff --git a/doc/actions_and_observations.rst b/doc/actions_and_observations.rst index 37189d2..15922ea 100644 --- a/doc/actions_and_observations.rst +++ b/doc/actions_and_observations.rst @@ -5,9 +5,7 @@ Actions and Observations This page describes the structure of actions and observations used by the robot drivers implemented in ``robot_fingers``. The fields of both actions and observations are typically arrays with one element per robot joint. The order of joints in the list -depends on the robot. - -.. todo:: Add dedicated page about joint order +depends on the robot (see :doc:`joint_order`). A simple but complete example, using actions and observations can be found in :doc:`examples/demo_single_finger_position_control`. diff --git a/doc/images/fingerpro_joint_axes.png b/doc/images/fingerpro_joint_axes.png new file mode 100644 index 0000000000000000000000000000000000000000..c6a5ceddab8d27f4854bad09aac4cc32b5fe6d14 GIT binary patch literal 142288 zcmX_nWmH>Tv~7S;g0uvuxDyqMw3%e+M+LIVH*Z{=hqp#T7qFaUt426_X(6GCS42Yx|yl+|_t z0N(Zg_d^(VC^duMeD5ly<*M#r;p$=RY!2}7@L>I7Z{uQW>}byF;B1+B_K^qxpa958 zifMReopgC+*?!hOf7b0^?LU{M-v1@3>2jR|92t9IK2h@|9_%J4XAze|MTF# z=O>=6ufuk^Len))CyXF~__&Bib^unu2j5W$f~DvHh>v=6PVa*+Im}y7{NdReF|b!6 z{q+hKG(!-N28N2sQsAIz+rOZO>MbdVG9s5SNfG%<_{o&{#3e8}r@M8H{Bv4xd5dpewDW8FMhq|nF+^3?B~($i zsO`QBHT2`>5m->-!!6{I|BhwPW7seRrJ*LxUT}PJ7;`=+n8|wa4~57=Ndj^+63}s2 zRvwi~9_;kYX0exuBU$-T2IHUP=G`UInSh~5M-S13O7V|cCwglp+pN-j_|EoqHdQ@l zFb$VPjToNf(t>8h2hm7i6u{^_gnB&zr=;}NA`C=JCN+q^#V)Tt0^-`)fjk=)@`1)1 z9}+jJF%X>vE9znMTLj8-JGHSQX&~0F>KQKz1V(^eq^&6XOI$odVW&;p8lSM}UjJ-w 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That is, the joint +array is ordered like this: + +:: + + finger0_joint0, finger0_joint1, finger0_joint2, finger120_joint0, ..., finger240_joint2 + + +See :ref:`trifinger_docs:finger_and_camera_names` on how the three fingers are mounted +for TriFingerPro. + + +Joint Directions +================ + +For "FingerPro" and "FingerEdu" fingers, directions of rotation (i.e. which direction is +positive and which is negative) is as depicted in the image above. +For "FingerOne", joint 1 is inverted, the others are the same. + + +Zero Position +============= + +All joints are in zero-position when the finger is pointing straight down: + +.. image:: ./images/fingerpro_zero_position.png + :align: center + :alt: Image of a FingerPro model with the finger tip pointing straight down. diff --git a/doc_mainpage.rst b/doc_mainpage.rst index aa01a07..72afe32 100644 --- a/doc_mainpage.rst +++ b/doc_mainpage.rst @@ -19,6 +19,7 @@ software, see also our paper_ on the open-source version of the TriFinger robot. doc/installation.rst doc/getting_started.rst doc/actions_and_observations.rst + doc/joint_order.rst doc/singularity.rst doc/configuration.rst doc/homing.rst From ee4b04e3e4a27db8e99e2efca7b2077ca206487d Mon Sep 17 00:00:00 2001 From: Felix Kloss Date: Mon, 23 Sep 2024 16:09:58 +0200 Subject: [PATCH 3/3] doc: Link to joint order in config docs --- doc/configuration.rst | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/doc/configuration.rst b/doc/configuration.rst index 4051f43..62158ab 100644 --- a/doc/configuration.rst +++ b/doc/configuration.rst @@ -7,7 +7,7 @@ Configuration File The robot drivers based on :cpp:class:`~robot_fingers::NJointBlmcRobotDriver` are configured via YAML files, which has to be passed to the function that creates the -backend (for example, see demo_single_finger_position_control_). +backend (for example, see :doc:`examples/demo_single_finger_position_control`). Default configurations for the different (Tri-)Finger robots can be found in the ``config/`` folder of the robot_fingers package. @@ -23,6 +23,9 @@ Options the number of joints of the robot. The order of the joints is implicitly defined by :confval:`can_ports`. + For (Tri-)Finger robots, the order is expected to be as described in + :doc:`joint_order`. + .. confval:: can_ports: list @@ -33,6 +36,10 @@ Options the above example, the joint order will be ``[can0-motorA, can0-motorB, can1-motorA, ...]`` + Note: For (Tri-)Finger robots, the order is expected to be as described in + :doc:`joint_order`. So make sure to connect/configure the CAN interfaces + accordingly. + .. confval:: max_current_A: float = 0.0