Merge pull request #8 from hello-robot/fix/minor_edits

Updates and fix

getting_started/quick_start_guide_re1.md

@@ -143,7 +143,7 @@ Once the robot has homed, let's write some quick test code:
 ```{.bash .shell-prompt}
 ipython
 ```
-
+    
 Now let's move the robot around using the Robot API. Try typing in these interactive commands at the iPython prompt:
 
 ```{.python .no-copy}
@@ -177,7 +177,8 @@ robot.end_of_arm.move_to('stretch_gripper',-50)
 robot.stow()
 robot.stop()
 ```
-
+!!! note
+    The iPython interpreter also allows you to execute blocks of code in a single go instead of running commands line by line. To end the interpreter session, type exit() and press enter.
 ## Change Credentials
 
 Finally, we recommend that you change the login credentials for the default user, hello-robot. 

getting_started/quick_start_guide_re2.md

@@ -194,6 +194,8 @@ robot.end_of_arm.move_to('stretch_gripper',-50)
 robot.stow()
 robot.stop()
 ```
+!!! note
+    The iPython interpreter also allows you to execute blocks of code in a single go instead of running commands line by line. To end the interpreter session, type exit() and press enter.
 
 ## Change Credentials
 

mkdocs.yml

@@ -130,7 +130,7 @@ nav:
       - FUNMAP: https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap
       - Gazebo Basics:  ./ros1/gazebo_basics.md
     - Other Examples:
-      - Teleoperate Stretch with a Node: ./ros1/example_1.md
+      - Mobile Base Velocity Control: ./ros1/example_1.md
       - Filter Laser Scans: ./ros1/example_2.md
       - Mobile Base Collision Avoidance: ./ros1/example_3.md
       - Give Stretch a Balloon: ./ros1/example_4.md
@@ -170,7 +170,7 @@ nav:
       # - Other Nav Stack Features: ./ros2/other_nav_features.md
       # - Gazebo Basics:  ./ros2/gazebo_basics.md
     - Other Examples:
-      - Teleoperate Stretch with a Node: ./ros2/example_1.md
+      - Mobile Base Velocity Control: ./ros2/example_1.md
       - Filter Laser Scans: ./ros2/example_2.md
       - Mobile Base Collision Avoidance: ./ros2/example_3.md
       - Give Stretch a Balloon: ./ros2/example_4.md

ros1/README.md

@@ -17,12 +17,11 @@ This tutorial track is for users looking to get familiar with programming Stretc
 | 4 | [Internal State of Stretch](internal_state_of_stretch.md)                       | Monitor the joint states of Stretch. |
 | 5 | [RViz Basics](rviz_basics.md)                                                   | Visualize topics in Stretch. |
 | 6 | [Navigation Stack](navigation_stack.md)                                         | Motion planning and control for the mobile base using Nav stack. |
-| 7 | [MoveIt! Basics](moveit_basics.md)                                              | Motion planning and control for the arm using MoveIt. |
-| 8 | [Follow Joint Trajectory Commands](follow_joint_trajectory.md)                  | Control joints using joint trajectory server. |
-| 9 | [Perception](perception.md)                                                     | Use the Realsense D435i camera to visualize the environment. |
-| 10 | [ArUco Marker Detection](aruco_marker_detection.md)                             | Localize objects using ArUco markers. |
-| 11 | [ReSpeaker Microphone Array](respeaker_microphone_array.md)                     | Learn to use the ReSpeaker Microphone Array. |
-| 12 | [FUNMAP](https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap) | Fast Unified Navigation, Manipulation and Planning. |
+| 7 | [Follow Joint Trajectory Commands](follow_joint_trajectory.md)                  | Control joints using joint trajectory server. |
+| 8 | [Perception](perception.md)                                                     | Use the Realsense D435i camera to visualize the environment. |
+| 9 | [ArUco Marker Detection](aruco_marker_detection.md)                             | Localize objects using ArUco markers. |
+| 10 | [ReSpeaker Microphone Array](respeaker_microphone_array.md)                     | Learn to use the ReSpeaker Microphone Array. |
+| 11 | [FUNMAP](https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap) | Fast Unified Navigation, Manipulation and Planning. |
 
 
 ## Other Examples

ros1/autodocking_nav_stack.md

@@ -71,7 +71,7 @@ The third child of the root node is the `Move to dock` action node. This is a si
 The fourth and final child of the sequence node is another `fallback` node with two children - the `Charging?` condition node and the `Move to predock` action node with an `inverter` decorator node (+/- sign). The `Charging?` condition node is a subscriber that checks if the 'present' attribute of the `BatteryState` message is True. If the robot has backed up correctly into the docking station and the charger port latched, this node should return SUCCESS and the autodocking would succeed. If not, the robot moves back to the predock pose through the `Move to predock` action node and tries again.
 
 ## Code Breakdown
-Let's jump into the code to see how things work under the hood. Follow along [here]() (TODO after merge) to have a look at the entire script.
+Let's jump into the code to see how things work under the hood. Follow along [here](https://github.com/hello-robot/stretch_ros/blob/noetic/stretch_demos/nodes/autodocking_bt.py) to have a look at the entire script.
 
 We start off by importing the dependencies. The ones of interest are those relating to py-trees and the various behaviour classes in autodocking.autodocking_behaviours, namely, MoveBaseActionClient, CheckTF and VisualServoing. We also created custom ROS action messages for the ArucoHeadScan action defined in the action directory of stretch_demos package.
 ```python

