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fix broken links

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Aaron Edsinger 2 years ago
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README.md View File

@ -10,7 +10,7 @@ The Stretch Tutorials reposotory provides tutorials on programming the Stretch R
| [Stretch Body](./stretch_body/README.md) | Learn how to program Stretch using its low level Python interface | | [Stretch Body](./stretch_body/README.md) | Learn how to program Stretch using its low level Python interface |
| [ROS 1 (Melodic)](./ros1_melodic/README.md) | Learn how to program Stretch using its ROS1 (Melodic) interface | | [ROS 1 (Melodic)](./ros1_melodic/README.md) | Learn how to program Stretch using its ROS1 (Melodic) interface |
| [ROS 1 (Noetic)](./ros1/README.md) | Learn how to program Stretch using its ROS1 (Noetic) interface | | [ROS 1 (Noetic)](./ros1/README.md) | Learn how to program Stretch using its ROS1 (Noetic) interface |
| [ROS 2](./ros2/README.md) | Learn how to program Stretch using its ROS2 interface |
| [ROS 2 (Beta)](./ros2/README.md) | Learn how to program Stretch using its ROS2 interface |
------ ------
<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>

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getting_started/best_practices.md View File

@ -6,11 +6,11 @@ Keeping Stretch charged is important to the long-term health of its batteries -
=== "Stretch RE1" === "Stretch RE1"
[RE1 Battery Maintenance Guide](https://docs.hello-robot.com/0.2/stretch-hardware-guides/battery_maintenance_guide_re1/).
[RE1 Battery Maintenance Guide](https://docs.hello-robot.com/0.2/stretch-hardware-guides/docs/battery_maintenance_guide_re1/)
=== "Stretch RE2" === "Stretch RE2"
[RE2 Battery Maintenance Guide](https://docs.hello-robot.com/0.2/stretch-hardware-guides/battery_maintenance_guide_re2).
[RE2 Battery Maintenance Guide](https://docs.hello-robot.com/0.2/stretch-hardware-guides/docs/battery_maintenance_guide_re2/)
## Keeping the Robot Healthy ## Keeping the Robot Healthy

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getting_started/quick_start_guide_re1.md View File

@ -34,7 +34,7 @@ The provided battery charger can be plugged and unplugged at any time during ope
| SUPPLY | 1) Power the robot during tethered use<br/>2) Repair damaged batteries. | | SUPPLY | 1) Power the robot during tethered use<br/>2) Repair damaged batteries. |
| REPAIR | Repair damaged batteries. | | REPAIR | Repair damaged batteries. |
Please review the [Battery Maintenance Guide](https://docs.hello-robot.com/0.2/stretch-hardware-guides/battery_maintenance_guide_re1/) for proper care and charging of Stretch batteries.
Please review the [Battery Maintenance Guide](https://docs.hello-robot.com/0.2/stretch-hardware-guides/docs/battery_maintenance_guide_re1//) for proper care and charging of Stretch batteries.
![](./images/NOCO_Genius10_UI_rs.png) ![](./images/NOCO_Genius10_UI_rs.png)

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getting_started/quick_start_guide_re2.md View File

@ -37,7 +37,7 @@ The provided battery charger can be plugged and unplugged at any time during ope
| SUPPLY | 1) Power the robot during tethered use<br/>2) Repair damaged batteries. | | SUPPLY | 1) Power the robot during tethered use<br/>2) Repair damaged batteries. |
| REPAIR | Repair damaged batteries. | | REPAIR | Repair damaged batteries. |
Please review the [Battery Maintenance Guide](https://docs.hello-robot.com/0.2/stretch-hardware-guides/battery_maintenance_guide_re1/) for proper care and charging of Stretch batteries.
Please review the [Battery Maintenance Guide](https://docs.hello-robot.com/0.2/stretch-hardware-guides/docs/battery_maintenance_guide_re2/) for proper care and charging of Stretch batteries.
![](./images/NOCO_Genius10_UI_rs.png) ![](./images/NOCO_Genius10_UI_rs.png)

