From 5554378d7dd38728b995d152882ba97c798fb1f8 Mon Sep 17 00:00:00 2001
From: hello-jesus <141784078+hello-jesus@users.noreply.github.com>
Date: Thu, 10 Aug 2023 12:15:21 -0700
Subject: [PATCH] Added some output changes
It's a minimal thing but I added the new outputs of usb_name and the force_N_per
---
stretch_body/tutorial_parameter_management.md | 10 +++++++---
1 file changed, 7 insertions(+), 3 deletions(-)
diff --git a/stretch_body/tutorial_parameter_management.md b/stretch_body/tutorial_parameter_management.md
index 05f87f6..01ec140 100644
--- a/stretch_body/tutorial_parameter_management.md
+++ b/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`.
------
- All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
\ No newline at end of file
+ All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.