ros1/example_4.md

@@ -172,7 +172,7 @@ The next line, `rospy.init_node(NAME, ...)`, is very important as it tells rospy
 
 Instantiate class with `Balloon()`.
 
-Give control to ROS with `rospy.spin()`. This will allow the callback to be called whenever new messages come in. If we don't put this line in, then the node will not work, and ROS will not process any messages.
+The `rospy.rate()` is the rate at which the node is going to publish information (10 Hz).
 
 ```python
 while not rospy.is_shutdown():

ros1/example_8.md

@@ -9,7 +9,7 @@ This example will showcase how to save the interpreted speech from Stretch's [Re
 Begin by running the `respeaker.launch` file in a terminal.
 
 ```{.bash .shell-prompt}
-roslaunch respeaker_ros sample_respeaker.launch
+roslaunch respeaker_ros respeaker.launch
 ```
 Then run the [speech_text.py](https://github.com/hello-robot/stretch_tutorials/blob/noetic/src/speech_text.py) node. In a new terminal, execute:
 

ros1/follow_joint_trajectory.md

@@ -293,12 +293,12 @@ You can also actuate a single joint for the Stretch. Below is the list of joints
 
 ```{.bash .no-copy}
 ############################# JOINT LIMITS #############################
-joint_lift:      lower_limit =  0.15,  upper_limit =  1.10  # in meters
+joint_lift:      lower_limit =  0.00,  upper_limit =  1.10  # in meters
 wrist_extension: lower_limit =  0.00,  upper_limit =  0.50  # in meters
 joint_wrist_yaw: lower_limit = -1.75,  upper_limit =  4.00  # in radians
-joint_head_pan:  lower_limit = -2.80,  upper_limit =  2.90  # in radians
-joint_head_tilt: lower_limit = -1.60,  upper_limit =  0.40  # in radians
-joint_gripper_finger_left:  lower_limit = -0.35,  upper_limit =  0.165  # in radians
+joint_head_pan:  lower_limit = -3.90,  upper_limit =  1.50  # in radians
+joint_head_tilt: lower_limit = -1.53,  upper_limit =  0.79  # in radians
+joint_gripper_finger_left:  lower_limit = -0.6,  upper_limit =  0.6  # in radians
 
 # INCLUDED JOINTS IN POSITION MODE
 translate_mobile_base: No lower or upper limit. Defined by a step size in meters
@@ -410,4 +410,4 @@ trajectory_goal.trajectory.header.stamp = rospy.Time(0.0)
 trajectory_goal.trajectory.header.frame_id = 'base_link'
 ```
 
-Set `trajectory_goal` as a `FollowJointTrajectoryGoal` and define the joint names as a list. Then `trajectory_goal.trajectory.points` set by your list of points. Specify the coordinate frame that we want (*base_link*) and set the time to be now.
+Set `trajectory_goal` as a `FollowJointTrajectoryGoal` and define the joint names as a list. Then `trajectory_goal.trajectory.points` set by your list of points. Specify the coordinate frame that we want (*base_link*) and set the time to be now.

ros2/README.md

@@ -18,10 +18,10 @@ This tutorial track is for users looking to get familiar with programming Stretc
 | 2 | [Follow Joint Trajectory Commands](follow_joint_trajectory.md)                  | Control joints using joint trajectory server. |
 | 3 | [Internal State of Stretch](internal_state_of_stretch.md)                       | Monitor the joint states of Stretch. |
 | 4 | [RViz Basics](rviz_basics.md)                                                   | Visualize topics in Stretch. |
-| 5 | [MoveIt2 Basics](moveit_basics.md)                                              | Motion planning and control for the arm using MoveIt. |
+<!--| 5 | 
[MoveIt2 Basics](moveit_basics.md)                                              | Motion planning and control for the arm using MoveIt. |
 | 6 | [MoveIt2 with Rviz](moveit_rviz_demo.md)                                              | Motion planning and control for the arm using MoveIt. |
 | 7 | [MoveIt2 MoveGroup C++ API](moveit_movegroup_demo.md)                                              | Motion planning and control for the arm using MoveIt. |
-<!--| 9 | 
[Perception](coming_soon.md)                                                     | Use the Realsense D435i camera to visualize the environment. |
+| 9 | [Perception](coming_soon.md)                                                     | Use the Realsense D435i camera to visualize the environment. |
 | 10 | [ArUco Marker Detection](coming_soon.md)                             | Localize objects using ArUco markers. |
 | 11 | [ReSpeaker Microphone Array](coming_soon.md)                     | Learn to use the ReSpeaker Microphone Array. |
 | 12 | [FUNMAP](https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap) | Fast Unified Navigation, Manipulation and Planning. |

ros2/align_to_aruco.md

@@ -84,7 +84,7 @@ The joint_states_callback is the callback method that receives the most recent j
         self.joint_state = joint_state
 ```
 
