feat: read csv compatibility and use dropdown to show compatibile robots

BarisYazici · BarisYazici · commit 418ebae2d6f1 · 2025-02-19T10:59:37.000+01:00
diff --git a/.editorconfig b/.editorconfig
@@ -25,9 +25,6 @@ max_line_length = 170
 [installation_linux.rst]
 max_line_length = 150
 
-[installation_windows.rst]
-max_line_length = 140
-
 [franka_ros2.rst]
 max_line_length = 151
 
diff --git a/.gitignore b/.gitignore
@@ -3,3 +3,5 @@
 .vscode
 package-lock.json
 .env
+__pycache__
+source/_static/compatibility_data.js
diff --git a/Makefile b/Makefile
@@ -12,7 +12,20 @@ BUILDDIR      = build
 help:
 	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
 
-.PHONY: help Makefile
+.PHONY: help Makefile clean html
+
+# Generate compatibility data JavaScript file
+generate-js:
+	@chmod +x $(SOURCEDIR)/_static/generate_compatibility_js.py
+	@$(SOURCEDIR)/_static/generate_compatibility_js.py
+
+# Clean build directory
+clean:
+	rm -rf $(BUILDDIR)/*
+
+# Custom html target that first generates JS
+html: generate-js
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
 
 # Catch-all target: route all unknown targets to Sphinx using the new
 # "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
diff --git a/source/_static/compatibility_data.py b/source/_static/compatibility_data.py
@@ -0,0 +1,44 @@
+"""Compatibility data for different robot versions."""
+
+import os
+import csv
+from pathlib import Path
+
+
+def read_csv_data(file_path):
+    """Read CSV file and return headers and data."""
+    print(f"Reading CSV file: {file_path}")
+    with open(file_path, "r", encoding="utf-8") as f:
+        reader = csv.reader(f)
+        headers = next(reader)  # First row contains headers
+        data = [row for row in reader]
+    print(f"Headers: {headers}")
+    print(f"Data: {data}")
+    return headers, data
+
+
+def load_compatibility_data():
+    """Load compatibility data from CSV files."""
+    data_dir = Path(__file__).parent / "compatibility_data"
+    print(f"Looking for CSV files in: {data_dir}")
+    compatibility_data = {}
+
+    # Map of robot types to their CSV files
+    robot_files = {"FR3": "FR3.csv", "FER": "FER.csv"}
+
+    for robot, filename in robot_files.items():
+        file_path = data_dir / filename
+        print(f"Checking for file: {file_path}")
+        if file_path.exists():
+            print(f"Found file for {robot}")
+            headers, data = read_csv_data(file_path)
+            compatibility_data[robot] = {"headers": headers, "data": data}
+        else:
+            print(f"File not found for {robot}")
+
+    print(f"Final compatibility data: {compatibility_data}")
+    return compatibility_data
+
+
+# Load the compatibility data when the module is imported
+COMPATIBILITY_DATA = load_compatibility_data()
diff --git a/source/_static/compatibility_data/FER.csv b/source/_static/compatibility_data/FER.csv
@@ -0,0 +1,7 @@
+Robot System Version,libfranka Version,Robot/Gripper Server,franka_ros Version,Ubuntu / ROS 1
+>= 4.2.1,>= 0.9.1 < 0.10.0,5 / 3,>= 0.8.0,20.04 / noetic
+>= 4.0.0,>= 0.8.0,4 / 3,>= 0.8.0,20.04 / noetic
+>= 3.0.0,0.7.1,3 / 3,0.7.0,18.04 / melodic
+>= 1.3.0,0.5.0,3 / 2,0.6.0,16.04 / kinetic
+>= 1.2.0,0.3.0,2 / 2,0.4.0,16.04 / kinetic
+>= 1.1.0,0.2.0,2 / 1,, 
diff --git a/source/_static/compatibility_data/FR3.csv b/source/_static/compatibility_data/FR3.csv
@@ -0,0 +1,5 @@
+Robot System Version,libfranka Version,Robot/Gripper Server,franka_ros2 Version,Ubuntu / ROS 2,franka_ros Version
+>= 5.7.2,>= 0.15.0,9 / 3,>= v1.0.0,22.04 / humble,>= 0.10.0
+>= 5.7.0,>= 0.14.0,8 / 3,N/A,22.04 / humble,>= 0.10.0
+>= 5.5.0,>= 0.13.3,7 / 3,">= v0.1.15",22.04 / humble,>= 0.10.0
+>= 5.2.0,">= 0.10.0 to >= 0.13.0",6 / 3,">= v0.1.0 to >= v0.1.8",22.04 / humble,>= 0.10.0 
diff --git a/source/_static/generate_compatibility_js.py b/source/_static/generate_compatibility_js.py
@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+"""
+Script to generate JavaScript compatibility data file from CSV files.
+This script reads CSV files containing compatibility information for different robot types
+and generates a JavaScript file with the data structured for use in the documentation.
+"""
+
+import os
+import csv
+import json
+from pathlib import Path
+
+
+def read_csv_file(file_path):
+    """Read a CSV file and return headers and data."""
+    with open(file_path, "r") as f:
+        reader = csv.reader(f)
+        headers = next(reader)  # First row contains headers
+        data = [row for row in reader]
+    return headers, data
+
+
+def generate_js():
+    """Generate JavaScript file with compatibility data."""
+    # Directory containing CSV files
+    csv_dir = Path("source/_static/compatibility_data")
+
+    # Dictionary to store compatibility data
+    compatibility_data = {}
+
+    # Map of file names to display names
+    robot_display_names = {"FR3": "Franka Research 3", "FER": "FER"}
+
+    # Read each CSV file in the directory
+    for csv_file in csv_dir.glob("*.csv"):
+        robot_type = csv_file.stem  # Get filename without extension
+        headers, data = read_csv_file(csv_file)
+        display_name = robot_display_names.get(robot_type, robot_type)
+        compatibility_data[display_name] = {"headers": headers, "data": data}
+
+    # Robot descriptions
+    robot_descriptions = {
+        "Franka Research 3": "Latest generation Franka Robot with ROS 2 support",
+        "FER": "Previous generation Franka Emika Robot",
+    }
+
+    # Generate JavaScript content
+    js_content = f"""// Generated compatibility data
+const compatibilityData = {json.dumps(compatibility_data, indent=2)};
+
+// Robot descriptions
+const robotDescriptions = {json.dumps(robot_descriptions, indent=2)};
+"""
+
+    # Write to JavaScript file
+    js_file_path = Path("source/_static/compatibility_data.js")
+    with open(js_file_path, "w") as f:
+        f.write(js_content)
+
+
+if __name__ == "__main__":
+    generate_js()
diff --git a/source/compatibility.rst b/source/compatibility.rst
@@ -14,38 +14,138 @@ implying that compatibility is not guaranteed (e.g., libfranka 0.2.0 may not be
 The Robot system versions 2.x.x are not listed in the table below, but they are included as compatible with Robot system version >= 1.3.0.
 Therefore, they are compatible with libfranka versions 0.4.0 and 0.5.0.
 
