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Merge pull request #393 from clearpathrobotics/development
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‎.github/workflows/preview-close.yml‎

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name: 'Manual Amplify Preview Closed'
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on:
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pull_request_target:
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types: [closed]
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jobs:
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delete:
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permissions:
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id-token: write
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if: contains(github.event.pull_request.labels.*.name, 'Preview Environment')
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runs-on: ubuntu-latest
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steps:
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- name: configure AWS credentials
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id: creds
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uses: aws-actions/configure-aws-credentials@v4
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with:
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aws-region: us-east-2
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role-to-assume: ${{ secrets.AWS_GITHUB_ACTIONS_ROLE }}
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output-credentials: true
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- name: cleanup PR preview branch
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uses: clearpathrobotics/amplify-preview-actions@sed-replace-all
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with:
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branch_name: ${{ github.head_ref }}
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amplify_command: delete
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env:
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AWS_ACCESS_KEY_ID: ${{ steps.creds.outputs.aws-access-key-id }}
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AWS_SECRET_ACCESS_KEY: ${{ steps.creds.outputs.aws-secret-access-key }}
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AmplifyAppId: ${{ secrets.AMPLIFY_APP_ID }}
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AWS_REGION: 'us-east-2'

‎.github/workflows/preview-rc.yml‎

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name: Amplify Branch Management
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description: 'Adds(or removes) branch to Amplify with preview enabled'
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on:
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create:
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delete:
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jobs:
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deploy-to-amplify:
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if: github.event_name == 'create' && startsWith(github.event.ref, 'rc/')
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runs-on: ubuntu-latest
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permissions:
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id-token: write
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steps:
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- name: configure AWS credentials
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id: creds
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uses: aws-actions/configure-aws-credentials@v4
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with:
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aws-region: us-east-2
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role-to-assume: ${{ secrets.AWS_GITHUB_ACTIONS_ROLE }}
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output-credentials: true
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- name: Enable Amplify Branch With Preview
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uses: clearpathrobotics/amplify-preview-actions@sed-replace-all
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with:
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branch_name: ${{ github.event.ref }}
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amplify_command: deploy
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env:
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AWS_ACCESS_KEY_ID: ${{ steps.creds.outputs.aws-access-key-id }}
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AWS_SECRET_ACCESS_KEY: ${{ steps.creds.outputs.aws-secret-access-key }}
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AmplifyAppId: ${{ secrets.AMPLIFY_APP_ID }}
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EnablePreview: true
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AWS_REGION: 'us-east-2'
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remove-from-amplify:
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if: github.event_name == 'delete' && (startsWith(github.event.ref, 'rc/') || startsWith(github.head_ref, 'rc/'))
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runs-on: ubuntu-latest
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permissions:
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id-token: write
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steps:
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- name: Get ref for pull_request
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run: |
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echo "BRANCH_NAME=${{ github.head_ref }}" >> $GITHUB_ENV
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if: github.event_name == 'pull_request_target'
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- name: Get ref for delete
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run: |
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echo "BRANCH_NAME=${{ github.event.ref }}" >> $GITHUB_ENV
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if: github.event_name == 'delete'
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- name: configure AWS credentials
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id: creds
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uses: aws-actions/configure-aws-credentials@v4
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with:
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aws-region: us-east-2
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role-to-assume: ${{ secrets.AWS_GITHUB_ACTIONS_ROLE }}
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output-credentials: true
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- name: Remove Branch From Amplify
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uses: clearpathrobotics/amplify-preview-actions@sed-replace-all
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with:
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branch_name: ${{ env.BRANCH_NAME }}
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amplify_command: delete
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env:
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AWS_ACCESS_KEY_ID: ${{ steps.creds.outputs.aws-access-key-id }}
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AWS_SECRET_ACCESS_KEY: ${{ steps.creds.outputs.aws-secret-access-key }}
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AmplifyAppId: ${{ secrets.AMPLIFY_APP_ID }}
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AWS_REGION: 'us-east-2'