-The copute_difference() method is where we call the get_transform() method from the FrameListener class to compute the difference between the base_link and base_right frame with an offset of 0.5 m in the negative y-axis.
+The compute_difference() method is where we call the get_transform() method from the FrameListener class to compute the difference between the base_link and base_right frame with an offset of 0.5 m in the negative y-axis.
 ```python
     def compute_difference(self):
         self.trans_base, self.trans_camera = self.node.get_transforms()
@@ -103,7 +103,7 @@ To compute the (x, y) coordinates of the SE2 pose goal, we compute the transform
         base_position_y = P_base[1, 0]
 ```
 
-From this, it is relatively straightforward to compute the angle phi and the euclidean distance dist. We then compute the angle z_rot_base to perform the last angle correction.
+From this, it is relatively straightforward to compute the angle **phi** and the euclidean distance **dist**. We then compute the angle z_rot_base to perform the last angle correction.
 ```python
         phi = atan2(base_position_y, base_position_x)
         

ros2/deep_perception.md

@@ -134,7 +134,7 @@ ros2 launch stretch_deep_perception stretch_detect_faces.launch.py
 ![detect_faces](https://user-images.githubusercontent.com/97639181/196327737-7091cd61-f79a-4ff0-a291-039ab3f7127a.gif)
 
 ## Code Breakdown
-Ain't that something! If you followed the breakdown in object detection, you'll find that the only change if you are looking to detect faces, facial landmarks or estimat head pose instead of detecting objects is in using a different deep learning model that does just that. For this, we will explore how to use the OpenVINO toolkit. Let's head to the detect_faces.py [node](https://github.com/hello-robot/stretch_ros2/blob/galactic/stretch_deep_perception/stretch_deep_perception/detect_faces.py) to begin. 
+Ain't that something! If you followed the breakdown in object detection, you'll find that the only change if you are looking to detect faces, facial landmarks or estimate head pose instead of detecting objects is in using a different deep learning model that does just that. For this, we will explore how to use the OpenVINO toolkit. Let's head to the detect_faces.py [node](https://github.com/hello-robot/stretch_ros2/blob/galactic/stretch_deep_perception/stretch_deep_perception/detect_faces.py) to begin. 
 
 In the main() method, we see a similar structure as with the object detction node. We first create an instance of the detector using the HeadPoseEstimator class from the [head_estimator.py](https://github.com/hello-robot/stretch_ros2/blob/galactic/stretch_deep_perception/stretch_deep_perception/head_estimator.py) script to configure the deep learning models. Next, we pass this to an instance of the DetectionNode class from the detection_node.py script and call the main function.
 ```python

ros2/example_10.md

@@ -1,4 +1,4 @@
-# Example 10
+## Example 10
 !!! note
     ROS 2 tutorials are still under active development. 
 
@@ -21,13 +21,13 @@ ros2 run rviz2 rviz2
 Then run the tf2 broadcaster node to visualize three static frames.
 
 ```{.bash .shell-prompt}
-ros2 run stretch_ros_tutorials tf2_broadcaster
+ros2 run stretch_ros_tutorials tf_broadcaster
 ```
 
 The GIF below visualizes what happens when running the previous node.
 
