Added a how to bring your own configs guide

Author: danielsanjosepro

docs/getting_started.md

@@ -203,11 +203,8 @@ In this script you need to add a environment variables:
 - `ROS_DOMAIN_ID` **(Required)**: which is used to define nodes that should be able to see each other. In our [demos](misc/demos.md) they are set to 100 as default.
 - `CRISP_CONFIG_PATH` **(Optional)**: which should be the path to a config folder similar to [config path of CRISP_PY](https://github.com/utiasDSL/crisp_py/tree/main/config). 
     If this environment variable is unset, the default configurations will be used.
-    If the user wants to add configurations, simply create a folder with your own configs and make this environment variable point to that config folder.
+    Check [how to create your own config](misc/create_own_config.md) guide for more information.
 
-    !!! note
-        For `crisp_gym>=2.0.0` you can have multiple config paths separated by a colon ":" and check the config paths set using the script `scripts/check_config.py`.
-        Check the example below.
 
 === "crisp_gym >=2.0.0"
 
@@ -219,7 +216,7 @@ In this script you need to add a environment variables:
 
     1. Required for now to install LeRobot
 
-    Finally check the config:
+    Finally check the config (if using one)
     ```bash
     pixi run python scripts/check_config.py
     ```
@@ -284,8 +281,8 @@ There are two recording methods currently available:
     With this you can implement custom recording devices to control the recording workflow
 
     ??? example "Using the FR3 pilot buttons of Franka Robotics as a recording device"
-        In our lab, we use the buttons of the leader robot as a recording device with the [franka-buttons](https://github.com/nakama-lab/franka-buttons) repository.
-        The following script uses the circle, cross, check and up buttons as a record, delete, save and quit commands respectively:
+        In our lab, we use the buttons of the leader robot as a recording device with a for of the [franka-buttons](https://github.com/danielsanjosepro/franka_buttons_ros2/tree/main) repository.
+        The following script uses the circle, cross, check and up buttons as a record, delete, save and quit commands respectively (this is also part of the repository):
         ```py
         """Send recording commands for an episode recorder node to start, stop recording, save episodes and quit using the franka pulot buttons."""
         import rclpy

docs/misc/create_own_config.md

@@ -0,0 +1,48 @@
+# How to create your own config
+
+You can bring your own config to CRISP, so that you are able to create your own environments, teleoperation setup, controllers...
+1. First create a config folder and give it the following structure (you do not need to add all config folders):
+
+```bash
+    my_crisp_configs
+    ├── envs/
+    │   ├── my_env1.yaml
+    │   └── my_env2.yaml
+    ├── recording/
+    │   └── my_recording_manager.yaml
+    ├── teleop/
+    │   └── my_teleop_setup.yaml
+    ├── control/
+    │   ├── my_osc_controller.yaml
+    │   ├── my_joint_controller.yaml
+    │   └── my_cartesian_impedance_controller.yaml
+    ├── my_gripper_config.yaml
+    ├── my_second_gripper_config.yaml
+    ├── my_robot_config.yaml
+    └── my_camera_config.yaml
+
+```
+2. Then add it to your `CRISP_CONFIG_PATH`:
+```bash
+export CRISP_CONFIG_PATH=/path/to/my_crisp_configs
+```
+
+3. Check that the config works.
+
+```bash
+pixi run python scripts/check_config.py
+```
+
+This should output your config if it can loaded properly
+
+---
+
+Now you can use this to create your own environments:
+
+```python
+from crisp_gym.manipulator_env import make_env
+
+env = make_env(env_type="my_env1", namespace="my_robot_namespace_if_required")
+```
+
+Also the record and deploy scripts should be able to find your config now and allow you to load it.

docs/misc/demos.md

@@ -36,10 +36,10 @@ We also have some examples with cameras.
 
 | Robots | Real Sense | Any Camera / Webcam | Orbecc |
 | :--- | :---: | :---: | :---: |
-| Camera demo | ✅ | ✅ | ❔[^2] | 
+| Camera demo | ✅ | ✅ |  ✅[^2] | 
 
 
-[^2]: TODO, still not available in the demos
+[^2]: Available container at: https://github.com/danielsanjosepro/orbec_container_ros2
 
 
 ## Running a demo

mkdocs.yml

@@ -9,6 +9,7 @@ nav:
     - Multi-machine setup: misc/multi_machine_setup.md
     - ROS2 Diagnostics: misc/diagnostics.md
     - Setting up a robot that is not available in the demos: misc/new_robot_setup.md
+    - How to bring your own config: misc/create_own_config.md
 
   # - Test: crisp_controllers/classes.md