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mkdocs.yml View File

@ -111,92 +111,94 @@ nav:
- Changing Tools: ./stretch_body/tutorial_tool_change.md - Changing Tools: ./stretch_body/tutorial_tool_change.md
- Custom Wrist DOF: ./stretch_body/tutorial_custom_wrist_dof.md - Custom Wrist DOF: ./stretch_body/tutorial_custom_wrist_dof.md
- Safety Features: ./stretch_body/tutorial_safe_coding.md - Safety Features: ./stretch_body/tutorial_safe_coding.md
- ROS1 (Melodic):
- Overview: ./ros1_melodic/README.md
- Basics:
- Getting Started: ./ros1_melodic/getting_started.md
- Gazebo Basics: ./ros1_melodic/gazebo_basics.md
- Teleoperating Stretch: ./ros1_melodic/teleoperating_stretch.md
- Internal State of Stretch: ./ros1_melodic/internal_state_of_stretch.md
- RViz Basics: ./ros1_melodic/rviz_basics.md
- Navigation Stack: ./ros1_melodic/navigation_stack.md
- MoveIt! Basics: ./ros1_melodic/moveit_basics.md
- Follow Joint Trajectory Commands: ./ros1_melodic/follow_joint_trajectory.md
- Perception: ./ros1_melodic/perception.md
- ArUco Marker Detection: ./ros1_melodic/aruco_marker_detection.md
- ReSpeaker Microphone Array: ./ros1_melodic/respeaker_microphone_array.md
- FUNMAP: https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap
- Other Examples:
- Teleoperate Stretch with a Node: ./ros1_melodic/example_1.md
- Filter Laser Scans: ./ros1_melodic/example_2.md
- Mobile Base Collision Avoidance: ./ros1_melodic/example_3.md
- Give Stretch a Balloon: ./ros1_melodic/example_4.md
- Print Joint States: ./ros1_melodic/example_5.md
- Store Effort Values: ./ros1_melodic/example_6.md
- Capture Image: ./ros1_melodic/example_7.md
- Voice to Text: ./ros1_melodic/example_8.md
- Voice Teleoperation of Base: ./ros1_melodic/example_9.md
- Tf2 Broadcaster and Listener: ./ros1_melodic/example_10.md
- PointCloud Transformation: ./ros1_melodic/example_11.md
- ArUco Tag Locator: ./ros1_melodic/example_12.md
- 2D Navigation Goals: ./ros1_melodic/example_13.md
- ROS1 (Noetic):
- Overview: ./ros1/README.md
- Basics:
- Getting Started: ./ros1/getting_started.md
- Gazebo Basics: ./ros1/gazebo_basics.md
- Teleoperating Stretch: ./ros1/teleoperating_stretch.md
- Internal State of Stretch: ./ros1/internal_state_of_stretch.md
- RViz Basics: ./ros1/rviz_basics.md
- Navigation Stack: ./ros1/navigation_stack.md
- MoveIt! Basics: ./ros1/moveit_basics.md
- Follow Joint Trajectory Commands: ./ros1/follow_joint_trajectory.md
- Perception: ./ros1/perception.md
- ArUco Marker Detection: ./ros1/aruco_marker_detection.md
- ReSpeaker Microphone Array: ./ros1/respeaker_microphone_array.md
- FUNMAP: https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap
- Other Examples:
- Teleoperate Stretch with a Node: ./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
- Print Joint States: ./ros1/example_5.md
- Store Effort Values: ./ros1/example_6.md
- Capture Image: ./ros1/example_7.md
- Voice to Text: ./ros1/example_8.md
- Voice Teleoperation of Base: ./ros1/example_9.md
- Tf2 Broadcaster and Listener: ./ros1/example_10.md
- PointCloud Transformation: ./ros1/example_11.md
- ArUco Tag Locator: ./ros1/example_12.md
- 2D Navigation Goals: ./ros1/example_13.md
- ROS2 (Beta):
- Overview: ./ros2/README.md
- Basics:
- Getting Started: ./ros2/getting_started.md
- Gazebo Basics: ./ros2/gazebo_basics.md
- Teleoperating Stretch: ./ros2/teleoperating_stretch.md
- Internal State of Stretch: ./ros2/internal_state_of_stretch.md
- RViz Basics: ./ros2/rviz_basics.md
- Navigation Stack: ./ros2/navigation_stack.md
- MoveIt! Basics: ./ros2/moveit_basics.md
- Follow Joint Trajectory Commands: ./ros2/follow_joint_trajectory.md
# - Perception: ./ros2/perception.md
# - ArUco Marker Detection: ./ros2/aruco_marker_detection.md
# - ReSpeaker Microphone Array: ./ros2/respeaker_microphone_array.md
# - FUNMAP: https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap
# - ROS testing: ./ros2/ros_testing.md
# - Other Nav Stack Features: ./ros2/other_nav_features.md
- Other Examples:
- Teleoperate Stretch with a Node: ./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
# - Print Joint States: ./ros2/example_5.md
# - Store Effort Values: ./ros2/example_6.md
# - Capture Image: ./ros2/example_7.md
# - Voice to Text: ./ros2/example_8.md
# - Voice Teleoperation of Base: ./ros2/example_9.md
- Tf2 Broadcaster and Listener: ./ros2/example_10.md