 <p align="center">
-  <img src="https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2/images/tf2_broadcaster.gif"/>
+  <img src="https://raw.githubusercontent.com/hello-robot/stretch_tutorials/noetic/images/tf2_broadcaster.gif"/>
 </p>
 
 **OPTIONAL**: If you would like to see how the static frames update while the robot is in motion, run the stow command node and observe the tf frames in RViz.
@@ -35,9 +35,8 @@ The GIF below visualizes what happens when running the previous node.
 ```{.bash .shell-prompt}
 ros2 run stretch_ros_tutorials stow_command
 ```
-
 <p align="center">
-  <img src="https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2/images/tf2_broadcaster_with_stow.gif"/>
+  <img src="https://raw.githubusercontent.com/hello-robot/stretch_tutorials/noetic/images/tf2_broadcaster_with_stow.gif"/>
 </p>
 
 ### The Code
@@ -222,13 +221,13 @@ ros2 launch stretch_core stretch_driver.launch.py
 Then run the tf2 broadcaster node to create the three static frames.
 
 ```{.bash .shell-prompt}
-ros2 run stretch_ros_tutorials tf2_broadcaster
+ros2 run stretch_ros_tutorials tf_broadcaster
 ```
 
 Finally, run the tf2 listener node to print the transform between two links.
 
 ```{.bash .shell-prompt}
-ros2 run stretch_ros_tutorials tf2_listener
+ros2 run stretch_ros_tutorials tf_listener
 ```
 
 Within the terminal the transform will be printed every 1 second. Below is an example of what will be printed in the terminal. There is also an image for reference of the two frames.
@@ -247,7 +246,7 @@ rotation:
 ```
 
 <p align="center">
-  <img src="https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2/images/tf2_listener.png"/>
+  <img src="https://raw.githubusercontent.com/hello-robot/stretch_tutorials/noetic/images/tf2_listener.png"/>
 </p>
 
 ### The Code

ros2/example_2.md

@@ -59,9 +59,11 @@ ros2 run stretch_ros_tutorials scan_filter
 
 Then run the following command to bring up a simple RViz configuration of the Stretch robot.
 ```{.bash .shell-prompt}
-ros2 run rviz2 rviz2 -d `ros2 pkg prefix stretch_calibration`/rviz/stretch_simple_test.rviz
+ros2 run rviz2 rviz2 -d `ros2 pkg prefix stretch_calibration`/share/stretch_calibration/rviz/stretch_simple_test.rviz
 ```
-
+!!! note
+	If the laser scan points published by the scan or the scan_filtered topic are not visible in RViz, you can visualize them by adding them using the 'Add' button in the left panel, selecting the 'By topic' tab, and then selecting the scan or scan_filtered topic.
+ 
 Change the topic name from the LaserScan display from */scan* to */filter_scan*.
 
 <p align="center">

ros2/example_4.md

@@ -9,7 +9,7 @@ Let's bring up Stretch in RViz by using the following command.
 
 ```{.bash .shell-prompt}
 ros2 launch stretch_core stretch_driver.launch.py
-ros2 run rviz2 rviz2 -d `ros2 pkg prefix stretch_calibrtion`/rviz/stretch_simple_test.rviz
+ros2 run rviz2 rviz2 -d `ros2 pkg prefix stretch_calibration`/share/stretch_calibration/rviz/stretch_simple_test.rviz
 ```
 
 In a new terminal run the following commands to create a marker.

ros2/follow_joint_trajectory.md

@@ -1,6 +1,6 @@
 ## FollowJointTrajectory Commands
 !!! note
-    ROS 2 tutorials are still under active development. 
+    ROS 2 tutorials are still under active development. For this exercise you'll need to have Ubuntu 22.04 and ROS Iron for it to work completly.
 
 Stretch driver offers a [`FollowJointTrajectory`](http://docs.ros.org/en/api/control_msgs/html/action/FollowJointTrajectory.html) action service for its arm. Within this tutorial, we will have a simple FollowJointTrajectory command sent to a Stretch robot to execute.
 

ros2/getting_started.md

@@ -22,13 +22,13 @@ We will disable ROS1 by commenting out the ROS1 related lines by adding '#' in f
 Save this configuration using **Ctrl + S**. Close out of the current terminal and open a new one. ROS2 is now enabled!
 
 ## Refreshing the ROS2 workspace
-While Stretch ROS2 is in beta, there will be frequent updates to the ROS2 software. Therefore, it makes sense to refresh the ROS2 software to the latest available release. In the ROS and ROS2 world, software is organized into "ROS Workspaces", where packages can be developed, compiled, and be made available to run from the command line. We are going to refresh the ROS2 workspace, which is called "~/ament_ws" and available in the home directory. Follow the [Create a new ROS Workspace guide](https://docs.hello-robot.com/0.2/stretch-install/docs/ros_workspace/) to run the `stretch_create_ament_workspace.sh` script. This will delete the existing "~/ament_ws", create a new one with all of the required ROS2 packages for Stretch, and compile it.
+While Stretch ROS2 is in beta, there will be frequent updates to the ROS2 software. Therefore, it makes sense to refresh the ROS2 software to the latest available release. In the ROS and ROS2 world, software is organized into "ROS Workspaces", where packages can be developed, compiled, and be made available to run from the command line. We are going to refresh the ROS2 workspace, which is called "~/ament_ws" and available in the home directory. Follow the [Create a new ROS Workspace guide](https://docs.hello-robot.com/0.2/stretch-install/docs/ros_workspace/) to run the `stretch_create_ament_workspace.sh` script. This will delete the existing "~/ament_ws", create a new one with all of the required ROS2 packages for Stretch, and compile it. Also we need to take into account that building the workspace is different in ROS2, we need to type colcon build instead of catkin make for it to work.
 
 ## Testing Keyboard Teleop
 We can test whether the ROS2 workspace was enabled successfully by testing out the ROS2 drivers package, called "stretch_core", with keyboard teleop. In one terminal, we'll launch Stretch's ROS2 drivers using:
 