‎.github/workflows/preview.yaml‎

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name: Manual Amplify Preview
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on:
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pull_request:
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types: [labeled]
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jobs:
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deploy:
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if: contains(github.event.label.name, 'Preview Environment')
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runs-on: ubuntu-latest
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continue-on-error: true
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permissions:
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id-token: write
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pull-requests: write
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steps:
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- name: configure AWS credentials
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id: creds
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uses: aws-actions/configure-aws-credentials@v4
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with:
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aws-region: us-east-2
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role-to-assume: ${{ secrets.AWS_GITHUB_ACTIONS_ROLE }}
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output-credentials: true
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- name: deploy PR preview
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uses: clearpathrobotics/amplify-preview-actions@sed-replace-all
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with:
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branch_name: ${{ github.head_ref }}
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amplify_command: deploy
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env:
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AWS_ACCESS_KEY_ID: ${{ steps.creds.outputs.aws-access-key-id }}
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AWS_SECRET_ACCESS_KEY: ${{ steps.creds.outputs.aws-secret-access-key }}
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AmplifyAppId: ${{ secrets.AMPLIFY_APP_ID }}
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AWS_REGION: 'us-east-2'
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

‎README.md‎

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## How should I write pages?
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1. Refer to [Markdown's guide](https://www.markdownguide.org/basic-syntax/) for syntax
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2. Refer to [Docusaurus's guide](https://docusaurus.io/docs/next/markdown-features) for supported Markdown features
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3. For advanced users, refer to [Markdown MDX](https://mdxjs.com/) for adding React Components to a Markdown file
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4. for advanced users, you may create React pages using _.js_ or _.ts_ file types
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1. Refer to [Markdown's guide](https://www.markdownguide.org/basic-syntax/) for syntax.
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Comments should be added using a `[//]: <>` start to a line.
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HTML commenting—`<!-- -->`—causes issues with the MDX extension in VS Code.
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2. Refer to [Docusaurus's guide](https://docusaurus.io/docs/next/markdown-features) for supported Markdown features.
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3. For advanced users, refer to [Markdown MDX](https://mdxjs.com/) for adding React Components to a Markdown file.
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4. for advanced users, you may create React pages using _.js_ or _.ts_ file types.
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## How should I name files?
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In an `img/` folder next to the markdown files where it will be used.
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6. Files larger than 100 MB
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Files added to GitHub must be smaller than 100 MB—_(at time of writing in 2025-04)_.
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You will be able to commit a large file locally, but the push to GitHub will fail.
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We are storing large files in an Amazon S3 Bucket, rather than the cpr-documentation repository's `/static/assets` directory.
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Note that this means large files will need to be added by Clearpath Robotics staff, as we do not provide public access to this S3 Bucket.
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To add a file:
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* Sign into https://us-east-2.console.aws.amazon.com/s3/ .
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* Navigate to the S3 Bucket `cpr-documentation-large-files `.
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* Select the `Upload` button, and choose your local file.
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* After the file has been uploaded, click on the new object, and copy its `Object URL`.
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This is the public URL to access the file you uploaded.
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Note that this S3 Bucket is configured so all files' permissions are automatically set to public access.
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## How to merge branches into the Production branch?
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The website is built and deployed using AWS Amplify.

