General Documentation

Table of Content: Index

• Getting Started
• Tools for Hardware Testing
  • Single Finger Test
    • Running
    • Configuration
• Homing of the Joints
  • What is Homing and why is it needed?
  • Zero Position, Home Position and Home Offset
  • Supported Homing Methods
    • None
    • Home at Current Position (“current_position”)
    • Home at Next Encoder Index (“next_index”)
    • Home at End Stop (“endstop”)
    • Home at End Stop After Release (“endstop_release”)
    • First Hit End Stop, Then Search Encoder Index (“endstop_index”)
  • Which Method is Best for Me?
  • How to Determine the Home Offset?
• Build Instructions
  • Real-Time Requirements
  • Get the Source
  • Build
    • With Singularity
    • Without Singularity
    • Real-Time-Capable Build
  • Run Demo
• About Apptainer/Singularity
  • What is Apptainer?
  • Install Apptainer
  • Get our Apptainer Image
  • Run Something in the Container
    • Compatibility with Nvidia Drivers
  • Add Custom Dependencies to the Container