 ```{.bash .shell-prompt}
-ros2 launch stretch_core stretch_driver.launch.py mode:=manipulation
+ros2 launch stretch_core stretch_driver.launch.py
 ```
 
 In the second terminal, launch the keyboard teleop node using:

ros2/internal_state_of_stretch.md

@@ -41,6 +41,10 @@ A powerful tool to visualize the ROS communication is through the rqt_graph pack
 ros2 run rqt_graph rqt_graph
 ```
 
-![image](https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2/images/rqt_graph.png)
+![image](https://github.com/hello-robot/stretch_tutorials/assets/141784078/9d6a303c-1681-4723-932c-212f5ced1044)
+
+
+
+
 
 The graph allows a user to observe and affirm if topics are broadcasted to the correct nodes. This method can also be utilized to debug communication issues.

ros2/perception.md

@@ -0,0 +1,48 @@
+## Perception Introduction
+
+The Stretch robot is equipped with the [Intel RealSense D435i camera](https://www.intelrealsense.com/depth-camera-d435i/), an essential component that allows the robot to measure and analyze the world around it. In this tutorial, we are going to showcase how to visualize the various topics published by the camera.
+
+Begin by running the stretch `driver.launch.py` file.
+
+```{.bash .shell-prompt}
+ros2 launch stretch_core stretch_driver.launch.py
+```
+
+To activate the [RealSense camera](https://www.intelrealsense.com/depth-camera-d435i/) and publish topics to be visualized, run the following launch file in a new terminal.
+
+```{.bash .shell-prompt}
+ros2 launch stretch_core d435i_low_resolution.launch.py
+```
+
+Within this tutorial package, there is an [RViz config file](https://github.com/hello-robot/stretch_tutorials/blob/noetic/rviz/perception_example.rviz) with the topics for perception already in the Display tree. You can visualize these topics and the robot model by running the command below in a new terminal.
+
+```{.bash .shell-prompt}
+ros2 run rviz2 rviz2 -d /home/hello-robot/ament_ws/src/stretch_tutorials/rviz/perception_example.rviz
+```
+
+### PointCloud2 Display
+
+A list of displays on the left side of the interface can visualize the camera data. Each display has its properties and status that notify a user if topic messages are received.
+
+For the `PointCloud2` display, a [sensor_msgs/pointCloud2](http://docs.ros.org/en/lunar/api/sensor_msgs/html/msg/PointCloud2.html) message named `/camera/depth/color/points` is received and the GIF below demonstrates the various display properties when visualizing the data.
+
+<p align="center">
+  <img src="https://raw.githubusercontent.com/hello-robot/stretch_tutorials/noetic/images/perception_rviz.gif"/>
+</p>
+
+### Image Display
+The `Image` display when toggled creates a new rendering window that visualizes a [sensor_msgs/Image](http://docs.ros.org/en/lunar/api/sensor_msgs/html/msg/Image.html) messaged, */camera/color/image_raw*. This feature shows the image data from the camera; however, the image comes out sideways.
+
+<p align="center">
+  <img src="https://raw.githubusercontent.com/hello-robot/stretch_tutorials/noetic/images/perception_image.gif"/>
+</p>
+
+### DepthCloud Display
+The `DepthCloud` display is visualized in the main RViz window. This display takes in the depth image and RGB image provided by RealSense to visualize and register a point cloud.
+
+<p align="center">
+  <img src="https://raw.githubusercontent.com/hello-robot/stretch_tutorials/noetic/images/perception_depth.gif"/>
+</p>
+
+## Deep Perception
+Hello Robot also has a ROS package that uses deep learning models for various detection demos. A link to the tutorials is provided: [stretch_deep_perception](https://docs.hello-robot.com/0.2/stretch-tutorials/ros2/deep_perception/).

