From 5592ae6b19e360b9c601d627b5aa00e2de6370bb Mon Sep 17 00:00:00 2001 From: "-T.K.-" Date: Mon, 29 Jun 2026 18:07:15 -0700 Subject: [PATCH] docs: finish rename leftovers (BAR prose, bar-app, CSS tokens) - "BAR" / "Berkeley Architecture Research" brand prose -> humanoid_control / Berkeley Humanoids (incl. the footer link label + homepage tagline + logo alt). - Example project bar-app -> humanoid-control-app in the install guide. - CSS tokens --bar-accent -> --hc-accent (def + 2 uses) and .bar-mermaid-caption -> .hc-mermaid-caption. Co-Authored-By: Claude Opus 4.8 (1M context) --- README.md | 2 +- docs/concepts/mit_command_surface.md | 2 +- docs/concepts/prime_hybrid_actuation.md | 2 +- docs/getting_started/installation.md | 16 ++++++++-------- docs/getting_started/intro.md | 2 +- docs/how_to/switch_controllers_manually.md | 2 +- docs/how_to/use_pixi_tasks.md | 2 +- docs/reference/launch_args.md | 2 +- docs/reference/quick_reference.md | 2 +- docusaurus.config.ts | 4 ++-- package.json | 2 +- .../HomepageFeatures/styles.module.css | 4 ++-- src/css/custom.css | 4 ++-- src/pages/index.tsx | 2 +- 14 files changed, 24 insertions(+), 24 deletions(-) diff --git a/README.md b/README.md index 5f11a39..74faea0 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,7 @@ # Humanoid-Control-Website Documentation site for [`humanoid_control`](https://github.com/Berkeley-Humanoids/humanoid_control) — the -Berkeley Architecture Research (BAR) humanoid low-level control stack. +Berkeley Humanoids (humanoid_control) humanoid low-level control stack. Built with [Docusaurus 3](https://docusaurus.io/) + `@docusaurus/theme-mermaid` for source-controlled diagrams of the control flow, FSM, and package diff --git a/docs/concepts/mit_command_surface.md b/docs/concepts/mit_command_surface.md index 97efc28..568515d 100644 --- a/docs/concepts/mit_command_surface.md +++ b/docs/concepts/mit_command_surface.md @@ -4,7 +4,7 @@ title: MIT command surface # MIT command surface -Every joint in BAR — Robstride, Sito, MujocoSystem, mock — exposes the +Every joint in humanoid_control — Robstride, Sito, MujocoSystem, mock — exposes the same **5 command interfaces** and **3 state interfaces**. This page explains what those interfaces mean, how they combine into a single torque, and why the same convention is used across silicon and diff --git a/docs/concepts/prime_hybrid_actuation.md b/docs/concepts/prime_hybrid_actuation.md index 7f8cd37..d26b28d 100644 --- a/docs/concepts/prime_hybrid_actuation.md +++ b/docs/concepts/prime_hybrid_actuation.md @@ -4,7 +4,7 @@ title: Prime hybrid actuation # Prime hybrid actuation -BAR Prime is the bimanual humanoid. The **waist is dropped** this version +humanoid_control Prime is the bimanual humanoid. The **waist is dropped** this version (rigid torso, no waist drives), leaving **14 actuated DoF** — 7 per arm. What makes Prime different from Lite is that those 14 joints live on **two different buses, driven by two different actuator families**, yet present a diff --git a/docs/getting_started/installation.md b/docs/getting_started/installation.md index 8953a02..25a5d7b 100644 --- a/docs/getting_started/installation.md +++ b/docs/getting_started/installation.md @@ -1,6 +1,6 @@ # Installation -There are two ways to get BAR onto your machine: +There are two ways to get humanoid_control onto your machine: - **Install the prebuilt packages (recommended)** — pull the `ros-jazzy-humanoid-control-*` conda packages straight from the [`berkeley-humanoids`](https://prefix.dev/channels/berkeley-humanoids) @@ -19,7 +19,7 @@ every developer machine and on the Jetson. | Item | Required | Reason | |---|---|---| -| 64-bit Linux | yes | BAR targets `linux-64` / `linux-aarch64`. macOS and Windows are not supported (SocketCAN + PREEMPT_RT are Linux-only). | +| 64-bit Linux | yes | humanoid_control targets `linux-64` / `linux-aarch64`. macOS and Windows are not supported (SocketCAN + PREEMPT_RT are Linux-only). | | pixi ≥ 0.30 | yes | manages every other dependency | | Display server | for sim | `mujoco_sim` opens a GLFW window (source build only, today) | | PREEMPT_RT kernel | recommended | hard real-time guarantees on real hardware | @@ -51,22 +51,22 @@ shell rc. Restart your shell (or `source ~/.bashrc`) so `pixi` resolves. ## Install the prebuilt packages (recommended) -The BAR packages are published as