From 79e603bb8f46a54dddc065e4a8a860b8a5686a0a Mon Sep 17 00:00:00 2001 From: hello-chintan Date: Tue, 24 Jan 2023 19:28:54 -0500 Subject: [PATCH] Minor edits --- stretch_body/tutorial_contact_models.md | 6 ++---- stretch_body/tutorial_introduction.md | 6 ++++-- stretch_tool_share/dex_to_standard.md | 12 ++++++------ 3 files changed, 12 insertions(+), 12 deletions(-) diff --git a/stretch_body/tutorial_contact_models.md b/stretch_body/tutorial_contact_models.md index 6c425c7..82e2a0a 100644 --- a/stretch_body/tutorial_contact_models.md +++ b/stretch_body/tutorial_contact_models.md @@ -7,11 +7,9 @@ This tutorial introduces the Stretch Body contact detection system and explains Guarded contact is our term for the Stretch contact sensitive behaviors. The guarded contact behavior is simply: 1. Detect when the actuator effort exceeds a user-specified threshold during joint motion. - 2. If the threshold is exceeded: - - 1. Enable the default safety controller for the joint - 2. Remain in safety mode until a subsequent joint command is received + 1. Enable the default safety controller for the joint + 2. Remain in safety mode until a subsequent joint command is received Practically this enables the arm, for example, to move out yet stop upon collision. Let's test this out with the following script: diff --git a/stretch_body/tutorial_introduction.md b/stretch_body/tutorial_introduction.md index 158b514..d6db6d5 100644 --- a/stretch_body/tutorial_introduction.md +++ b/stretch_body/tutorial_introduction.md @@ -183,9 +183,11 @@ time.sleep(2.0) robot.stop() ``` -**NOTE**: In this example we call `sleep()` to allow time for the motion to complete before initiating a new motion. +!!! note + In this example we call `sleep()` to allow time for the motion to complete before initiating a new motion. -**NOTE**: 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. +!!! note + 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. ------
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\ No newline at end of file diff --git a/stretch_tool_share/dex_to_standard.md b/stretch_tool_share/dex_to_standard.md index 50c64df..20090e8 100644 --- a/stretch_tool_share/dex_to_standard.md +++ b/stretch_tool_share/dex_to_standard.md @@ -3,12 +3,12 @@ This tutorial will guide you through the steps of replacing a gripper with a Dex ## Parts and Tools Required Please note that this procedure does not require any additional parts or tools apart from the ones that were shipped with the robot. - - 8 [M2x6mm Torx FHCS bolts](https://www.mcmaster.com/90236A104/) - - 4 [M2.5x4mm Torx FHCS bolts](https://www.mcmaster.com/92703A448/) - - 2 [M2.5x8mm SHCS bolts](https://www.mcmaster.com/91290A102/) - - T6 Torx wrench - - T8 Torx wrench - - 2mm Hex key +- 8 [M2x6mm Torx FHCS bolts](https://www.mcmaster.com/90236A104/) +- 4 [M2.5x4mm Torx FHCS bolts](https://www.mcmaster.com/92703A448/) +- 2 [M2.5x8mm SHCS bolts](https://www.mcmaster.com/91290A102/) +- T6 Torx wrench +- T8 Torx wrench +- 2mm Hex key ## Removing Dex Wrist Gripper Here we describe removing the Dex Wrist gripper. Please ensure that the robot is turned off before proceeding.