‎components/common_in_case_of_collision.mdx‎

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### In Case Of A Collision
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Your commissioning and operations teams should develop procedures for how to deal with incidents, like a robot hitting a person.
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:::tip Procedure At Clearpath Robotics's Facility
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1. Stop the robot by pressing a red Emergency Stop button on the robot or an equipped attachment.
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2. Is anyone hurt?
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Administer first aid immediately.
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Seek medical attention if necessary.
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3. Document the incident.
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1. Follow workplace injury and accident reporting procedures.
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2. Note the time and place.
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3. Note which robot was involved.
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4. Interview any witnesses.
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5. Take photos or make a drawing.
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4. Assess the state of the robot.
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1. Visually inspect the robot for damage and take photos of any damage found.
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2. If there is no visible damage, observe the robot after it returns to service.
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3. If any irregularities or differences in its behavior are observed, remove the affected robot from service.
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:::

‎components/common_lighting_states_estop_reset_operational.mdx‎

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<div class="table-container-for-centering">
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<div class="centred-table">
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| Lighting State | Lighting Pattern |
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| :----------------------------------- | :--------------------------------------------------------------------------------------: |
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| Emergency Stop | <img src="/img/robot_images/common_images/lighting_images/stopped.gif" width="100"/> |
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| Needs Reset _(after Emergency Stop)_ | <img src="/img/robot_images/common_images/lighting_images/needs_reset.gif" width="100"/> |
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| Operational _(Driving or Idle)_ | <img src="/img/robot_images/common_images/lighting_images/driving.png" width="100"/> |
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</div>
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</div>

‎components/common_risk_assessment_for_integrations.mdx‎

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:::safety-danger
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**Always perform a risk assessment prior to any custom integrations.**
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Custom integrations are outside the scope of the robot's safety assessment, as custom integrations may result in new hazards.
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:::
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<br />

‎components/common_software_integration.mdx‎

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{(props.headingSize == 2) && <h2>Software Integration</h2>}
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{(props.headingSize == 3) && <h3>Software Integration</h3>}
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ROS has a large ecosystem of sensor drivers, some of which include pre-made URDF descriptions and
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even simulation configurations. Refer to [Sensors supported by ROS](http://wiki.ros.org/Sensors).
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For the best experience, consider purchasing supported accessories from Clearpath Robotics for your
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robot, which will include simulation, visualization, and driver support.
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Refer to the following for more details:
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- [Computers](/docs_robots/accessories/computers)
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- [Sensors](/docs_robots/accessories/sensors)
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- [Manipulators](/docs_robots/accessories/manipulators)
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- [Accessories](/docs_robots/accessories/add-ons)

‎components/common_who_can_maintain_the_robot.mdx‎

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:::safety-danger
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Maintaining robots can be dangerous.
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There are hazards from high energy batteries, sharp edges, joints that can shear, and heavy items that can crush.
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The robot is intended to be maintained by a technician that is familiar with safe work procedures, and has experience using the required tools.
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Technicians must read and understand this manual.
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Technicians must review and understand their worksite's Risk Assessment and required procedures.
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Contact our [Support Team](#support) if you have any questions.
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:::

‎components/common_wireless_emergency_stop_charging.mdx‎

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### Charging The Wireless Emergency Stop Transmitter
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This transmitter is part of the _Wireless Emergency Stop_ upgrade kit for Husky.
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1. Remove the battery from the _Wireless Emergency Stop Transmitter_.
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2. Connect the charger's AC cable to an outlet at your worksite.
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3. Connect the transmitter's battery to the charger.
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<center>
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<figure>
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<img
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src="/img/robot_images/common_images/wireless_emergency_stop_charger_empty.png"
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width="350"
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/>
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<img
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src="/img/robot_images/common_images/wireless_emergency_stop_charger_charging.png"
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width="350"
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/>
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<figcaption>Wirelesss Emergency Stop Transmitter's Charger</figcaption>
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</figure>
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</center>
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<center>
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<figure>
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<img
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src="/img/robot_images/common_images/wireless_emergency_stop_transmitter_battery_removal_1.png"
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width="350"
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/>
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<img
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src="/img/robot_images/common_images/wireless_emergency_stop_transmitter_battery_removal_2.png"
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width="350"
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/>
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<figcaption>Removing the Wirelesss Emergency Stop Transmitter's Battery</figcaption>
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</figure>
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</center>
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:::info
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The robot's spare parts kit included a second battery for the transmitter.
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:::

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