docs: restructure documentation#213
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Move the CLI and MCP server pages into a new Software & Tools section, relocate the TOTL and touchscreen guides next to their apps under Tutorials, regroup the tutorials landing page, rename the LeRobot entries for clarity, and tidy the top-level navigation. Add sphinx-reredirects with redirect stubs for the four moved pages (cli, mcp_server, totl, touchscreen) so existing links keep working.
Add a Programming Guide section that gives the API reference a narrative front door: a Concepts page covering the driver model (lifecycle, modes, motion commands, frames and units, reading state, error handling, and logging) and a Writing a Script walkthrough extracted from the demo scripts page. Nest the API reference under it. The demo scripts page is now a clean catalog that points back to the guide.
Move the firmware upgrade procedure out of the software setup page into a dedicated Firmware Upgrade page so the setup walkthrough stays focused on network configuration and driver installation.
Rework the software setup intro to describe the host PC, add uv/uvx install options, drop the stale ROS environment note, and fix grammar. Add a local table of contents to the configuration page, fix its heading hierarchy and overview wording, and apply prose fixes across hardware setup. Standardize on "Arm Controller" and one-sentence-per-line.
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Turn the single troubleshooting page into a landing with quick checks and an LED status reference, and split the content into connection, errors, and motion guides. Rework the error-code reference into root-cause families with the exact get_error_information() strings, a log-reading guide, and richer fixes grounded in the controller source.
Add an Additional Guides section to Service and Maintenance linking the Trossen Arm product and maintenance guides.
Explain why homing is needed and merge the redundant STEP-file sentences in the Service section, and remove em-dashes from the VR and data collection UI guides per house style.
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Update Claude Code, VS Code MCP, and Docker links to their current URLs, point the virtualenv link at the live docs root, and fix the host networking link in the connection guide. Refresh stale redirects across the tutorials (GitHub tree->blob demo links, HuggingFace renames, NVIDIA, MuJoCo, Amazon), drop dead documentation anchors (ffmpeg, anaconda), and point the Isaac Lab install link at the current docs. Add linkcheck_ignore for URLs that reject automated requests but are valid for users.
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Add demo cross-references to the factory reset, Ethernet, joint characteristics, joint modes, and joint limits sections so each configuration points to the demo that exercises it.
Shiming-Liang
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Jul 2, 2026
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| If the problem persists, please submit a support ticket at `Trossen Robotics Support <https://www.trossenrobotics.com/support>`_. | ||
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| Error Code Reference |
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prefer clear pattern of issue and solution before change
prefer actionable bullet points over long sentence
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each section now has a description of the issue with bulleted suggestions following
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This PR comprehensively updates the documentation structure and fleshes out areas that needed more detail. This includes:
Recommend reviewing commit-by-commit