stretch_body/tutorial_dynamixel_servos.md

@@ -32,7 +32,7 @@ REx_dynamixel_jog.py /dev/hello-dynamixel-head 11
 
 Output:
 ```{.bash .no-copy}
-[Dynamixel ID:011] ping Succeeded. Dynamixel model number : 1080
+[Dynamixel ID:011] ping Succeeded. Dynamixel model number : 1080. Baud 115200
 ------ MENU -------
 m: menu
 a: increment position 50 tick
@@ -52,6 +52,10 @@ t: set max temp
 i: set id
 d: disable torque
 e: enable torque
+x: put in multi-turn mode
+y: put in position mode
+w: put in pwm mode
+f: put in vel mode
 -------------------
 ```
 
@@ -67,12 +71,14 @@ Output:
 ```{.bash .no-copy}
 For use with S T R E T C H (TM) RESEARCH EDITION from Hello Robot Inc.
 
+Rebooting: head_pan
 [Dynamixel ID:011] Reboot Succeeded.
+Rebooting: head_tilt
 [Dynamixel ID:012] Reboot Succeeded.
-[Dynamixel ID:013] Reboot Succeeded.
+Rebooting: stretch_gripper
 [Dynamixel ID:014] Reboot Succeeded.
+Rebooting: wrist_yaw
+[Dynamixel ID:013] Reboot Succeeded.
 ```
 
 ### Identify Servos on the Bus
@@ -80,38 +86,42 @@ For use with S T R E T C H (TM) RESEARCH EDITION from Hello Robot Inc.
 If it is unclear which servos are on the bus, and at what baud rate, you can use the `REx_dynamixel_id_scan.py` tool. Here we see that the two head servos are at ID `11` and `12` at baud `57600`.
 
 ```{.bash .shell-prompt}
-REx_dynamixel_id_scan.py /dev/hello-dynamixel-head --baud 57600
+REx_dynamixel_id_scan.py /dev/hello-dynamixel-head
 ```
 
 Output:
 ```{.bash .no-copy}
 Scanning bus /dev/hello-dynamixel-head at baud rate 57600
 ----------------------------------------------------------
-[Dynamixel ID:000] ping Failed.
-[Dynamixel ID:001] ping Failed.
-[Dynamixel ID:002] ping Failed.
-[Dynamixel ID:003] ping Failed.
-[Dynamixel ID:004] ping Failed.
-[Dynamixel ID:005] ping Failed.
-[Dynamixel ID:006] ping Failed.
-[Dynamixel ID:007] ping Failed.
-[Dynamixel ID:008] ping Failed.
-[Dynamixel ID:009] ping Failed.
-[Dynamixel ID:010] ping Failed.
-[Dynamixel ID:011] ping Succeeded. Dynamixel model number : 1080
-[Dynamixel ID:012] ping Succeeded. Dynamixel model number : 1060
-[Dynamixel ID:013] ping Failed.
-[Dynamixel ID:014] ping Failed.
-[Dynamixel ID:015] ping Failed.
-[Dynamixel ID:016] ping Failed.
-[Dynamixel ID:017] ping Failed.
-[Dynamixel ID:018] ping Failed.
-[Dynamixel ID:019] ping Failed.
-[Dynamixel ID:020] ping Failed.
-[Dynamixel ID:021] ping Failed.
-[Dynamixel ID:022] ping Failed.
-[Dynamixel ID:023] ping Failed.
-[Dynamixel ID:024] ping Failed.
+Scanning bus /dev/hello-dynamixel-head
+Checking ID 0
+Checking ID 1
+Checking ID 2
+Checking ID 3
+Checking ID 4
+Checking ID 5
+Checking ID 6
+Checking ID 7
+Checking ID 8
+Checking ID 9
+Checking ID 10
+Checking ID 11
+[Dynamixel ID:011] ping Succeeded. Dynamixel model number : 1080. Baud 115200
+Checking ID 12
+[Dynamixel ID:012] ping Succeeded. Dynamixel model number : 1060. Baud 115200
+Checking ID 13
+Checking ID 14
+Checking ID 15
+Checking ID 16
+Checking ID 17
+Checking ID 18
+Checking ID 19
+Checking ID 20
+Checking ID 21
+Checking ID 22
+Checking ID 23
+Checking ID 24
+
 ```
 