conda packages on the +The humanoid_control packages are published as conda packages on the [`berkeley-humanoids`](https://prefix.dev/channels/berkeley-humanoids) channel and rebuilt by the buildfarm on every release. You consume them like any other dependency. ### 1. Create a project and add the channel ```sh -pixi init bar-app -cd bar-app +pixi init humanoid-control-app +cd humanoid-control-app ``` -Open `bar-app/pixi.toml` and set the channels + the package(s) you want: +Open `humanoid-control-app/pixi.toml` and set the channels + the package(s) you want: ```toml [workspace] -name = "bar-app" +name = "humanoid-control-app" channels = [ "https://prefix.dev/berkeley-humanoids", "https://prefix.dev/robostack-jazzy", @@ -212,7 +212,7 @@ colcon build --symlink-install --packages-skip-regex 'ethercat.*|humanoid_contro `pixi shell` sources the conda env and `humanoid_control_ws/install/setup.bash` once it exists, so `ros2`, `colcon`, and every console script land on `PATH`. The build -covers the Lite path (every BAR + Pianist package plus the three `mujoco_*` +covers the Lite path (every humanoid_control + Pianist package plus the three `mujoco_*` deps). `--symlink-install` means edits to launch / config / Python files are picked up without rebuilding. After the first successful build the install overlay is on `AMENT_PREFIX_PATH` automatically — pixi's `[activation]` block diff --git a/docs/getting_started/intro.md b/docs/getting_started/intro.md index 3bb674f..52e5b2f 100644 --- a/docs/getting_started/intro.md +++ b/docs/getting_started/intro.md @@ -1,7 +1,7 @@ # Introduction `humanoid_control` is the unified low-level control stack for the **Berkeley Architecture -Research (BAR)** humanoid robots. It runs on **ROS 2 Jazzy under PREEMPT_RT** +Research (humanoid_control)** humanoid robots. It runs on **ROS 2 Jazzy under PREEMPT_RT** (shipped via the [RoboStack](https://robostack.github.io) conda channel and pixi, no system-wide ROS install required) and targets two robots with **as much shared code as possible**. diff --git a/docs/how_to/switch_controllers_manually.md b/docs/how_to/switch_controllers_manually.md index 8049f49..04b92ef 100644 --- a/docs/how_to/switch_controllers_manually.md +++ b/docs/how_to/switch_controllers_manually.md @@ -10,7 +10,7 @@ tests, or just verifying the underlying controller_manager service. This how-to walks the mode FSM via direct `ros2 control` calls. :::note[No gamepad? This is your mode-switch path.] -BAR ships **no keyboard control** for the FSM — `mode_manager` reacts to a +humanoid_control ships **no keyboard control** for the FSM — `mode_manager` reacts to a gamepad (`/joy`) only. On a dev or headless host without one, the `ros2 control` calls on this page **are** the supported way to drive modes by hand. (There used to be a planned `termios` keyboard reader; it was diff --git a/docs/how_to/use_pixi_tasks.md b/docs/how_to/use_pixi_tasks.md index 57adbb0..771b00d 100644 --- a/docs/how_to/use_pixi_tasks.md +++ b/docs/how_to/use_pixi_tasks.md @@ -41,7 +41,7 @@ explicit `pixi shell` first. | `pixi run build` | `colcon build --symlink-install --packages-skip-regex 'ethercat.*\|humanoid_control_bringup_prime'` | Build the Lite path (skips the EtherCAT-linked Prime lane that has no conda recipe). | | `pixi run build-all` | `colcon build --symlink-install` | Same, but includes `humanoid_control_bringup_prime` and `ethercat_driver_ros2`. Requires `libethercat` installed on the host. | | `pixi run build-pkg ` | `colcon build --symlink-install --packages-select ` | Targeted rebuild of one package — fastest edit-loop while iterating. | -| `pixi run test` | `colcon test --packages-skip-regex 'ethercat.*\|humanoid_control_bringup_prime\|mujoco_.*' --ctest-args -LE linter --event-handlers console_cohesion-` | Run BAR-owned tests; skips the vendored `mujoco_*` packages and the CMake-registered linters (which RoboStack ships at newer versions than apt-jazzy, so they'd diverge from the industrial_ci-on-humanoid_control source of truth). | +| `pixi run test` | `colcon test --packages-skip-regex 'ethercat.*\|humanoid_control_bringup_prime\|mujoco_.