docs: update for joy_teleop flat mode switching - #15
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Reflect the mode_manager -> joy_teleop refactor across the docs: flat switching (any transition from any state), no /control_mode topic, no /humanoid_control/mode/* services, native fallback_controllers, standby constant-PD-from-measured, enable_joy_teleop rename. Diagrams (generated SVGs) are NOT updated here and still show the old FSM; they need a separate regeneration pass (see PR description). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_019T47bdWkZy9wcZeCUJuwWT
Update the affected SVGs to the new architecture (mode_manager -> joy_teleop, flat switching, no /control_mode, native fallback_controllers) and re-adopt draw_diagrams.py as the source of truth: bake the orange-theme recolor into write_svg (the plain-orange redesign had edited the SVGs directly, desyncing the generator), verified to reproduce every unaffected diagram byte-for-byte. Diagrams changed: five_mode_fsm (state graph -> flat button map), safety_pipeline (auto-DAMP -> native fallback + telemetry), messages (drop /control_mode + dead mode_manager pub/subs), intro system/packages, lite_101 spawn/internals, first_real_bringup, architecture module_deps. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_019T47bdWkZy9wcZeCUJuwWT
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Summary
Updates the documentation to match the
mode_manager→joy_teleoprefactor (Berkeley-Humanoids/humanoid_control_ros2#21). 32 pages.What changed
Flat model throughout: the five control modes still exist as controllers, but switching is now direct
joy_teleop→/controller_manager/switch_controller— any transition from any state (BEST_EFFORT), no FSM/gating. Buttons: X=DAMP, L1+A/B/Y=STANDBY poses, R1+A=LOCOMOTION, R1+B=REMOTE, BACK=STOP. Headless viaros2 control switch_controllers; active mode read fromlist_controllers.five_mode_fsmreframed to flat switching;safety_pipelinedrops the auto-DAMP-on-/safety_statuspath (nativefallback_controllers;/safety_statusis telemetry);architecture,prime_hybrid_actuation,indexupdated.switch_controllers_manually,recover_from_fault(no auto-DAMP; native fallback + operator STOP),calibrate_zero_pose/first_real_bringup/mit_slider_gui(enable_joy_teleop),talk_to_humanoid_control_from_python(callswitch_controller, not mode services), plus the rest.controllers,launch_args,manual_controllers,messages(ControlMode type retained for the DDS bridge;/control_modetopic gone),topics_services(removed/control_mode+ mode-service rows),cli_tools/packages(joy_teleop, nomode_managerexe),quick_reference,policy_runner,troubleshooting.mujoco_fsm_walkreframed,lite_101,tracking_policy,run_gravity_compensation,build_your_own_controller,prime_bringup(Prime button map),intro.Notes
mode_manager/ auto-DAMP:concepts__five_mode_fsm__01,concepts__safety_pipeline__01,reference__messages__01,getting_started__lite_101__01/__02,how_to__first_real_bringup__01,getting_started__intro__01/__02. They are generated byscripts/draw_diagrams.py, whose palette is out of sync with the current orange recolor — re-running it would revert all diagram colors, so the generator needs reconciling first, then the affected diagram functions updated with visual review.🤖 Generated with Claude Code
https://claude.ai/code/session_019T47bdWkZy9wcZeCUJuwWT