 ### Setting the Servo Baud Rate
@@ -125,10 +135,8 @@ REx_dynamixel_set_baud.py /dev/hello-dynamixel-wrist 13 115200
 Output:
 ```{.bash .no-copy}
 ---------------------
-Checking servo current baud for 57600
-Identified current baud of 57600. Changing baud to 115200
-Success at changing baud
+
+Success at changing baud. Current baud is 115200 for servo 13 on bus /dev/hello-dynamixel-wrist
 ```
 
 !!! note
@@ -139,15 +147,15 @@ Success at changing baud
 Dynamixel servos come with `ID=1` from the factory. When adding your servos to the end-of-arm tool, you may want to set the servo ID using the `REx_dynamixel_id_change.py` tool. For example:
 
 ```{.bash .shell-prompt}
-REx_dynamixel_id_change.py /dev/hello-dynamixel-wrist 1 13 --baud 115200
+REx_dynamixel_id_change.py /dev/hello-dynamixel-wrist 1 13
 ```
 
 Output:
 ```{.bash .no-copy}
-[Dynamixel ID:001] ping Succeeded. Dynamixel model number : 1080
+[Dynamixel ID:001] ping Succeeded. Dynamixel model number : 1080. Baud 115200
 Ready to change ID 1 to 13. Hit enter to continue:
 
-[Dynamixel ID:013] ping Succeeded. Dynamixel model number : 1080
+[Dynamixel ID:013] ping Succeeded. Dynamixel model number : 1080. Baud 115200
 Success at setting ID to 13
 ```
 

stretch_body/tutorial_introduction.md

@@ -95,24 +95,35 @@ Parameters may be named with a suffix to help describe the unit type. For exampl
 
 ### The Robot Status
 
-The Robot derives from the [Device class](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/device.py). It also encapsulates several other Devices:
+The Robot derives from the [Device class](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/device.py) and we have subclasses that derives from this Device class such as the [Prismatic Joint](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/prismatic_joint.py) and the [Dynamixel XL460](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/dynamixel_hello_XL430.py). It also encapsulates several other Devices:
 
-* [robot.head](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/head.py)
-* [robot.arm](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/arm.py)
-* [robot.lift](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/lift.py)
+**Device**
 * [robot.base](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/base.py)
 * [robot.wacc](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/wacc.py)
 * [robot.pimu](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/pimu.py)
+
+**Prismatic Joint**
+* [robot.arm](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/arm.py)
+* [robot.lift](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/lift.py)
+
+**Dynamixel XL460**
+* [robot.head](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/head.py)
 * [robot.end_of_arm](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/end_of_arm.py)
 
 All devices contain a Status dictionary. The Status contains the most recent sensor and state data of that device. For example, looking at the Arm class we see:
 
 ```python
-class Arm(Device):
-    def __init__(self):
+class Arm(PrismaticJoint):
+    def __init__(self,usb=None):
+```
+As we can see the arm class is part of the PrismaticJoint class but this is also part of the Device class as we can see here:
+
+```python
+class PrismaticJoint(Device):
+    def __init__(self,name,usb=None):
         ...
-		self.status = {'pos': 0.0, 'vel': 0.0, 'force':0.0, \
-                       'motor':self.motor.status,'timestamp_pc':0}
+		self.status = {'timestamp_pc':0,'pos':0.0, 'vel':0.0, \
+                       'force':0.0,'motor':self.motor.status}
 ```
 
 The Status dictionaries are automatically updated by a background thread of the Robot class at around 25Hz. The Status data can be accessed via the Robot class as below:
@@ -189,4 +200,4 @@ robot.stop()
 	The Dynamixel servos do not use the Hello Robot communication protocol. As such, the head, wrist, and gripper will move immediately upon issuing a motion command. 
 
 ------
-<div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
+<div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>

stretch_body/tutorial_parameter_management.md

@@ -15,7 +15,9 @@ a.params
 
 ```{.python .no-copy}
 Out[7]: 
-{'chain_pitch': 0.0167,
+{'usb_name': '/dev/hello-motor-arm',
+ 'force_N_per_A': 55.9
+ 'chain_pitch': 0.0167,
  'chain_sprocket_teeth': 10,
  'gr_spur': 3.875,
  'i_feedforward': 0,
@@ -42,7 +44,9 @@ a.robot_params['lift']
 
 ```{.python .no-copy}
 Out[9]: 
-{'calibration_range_bounds': [1.094, 1.106],
+{'usb_name': '/dev/hello-motor-lift',
+ 'force_N_per_A': 75.0
+ 'calibration_range_bounds': [1.094, 1.106],
  'contact_model': 'effort_pct',
  'contact_model_homing': 'effort_pct',
  'contact_models': {'effort_pct': {'contact_thresh_calibration_margin': 10.0,
@@ -149,4 +153,4 @@ robot.write_user_param_to_YAML('base.wheel_separation_m', d_avg)
 This will update the file `stretch_user_params.yaml`.
 