# - PointCloud Transformation: ./ros2/example_11.md
# - ArUco Tag Locator: ./ros2/example_12.md
- ROS:
- ROS1 (Melodic):
- Overview: ./ros1_melodic/README.md
- Basics:
- Getting Started: ./ros1_melodic/getting_started.md
- Gazebo Basics: ./ros1_melodic/gazebo_basics.md
- Teleoperating Stretch: ./ros1_melodic/teleoperating_stretch.md
- Internal State of Stretch: ./ros1_melodic/internal_state_of_stretch.md
- RViz Basics: ./ros1_melodic/rviz_basics.md
- Navigation Stack: ./ros1_melodic/navigation_stack.md
- MoveIt! Basics: ./ros1_melodic/moveit_basics.md
- Follow Joint Trajectory Commands: ./ros1_melodic/follow_joint_trajectory.md
- Perception: ./ros1_melodic/perception.md
- ArUco Marker Detection: ./ros1_melodic/aruco_marker_detection.md
- ReSpeaker Microphone Array: ./ros1_melodic/respeaker_microphone_array.md
- FUNMAP: https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap
- Other Examples:
- Teleoperate Stretch with a Node: ./ros1_melodic/example_1.md
- Filter Laser Scans: ./ros1_melodic/example_2.md
- Mobile Base Collision Avoidance: ./ros1_melodic/example_3.md
- Give Stretch a Balloon: ./ros1_melodic/example_4.md
- Print Joint States: ./ros1_melodic/example_5.md
- Store Effort Values: ./ros1_melodic/example_6.md
- Capture Image: ./ros1_melodic/example_7.md
- Voice to Text: ./ros1_melodic/example_8.md
- Voice Teleoperation of Base: ./ros1_melodic/example_9.md
- Tf2 Broadcaster and Listener: ./ros1_melodic/example_10.md
- PointCloud Transformation: ./ros1_melodic/example_11.md
- ArUco Tag Locator: ./ros1_melodic/example_12.md
- 2D Navigation Goals: ./ros1_melodic/example_13.md
- ROS1 (Noetic):
- Overview: ./ros1/README.md
- Basics:
- Getting Started: ./ros1/getting_started.md
- Gazebo Basics: ./ros1/gazebo_basics.md
- Teleoperating Stretch: ./ros1/teleoperating_stretch.md
- Internal State of Stretch: ./ros1/internal_state_of_stretch.md
- RViz Basics: ./ros1/rviz_basics.md
- Navigation Stack: ./ros1/navigation_stack.md
- MoveIt! Basics: ./ros1/moveit_basics.md
- Follow Joint Trajectory Commands: ./ros1/follow_joint_trajectory.md
- Perception: ./ros1/perception.md
- ArUco Marker Detection: ./ros1/aruco_marker_detection.md
- ReSpeaker Microphone Array: ./ros1/respeaker_microphone_array.md
- FUNMAP: https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap
- Other Examples:
- Teleoperate Stretch with a Node: ./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
- Print Joint States: ./ros1/example_5.md
- Store Effort Values: ./ros1/example_6.md
- Capture Image: ./ros1/example_7.md
- Voice to Text: ./ros1/example_8.md
- Voice Teleoperation of Base: ./ros1/example_9.md
- Tf2 Broadcaster and Listener: ./ros1/example_10.md
- PointCloud Transformation: ./ros1/example_11.md
- ArUco Tag Locator: ./ros1/example_12.md
- 2D Navigation Goals: ./ros1/example_13.md
- ROS2 (Galactic, Beta):
- Overview: ./ros2/README.md
- Basics:
- Getting Started: ./ros2/getting_started.md
- Gazebo Basics: ./ros2/gazebo_basics.md
- Teleoperating Stretch: ./ros2/teleoperating_stretch.md
- Internal State of Stretch: ./ros2/internal_state_of_stretch.md
- RViz Basics: ./ros2/rviz_basics.md
- Navigation Stack: ./ros2/navigation_stack.md
- MoveIt! Basics: ./ros2/moveit_basics.md
- Follow Joint Trajectory Commands: ./ros2/follow_joint_trajectory.md
# - Perception: ./ros2/perception.md
# - ArUco Marker Detection: ./ros2/aruco_marker_detection.md
# - ReSpeaker Microphone Array: ./ros2/respeaker_microphone_array.md
# - FUNMAP: https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap
# - ROS testing: ./ros2/ros_testing.md
# - Other Nav Stack Features: ./ros2/other_nav_features.md
- Other Examples:
- Teleoperate Stretch with a Node: ./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
# - Print Joint States: ./ros2/example_5.md
# - Store Effort Values: ./ros2/example_6.md
# - Capture Image: ./ros2/example_7.md
# - Voice to Text: ./ros2/example_8.md
# - Voice Teleoperation of Base: ./ros2/example_9.md
- Tf2 Broadcaster and Listener: ./ros2/example_10.md
# - PointCloud Transformation: ./ros2/example_11.md
# - ArUco Tag Locator: ./ros2/example_12.md

