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docs: shared FSM parameter index on the controller reference page - #33
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Operators searching the controller parameter reference missed Home and Hold keys that live in arms_controller_common. Add a Shared FSM parameters section before the per-controller tables, and point the how-to shared mechanisms section back at that index. Restore MyST heading-anchor metadata after sphinx-intl republishes translated snippets, so zh_CN cross-document anchors still resolve under -W. Co-authored-by: HUANG ZHENBIAO <legubiao@users.noreply.github.com>
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Problem
Site search on Controller ROS 2 parameters still misses Home (and buries Hold) because those
arms_controller_commonnames were only spelled out on the how-to page, or only inside each controller section.Change
StateHome):home_1…home_10,home_duration,home_interpolation_type,home_tanh_scale,home_max_*,switch_command_base. Both Basic Joint and OCS2 Arm passauto_declareintoStateHome::init; the constructordeclare_parameters the threehome_max_*limits when they are absent. OCS2-onlyhome_pos/rest_posstay on the OCS2 table. Fuller prose: how-to shared Home.StateHold):hold_first_check_position_thresholdandhold_position_threshold, with links to the Basic Joint and OCS2 Arm Hold subsections (from docs: Hold parameter names on controller ROS 2 reference page #32, now onmain) and the how-to Hold section. The MoveJ table is not copied; the primary table stays under Basic Joint, with the existing OCS2 declare-time deltas called out in one sentence.arms_target_manager, waist keys, and OCS2 WBC. Publicarms_ros2_controlat pin9a1da3bashows these Home/Holdauto_declares only in Basic Joint and OCS2 Arm.ocs2-wbc-controlleris private here, so this index does not add WBC rows.source/conf.pyrestores MySTmyst_slugsafter sphinx-intl republishes a translated snippet. Without that, zh_CN cross-document#anchorsinto this page fail under-Weven though the HTML id is present.Rebased onto
mainafter #32 landed as a squash. The Hold rows on the reference page stay; this PR only adds the shared-FSM index on top of them.Verification
make html/make html-zh_CN— success (-W)python3 scripts/check_zh_coverage.py --threshold 95— 100%python3 scripts/check_zh_mix.pyand--html-root build/html/zh_CN --require-html— passhold_first_check_position_thresholdthree times (index, Basic Joint, OCS2 Arm). How-to EN and zh_CN both link to#shared-fsm-parameters.