 ------
-<div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
+<div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>

stretch_body/tutorial_robot_motion.md

@@ -4,13 +4,14 @@ As we've seen in previous tutorials, commanding robot motion is simple and strai
 
 ```python linenums="1"
 import stretch_body.robot
+import time
 robot=stretch_body.robot.Robot()
 robot.startup()
 
 robot.arm.move_by(0.1)
 robot.push_command()
 time.sleep(2.0)
-	
+
 robot.stop()
 ```
 
@@ -18,13 +19,14 @@ The absolute motion can be commanded by:
 
 ```python linenums="1"
 import stretch_body.robot
+import time
 robot=stretch_body.robot.Robot()
 robot.startup()
 
 robot.arm.move_to(0.1)
 robot.push_command()
 time.sleep(2.0)
-	
+
 robot.stop()
 ```
 
@@ -34,6 +36,7 @@ In the above examples, we executed a `time.sleep()` after `robot.push_command()`
 
 ```python linenums="1"
 import stretch_body.robot
+import time
 robot=stretch_body.robot.Robot()
 robot.startup()
 
@@ -50,7 +53,7 @@ robot.push_command()
 time.sleep(2.0)
 robot.arm.move_to(0.0)
 robot.arm.wait_until_at_setpoint()
-	
+
 robot.stop()
 ```
 
@@ -118,7 +121,7 @@ robot.arm.wait_until_at_setpoint()
 robot.arm.move_to(0.5)
 robot.push_command()
 robot.arm.wait_until_at_setpoint()
-	
+
 robot.stop()
 ```
 
@@ -130,6 +133,7 @@ As we see here, the `robot.push_command()` call is not required as the motion be
 
 ```python
 import stretch_body.robot
+import time
 from stretch_body.hello_utils import deg_to_rad
 
 robot=stretch_body.robot.Robot()
@@ -144,7 +148,7 @@ robot.head.move_to('head_pan',deg_to_rad(90.0))
 robot.head.move_to('head_tilt',deg_to_rad(45.0))
 
 time.sleep(3.0)
-	
+
 robot.stop()
 ```
 
@@ -152,6 +156,7 @@ Similar to the stepper joints, the Dynamixel joints accept motion profile and mo
 
 ```python
 import stretch_body.robot
+import time
 robot=stretch_body.robot.Robot()
 robot.startup()
 
@@ -172,7 +177,7 @@ a = robot.params['head_pan']['motion']['slow']['accel']
 robot.head.move_to('head_pan',deg_to_rad(90.0),v_r=v, a_r=a)
 
 time.sleep(3.0)
-	
+
 robot.stop()
 ```
 

stretch_body/tutorial_splined_trajectories.md

@@ -61,6 +61,7 @@ Programming a splined trajectory is straightforward. For example, try the follow
 import stretch_body.robot
 r=stretch_body.robot.Robot()
 r.startup()
+#r.arm.motor.disable_sync_mode() **If you want to try running the code with this command you'll need to coment the r.push_command() and it will work as well
 
 #Define the waypoints
 times = [0.0, 10.0, 20.0]
@@ -73,6 +74,8 @@ for waypoint in zip(times, positions, velocities):
 
 #Begin execution
 r.arm.follow_trajectory()
+r.push_command()
+time.sleep(0.1)
 
 #Wait unti completion
 while r.arm.is_trajectory_active():
@@ -87,7 +90,7 @@ This will cause the arm to move from its current position to 0.45m, then back to
 * This will execute a Cubic spline as we did not pass in accelerations to in `r.arm.trajectory.add`
 * The call to `r.arm.follow_trajectory` is non-blocking and the trajectory generation is handled by a background thread of the Robot class
 
-If you're interested in exploring the trajectory API further the [code for the `stretch_trajectory_jog.py`](https://github.com/hello-robot/stretch_body/blob/master/tools/bin/stretch_trajectory_jog.py) is a great reference to get started.
+If you're interested in exploring the trajectory API further. the [code for the `stretch_trajectory_jog.py`](https://github.com/hello-robot/stretch_body/blob/master/tools/bin/stretch_trajectory_jog.py) is a great reference to get started.
 
 ## Advanced: Controller Parameters