Revert "world objects, spot check, unit tests, Docker CI build pipeli…

…ne, modular wrapper (#126)" This reverts commit e6a274e.
heuristicus · Aug 6, 2023 · 7863af7 · 7863af7
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diff --git a/.github/workflows/spot_ros_docker_build.yml b/.github/workflows/spot_ros_docker_build.yml
diff --git a/.github/workflows/spot_ros_unit_tests.yml b/.github/workflows/spot_ros_unit_tests.yml
diff --git a/.gitignore b/.gitignore
@@ -1,2 +1 @@
 *.pyc
-*.DS_Store
diff --git a/deploy/Dockerfile b/deploy/Dockerfile
diff --git a/deploy/entrypoint.sh b/deploy/entrypoint.sh
diff --git a/docs/README.md b/docs/README.md
@@ -1,12 +1,5 @@
-To install dependencies to generate documentation:
-
-```bash
-sudo apt-get install python3-sphinx
-pip install sphinx sphinx_rtd_theme
-```
-
 To generate docs, run
 
-```bash
+```
 sphinx-build -b html . html
 ```
diff --git a/docs/arm_usage.rst b/docs/arm_usage.rst
@@ -1,60 +1,29 @@
-Arm Control
+Arm control
 ===========
 
-The driver can also send commands to the robot's arm, if it has one. The following services
-allow control of various parts of the arm. Note that the arm does not have collision avoidance,
-so it is important to be careful when using these services.
-
-+--------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-|         Service          |                                                                                                                               Description                                                                                                                                |
-+==========================+==========================================================================================================================================================================================================================================================================+
-| /spot/arm_carry          | Move the arm into the `carry` position.                                                                                                                                                                                                                                  |
-+--------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| /spot/arm_joint_move     | Move each joint into a position specified by a specific angle, corresponding to the `6 degrees of freedom <https://dev.bostondynamics.com/python/bosdyn-client/src/bosdyn/client/robot_command#bosdyn.client.robot_command.RobotCommandBuilder.arm_joint_move_helper>`_. |
-+--------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| /spot/arm_stow           | Move the arm into the `stow` position.                                                                                                                                                                                                                                   |
-+--------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| /spot/arm_unstow         | Move the arm into the `unstow` position.                                                                                                                                                                                                                                 |
-+--------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| /spot/force_trajectory   | Move the arm by specifying forces in (x,y,z) linear forces and (rx,ry,rz) rotational forces, acting as a virtual wrench.                                                                                                                                                 |
-+--------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| /spot/grasp_3d           | Use the `Pick` autonomy feature of Spot to pick an object specified in Cartesian (x,y,z) coordinates in a chosen reference frame, usually ``body``.                                                                                                                      |
-+--------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| /spot/gripper_angle_open | Open the gripper to a specific angle, between 0 and 90 degrees.                                                                                                                                                                                                          |
-+--------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| /spot/gripper_close      | Close the gripper to 0 degrees.                                                                                                                                                                                                                                          |
-+--------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| /spot/gripper_open       | Open the gripper to 90 degrees.                                                                                                                                                                                                                                          |
-+--------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| /spot/gripper_pose       | Move the gripper to a point specified in Cartesian (x,y,z) coordinates of the robot's ``body`` frame.                                                                                                                                                                    |
-+--------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-
-Arm Carry, Stow, Unstow
------------------------
-
-The arm can be moved into the predefined `carry`, `stow`, and `unstow` positions.
-
-Carry:
-
-.. image:: images/spot-arm-carry.gif
-
-Stow:
-
-.. image:: images/spot-arm-stow.gif
-
-
-Pick Service (Grasp 3D)
------------------------
-
-Note that it is important to perform the Spot Check calibration before using the Pick service of the arm.
-If any cameras are in an error state, the Spot robot will refuse to execute any Autonomy features, including picking.
-The Picking process is shown below:
-
-1. Walking to the object
-2. Unstowing the arm
-3. Surveying the object with the gripper camera
-4. Walking closer to the object
-5. Picking the object
-6. Closing the gripper
-
-.. image:: images/spot-grasp-3d.gif
+The driver can also send commands to the robot's arm, if it has one. The following services allow control of various
+parts of the arm.
+
++------------------------+------------------------+
+|Service                 |Description             |
++========================+========================+
+|/spot/arm_carry         |                        |
++------------------------+------------------------+
+|/spot/arm_joint_move    |                        |
++------------------------+------------------------+
+|/spot/arm_stow          |                        |
++------------------------+------------------------+
+|/spot/arm_unstow        |                        |
++------------------------+------------------------+
+|/spot/force_trajectory  |                        |
++------------------------+------------------------+
+|/spot/grasp_3d          |                        |
++------------------------+------------------------+
+|/spot/gripper_angle_open|                        |
++------------------------+------------------------+
+|/spot/gripper_close     |                        |
++------------------------+------------------------+
+|/spot/gripper_open      |                        |
++------------------------+------------------------+
+|/spot/gripper_pose      |                        |
++------------------------+------------------------+
diff --git a/docs/docker_deploy.rst b/docs/docker_deploy.rst
diff --git a/docs/eap_usage.rst b/docs/eap_usage.rst