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ros2/README.md View File

@ -17,12 +17,12 @@ This tutorial track is for users looking to become familiar with programming the
| 6 | [Navigation Stack](navigation_stack.md) | | | 6 | [Navigation Stack](navigation_stack.md) | |
| 7 | [MoveIt! Basics](moveit_basics.md) | | | 7 | [MoveIt! Basics](moveit_basics.md) | |
| 8 | [Follow Joint Trajectory Commands](follow_joint_trajectory.md) | | | 8 | [Follow Joint Trajectory Commands](follow_joint_trajectory.md) | |
| 9 | [Perception](perception.md) | |
| 10 | [ArUco Marker Detection](aruco_marker_detection.md) | |
| 9 | [Perception](coming_soon.md) | |
| 10 | [ArUco Marker Detection](comming_soon.md) | |
| 11 | [ReSpeaker Microphone Array](respeaker_microphone_array.md) | | | 11 | [ReSpeaker Microphone Array](respeaker_microphone_array.md) | |
| 12 | [FUNMAP](https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap) | | | 12 | [FUNMAP](https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap) | |
| 13 | [ROS testing](ros_testing.md) | |
| 14 | [Other Nav Stack Features](other_nav_features.md) | |
| 13 | [ROS testing](coming_soon.md) | |
| 14 | [Other Nav Stack Features](coming_soon.md) | |
## Other Examples ## Other Examples

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![](../images/banner.png)
ROS 2 tutorials are still under active development. Coming soon.

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## Example 1 ## Example 1
**NOTE**: ROS 2 tutorials are still under active development.
<p align="center"> <p align="center">
<img src="images/move_stretch.gif"/> <img src="images/move_stretch.gif"/>
</p> </p>

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# Example 10 # Example 10
**NOTE**: ROS 2 tutorials are still under active development.
This tutorial provides you an idea of what tf2 can do in the Python track. We will elaborate how to create a tf2 static broadcaster and listener. This tutorial provides you an idea of what tf2 can do in the Python track. We will elaborate how to create a tf2 static broadcaster and listener.

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## Example 2 ## Example 2
**NOTE**: ROS 2 tutorials are still under active development.
The aim of this example is to provide instruction on how to filter scan messages. The aim of this example is to provide instruction on how to filter scan messages.

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ros2/example_3.md View File

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## Example 3 ## Example 3
**NOTE**: ROS 2 tutorials are still under active development.
The aim of example 3 is to combine the two previous examples and have Stretch utilize its laser scan data to avoid collision with objects as it drives forward. The aim of example 3 is to combine the two previous examples and have Stretch utilize its laser scan data to avoid collision with objects as it drives forward.

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ros2/example_4.md View File

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## Example 4 ## Example 4
**NOTE**: ROS 2 tutorials are still under active development.
![image](images/balloon.png) ![image](images/balloon.png)

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ros2/follow_joint_trajectory.md View File

@ -1,4 +1,5 @@
## FollowJointTrajectory Commands ## FollowJointTrajectory Commands
**NOTE**: ROS 2 tutorials are still under active development.
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. 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.

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# Spawning Stretch in Simulation (Gazebo) # Spawning Stretch in Simulation (Gazebo)
**NOTE**: ROS 2 tutorials are still under active development.
### NOTE ### NOTE
Simulation support for Stretch in ROS 2 is under active development. Please reach out to us if you want to work with Stretch in a simulated environment like Gazebo/Ignition in ROS 2. Simulation support for Stretch in ROS 2 is under active development. Please reach out to us if you want to work with Stretch in a simulated environment like Gazebo/Ignition in ROS 2.