*' --ctest-args -LE linter --event-handlers console_cohesion-` | Run humanoid_control-owned tests; skips the vendored `mujoco_*` packages and the CMake-registered linters (which RoboStack ships at newer versions than apt-jazzy, so they'd diverge from the industrial_ci-on-humanoid_control source of truth). | | `pixi run test-lint` | Same as `test`, but keeps the linters. | Use when you specifically want to see uncrustify / cpplint output locally. | | `pixi run test-results` | `colcon test-result --verbose` | Print the per-package test summary after `pixi run test`. | | `pixi run clean` | `rm -rf build install log` | Wipe the colcon overlay (leaves the source tree and `.pixi/` env alone). Handy after a package rename. | diff --git a/docs/reference/launch_args.md b/docs/reference/launch_args.md index f523b9c..ddbdbd1 100644 --- a/docs/reference/launch_args.md +++ b/docs/reference/launch_args.md @@ -1,6 +1,6 @@ # Launch args -Every BAR bringup follows the same vocabulary. Each robot ships **two +Every humanoid_control bringup follows the same vocabulary. Each robot ships **two parallel launches** — `real.launch.py` for silicon, `mujoco.launch.py` for MuJoCo physics. Operators pick the *launch file* rather than flipping a `use_fake_hardware` flag on a single one. The xacro still accepts diff --git a/docs/reference/quick_reference.md b/docs/reference/quick_reference.md index 7a59ddf..c5c0065 100644 --- a/docs/reference/quick_reference.md +++ b/docs/reference/quick_reference.md @@ -11,7 +11,7 @@ parameters. The cheat sheet you print or pin to a second monitor. Every link points at the page with the full details. All commands below assume you've entered the workspace env (e.g. -`cd humanoid_control_ws && pixi shell`) so `ros2`, `colcon`, and the BAR console +`cd humanoid_control_ws && pixi shell`) so `ros2`, `colcon`, and the humanoid_control console scripts are on `PATH`. Looking for one-line aliases (`pixi run launch-mujoco`, `pixi run build`, …)? See [How-to → Workspace shortcuts with pixi](../how_to/use_pixi_tasks.md). diff --git a/docusaurus.config.ts b/docusaurus.config.ts index eb4ed11..b998189 100644 --- a/docusaurus.config.ts +++ b/docusaurus.config.ts @@ -52,7 +52,7 @@ const config: Config = { navbar: { title: 'humanoid_control', logo: { - alt: 'BAR humanoid logo', + alt: 'humanoid_control logo', src: 'img/logo.svg', }, items: [ @@ -104,7 +104,7 @@ const config: Config = { href: 'https://github.com/Berkeley-Humanoids/humanoid_control', }, { - label: 'Berkeley Architecture Research', + label: 'Berkeley Humanoids', href: 'https://github.com/Berkeley-Humanoids', }, ], diff --git a/package.json b/package.json index a3b2797..5080f75 100644 --- a/package.json +++ b/package.json @@ -2,7 +2,7 @@ "name": "humanoid-control-website", "version": "0.0.1", "private": true, - "description": "Documentation site for humanoid_control — the BAR humanoid low-level control stack.", + "description": "Documentation site for humanoid_control — the humanoid_control humanoid low-level control stack.", "license": "BSD-3-Clause", "scripts": { "docusaurus": "docusaurus", diff --git a/src/components/HomepageFeatures/styles.module.css b/src/components/HomepageFeatures/styles.module.css index 3c1d742..dae9e09 100644 --- a/src/components/HomepageFeatures/styles.module.css +++ b/src/components/HomepageFeatures/styles.module.css @@ -30,9 +30,9 @@ font-size: 0.85rem; font-weight: 700; letter-spacing: 0.05em; - color: var(--bar-accent, #FDB515); + color: var(--hc-accent, #FDB515); padding: 0.15rem 0.5rem; - border: 1px solid var(--bar-accent, #FDB515); + border: 1px solid var(--hc-accent, #FDB515); border-radius: 4px; background: rgba(253, 181, 21, 0.08); } diff --git a/src/css/custom.css b/src/css/custom.css index 0447402..e4dfd63 100644 --- a/src/css/custom.css +++ b/src/css/custom.css @@ -19,7 +19,7 @@ --docusaurus-highlighted-code-line-bg: rgba(0, 50, 98, 0.10); /* Accent color used by tip admonitions, hover states. */ - --bar-accent: #FDB515; + --hc-accent: #FDB515; } [data-theme='dark'] { @@ -58,7 +58,7 @@ code, pre, .token { } /* Custom container the homepage uses for the hero accent on inline code. */ -.bar-mermaid-caption { +.hc-mermaid-caption { text-align: center; font-size: 0.85rem; color: var(--ifm-color-emphasis-600); diff --git a/src/pages/index.tsx b/src/pages/index.tsx index db34d50..1a1f9ca 100644 --- a/src/pages/index.tsx +++ b/src/pages/index.tsx @@ -54,7 +54,7 @@ export default function Home(): ReactNode { return ( + description="Docs for humanoid_control, the humanoid_control humanoid low-level control stack.">