-+----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
-| Robot system version | libfranka version | Robot / Gripper |franka_ros2 version| franka_description| Ubuntu / ROS 2    | franka_ros version| Ubuntu / ROS 1    |
-|                      |                   | Server version  |                   |                   |                   |                   |                   |
-+======================+===================+=================+===================+===================+===================+===================+===================+
-| >= 5.7.2 (FR3)       | >= 0.15.0         | 9 / 3           | >= v1.0.0         |                   | 22.04 / humble    | >= 0.10.0         | 20.04 / noetic    |
-+----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
-| >= 5.7.0 (FR3)       | >= 0.14.0         | 8 / 3           |                   |                   | 22.04 / humble    | >= 0.10.0         | 20.04 / noetic    |
-+----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
-| >= 5.5.0 (FR3)       | >= 0.13.3         | 7 / 3           | >= v0.1.15        | >= 0.3.0          | 22.04 / humble    | >= 0.10.0         | 20.04 / noetic    |
-+----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
-| >= 5.5.0 (FR3)       | >= 0.13.3         | 7 / 3           |                   |                   | 22.04 / humble    | >= 0.10.0         | 20.04 / noetic    |
-+----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
-| >= 5.2.0 (FR3)       | >= 0.13.0         | 6 / 3           | >= v0.1.8         |                   | 22.04 / humble    | >= 0.10.0         | 20.04 / noetic    |
-+----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
-| >= 5.2.0 (FR3)       | >= 0.12.1         | 6 / 3           | >= v0.1.6         |                   | 22.04 / humble    | >= 0.10.0         | 20.04 / noetic    |
-+----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
-| >= 5.2.0 (FR3)       | >= 0.11.0         | 6 / 3           | >= v0.1.3         |                   | 22.04 / humble    | >= 0.10.0         | 20.04 / noetic    |
-+----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
-| >= 5.2.0 (FR3)       | >= 0.10.0         | 6 / 3           | >= v0.1.0         |                   | 22.04 / humble    | >= 0.10.0         | 20.04 / noetic    |
-+----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
-| >= 4.2.1 (FER)       | >= 0.9.1 < 0.10.0 | 5 / 3           |                   |                   |                   | >= 0.8.0          | 20.04 / noetic    |
-+----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
-| >= 4.0.0 (FER)       | >= 0.8.0          | 4 / 3           |                   |                   |                   | >= 0.8.0          | 20.04 / noetic    |
-+----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
-| >= 3.0.0 (FER)       | 0.7.1             | 3 / 3           |                   |                   |                   | 0.7.0             | 18.04 / melodic   |
-+----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
-| >= 1.3.0 (FER)       | 0.5.0             | 3 / 2           |                   |                   |                   | 0.6.0             | 16.04 / kinetic   |
-+----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
-| >= 1.2.0 (FER)       | 0.3.0             | 2 / 2           |                   |                   |                   | 0.4.0             | 16.04 / kinetic   |
-+----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
-| >= 1.1.0 (FER)       | 0.2.0             | 2 / 1           |                   |                   |                   |                   |                   |
-+----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
+.. raw:: html
+
+    <style>
+        .compatibility-container {
+            background-color: white;
+            padding: 20px;
+            border-radius: 8px;
+            box-shadow: 0 2px 4px rgba(0,0,0,0.1);
+            margin: 20px 0;
+        }
+        .robot-select {
+            padding: 8px 12px;
+            font-size: 16px;
+            margin-bottom: 20px;
+            border: 1px solid #ddd;
+            border-radius: 4px;
+            width: 200px;
+        }
+        .compatibility-table {
+            width: 100%;
+            border-collapse: collapse;
+            margin-top: 20px;
+        }
+        .compatibility-table th, 
+        .compatibility-table td {
+            border: 1px solid #ddd;
+            padding: 12px;
+            text-align: left;
+        }
+        .compatibility-table th {
+            background-color: #f8f9fa;
+            font-weight: bold;
+        }
+        .compatibility-table tr:nth-child(even) {
+            background-color: #f8f9fa;
+        }
+        .matrix {
+            display: none;
+        }
+        .matrix.active {
+            display: block;
+        }
+        .robot-description {
+            margin-bottom: 15px;
+            font-style: italic;
+            color: #666;
+        }
+    </style>
+
+    <div class="compatibility-container">
+        <select class="robot-select" id="robotSelector" onchange="showCompatibility()">
+        </select>
+        <div class="robot-description" id="robotDescription"></div>
+        <div id="matrixContainer"></div>
+    </div>
+
+    <script src="_static/compatibility_data.js"></script>
+    <script>
+        // Populate the dropdown
+        const selector = document.getElementById('robotSelector');
+        
+        // Sort robot names to ensure Franka Research 3 is first
+        const robotNames = Object.keys(compatibilityData).sort((a, b) => {
+            if (a === 'Franka Research 3') return -1;
+            if (b === 'Franka Research 3') return 1;
+            return a.localeCompare(b);
+        });
+        
+        robotNames.forEach(robot => {
+            const option = document.createElement('option');
+            option.value = robot;
+            option.textContent = robot;
+            selector.appendChild(option);
+        });
+
+        // Set default selection to Franka Research 3
+        selector.value = 'Franka Research 3';
+        showCompatibility();  // Show the default selection immediately
+        
+        function createTable(robotData) {
+            const table = document.createElement('table');
+            table.className = 'compatibility-table';
+            
+            // Create header row
+            const headerRow = document.createElement('tr');
+            robotData.headers.forEach(header => {
+                const th = document.createElement('th');
+                th.textContent = header;
+                headerRow.appendChild(th);
+            });
+            table.appendChild(headerRow);
+            
+            // Create data rows
+            robotData.data.forEach(row => {
+                const tr = document.createElement('tr');
+                row.forEach(cell => {
+                    const td = document.createElement('td');
+                    td.textContent = cell;
+                    tr.appendChild(td);
+                });
+                table.appendChild(tr);
+            });
+            
+            return table;
+        }
+
+        function showCompatibility() {
+            const selected = selector.value;
+            const container = document.getElementById('matrixContainer');
+            const descriptionElement = document.getElementById('robotDescription');
+            
+            // Clear previous content
+            container.innerHTML = '';
+            descriptionElement.textContent = '';
+            
+            if (selected && compatibilityData[selected]) {
+                // Show robot description
+                if (robotDescriptions[selected]) {
+                    descriptionElement.textContent = robotDescriptions[selected];
+                }
+                
+                // Create and show compatibility table
+                const table = createTable(compatibilityData[selected]);
+                container.appendChild(table);
+            }
+        }
+
+        // Initialize on page load
+        document.addEventListener('DOMContentLoaded', function() {
+            showCompatibility();
+        });
+    </script>
 
 `Robot version line 19
 <https://github.com/frankaemika/libfranka-common/blob/fr3-develop/include/research_interface/robot/service_types.h>`_
@@ -74,4 +174,4 @@ The following table gives an overview of recommended Kernels.
 | 5.4.19         | 18.04 (Bionic)          |
 +----------------+-------------------------+
 | 4.14.12        | 16.04 (Xenial Xerus)    |
-+----------------+-------------------------+
++----------------+-------------------------+
diff --git a/source/conf.py b/source/conf.py
@@ -16,10 +16,23 @@
 # If extensions (or modules to document with autodoc) are in another directory,
 # add these directories to sys.path here. If the directory is relative to the
 # documentation root, use os.path.abspath to make it absolute, like shown here.
-#
-# import os
-# import sys
-# sys.path.insert(0, os.path.abspath('.'))
+import os
+import sys
+import json
+from pathlib import Path
+
+sys.path.insert(0, os.path.abspath("_static"))
+
+try:
+    from compatibility_data import COMPATIBILITY_DATA
+
+    print("Loaded compatibility data:", COMPATIBILITY_DATA)
+except ImportError as e:
+    print("Error loading compatibility data:", e)
+    COMPATIBILITY_DATA = {}
+
+# Make the data available to templates
+html_context = {"compatibility_data_json": COMPATIBILITY_DATA}
 
 # -- General configuration ------------------------------------------------
 
@@ -198,3 +211,6 @@ def api_role(name, rawtext, text, lineno, inliner, options={}, content=[]):
         return [node], []
 
     app.add_role("api", api_role)
+
+    # Add jinja2 filters
+    app.add_config_value("compatibility_data_json", COMPATIBILITY_DATA, "html")
diff --git a/source/franka_ros.rst b/source/franka_ros.rst
@@ -1165,7 +1165,7 @@ Possible claims to command interfaces are:
 |     - ``EffortJointInterface`` +                |     - ``EffortJointInterface`` +             |
 |       ``PositionJointInterface``                |       ``FrankaCartesianPoseInterface``       |
 |     - ``EffortJointInterface`` +                |     - ``EffortJointInterface`` +             |
-|       ``VelocityJointInterface``                |     ``FrankaCartesianVelocityInterface``     |
+|       ``VelocityJointInterface``                |       ``FrankaCartesianVelocityInterface``   |
 |     - ``EffortJointInterface`` +                |                                              |
 |       ``FrankaCartesianPoseInterface``          |                                              |
 |     - ``EffortJointInterface`` +                |                                              |
diff --git a/source/getting_started.rst b/source/getting_started.rst
@@ -1,8 +1,8 @@
 Getting started
 ===============
 
-After setting up the required software for :doc:`Linux <installation_linux>` or
-:doc:`Windows <installation_windows>`, it is time to connect to the robot and test the whole setup
+After setting up the required software for :doc:`Linux <installation_linux>`.
+It is time to connect to the robot and test the whole setup
 by using FCI to read the current robot state.
 
 Operating the robot
diff --git a/source/libfranka.rst b/source/libfranka.rst
diff --git a/source/redirects b/source/redirects