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# Getting Started # Getting Started
**NOTE**: ROS 2 tutorials are still under active development.
## Installing Ubuntu 20.04 with ROS 2 Galactic on Stretch ## Installing Ubuntu 20.04 with ROS 2 Galactic on Stretch
Hello Robot utilizes Ubuntu, an open source Linux operating system, for the Stretch RE1 platform. If you are unfamiliar with the operating system, we encourage you to review a [tutorial](https://ubuntu.com/tutorials/command-line-for-beginners#1-overview) provided by Ubuntu. Additionally, the Linux command line, BASH, is used to execute commands and is needed to run ROS on the Stretch robot. Here is a [tutorial](https://ryanstutorials.net/linuxtutorial/) on getting started with BASH. Hello Robot utilizes Ubuntu, an open source Linux operating system, for the Stretch RE1 platform. If you are unfamiliar with the operating system, we encourage you to review a [tutorial](https://ubuntu.com/tutorials/command-line-for-beginners#1-overview) provided by Ubuntu. Additionally, the Linux command line, BASH, is used to execute commands and is needed to run ROS on the Stretch robot. Here is a [tutorial](https://ryanstutorials.net/linuxtutorial/) on getting started with BASH.

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ros2/internal_state_of_stretch.md View File

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## Getting the State of the Robot ## Getting the State of the Robot
**NOTE**: ROS 2 tutorials are still under active development.
Begin by starting up the stretch driver launch file by typing the following in a terminal. Begin by starting up the stretch driver launch file by typing the following in a terminal.
```bash ```bash
ros2 launch stretch_core stretch_driver.launch.py ros2 launch stretch_core stretch_driver.launch.py

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# MoveIt! Basics # MoveIt! Basics
<!--
**NOTE**: ROS 2 tutorials are still under active development.
## MoveIt! on Stretch ## MoveIt! on Stretch
To run MoveIt with the actual hardware, (assuming `stretch_driver` is already running) simply run To run MoveIt with the actual hardware, (assuming `stretch_driver` is already running) simply run
```bash ```bash
@ -8,7 +11,7 @@ roslaunch stretch_moveit_config move_group.launch
This will runs all of the planning capabilities, but without the setup, simulation and interface that the above demo provides. In order to create plans for the robot with the same interface as the offline demo, you can run This will runs all of the planning capabilities, but without the setup, simulation and interface that the above demo provides. In order to create plans for the robot with the same interface as the offline demo, you can run
```bash ```bash
roslaunch stretch_moveit_config moveit_rviz.launch roslaunch stretch_moveit_config moveit_rviz.launch
``` -->
```
## MoveIt! Without Hardware ## MoveIt! Without Hardware
To begin running MoveIt! on stretch, checkout to the feature/hybrid_planning branch and run the demo launch file. To begin running MoveIt! on stretch, checkout to the feature/hybrid_planning branch and run the demo launch file.

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## Navigation Stack with Actual robot ## Navigation Stack with Actual robot
### NOTE ### NOTE
Nav 2 support for Stretch in ROS 2 is under active development. Please reach out to us if you want to use Nav 2 with Stretch in ROS 2. Nav 2 support for Stretch in ROS 2 is under active development. Please reach out to us if you want to use Nav 2 with Stretch in ROS 2.

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## Visualizing with RViz ## Visualizing with RViz
**NOTE**: ROS 2 tutorials are still under active development.
You can utilize RViz to visualize Stretch's sensor information. To begin, run the stretch driver launch file. You can utilize RViz to visualize Stretch's sensor information. To begin, run the stretch driver launch file.
```bash ```bash

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stretch_body/tutorial_custom_wrist_dof.md View File

@ -5,7 +5,7 @@ In this tutorial we explore how to add additional degrees of freedom to the Stre
Stretch exposes a Dynamixel X-Series TTL control bus at the end of its arm. It uses the [Dynamixel XL430-W250](https://emanual.robotis.com/docs/en/dxl/x/xl430-w250/) for the [WristYaw](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/wrist_yaw.py) and the [StretchGripper](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/stretch_gripper.py) degrees of freedom that come standard with the robot. Stretch exposes a Dynamixel X-Series TTL control bus at the end of its arm. It uses the [Dynamixel XL430-W250](https://emanual.robotis.com/docs/en/dxl/x/xl430-w250/) for the [WristYaw](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/wrist_yaw.py) and the [StretchGripper](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/stretch_gripper.py) degrees of freedom that come standard with the robot.
See the [Hardware User Guide](https://docs.hello-robot.com/hardware_user_guide/#wrist) to learn how to mechanically attach additional DOFs to the robot.
See the [Hardware User Guide](https://docs.hello-robot.com/0.2/stretch-hardware-guides/docs/hardware_guide_re2/#wrist-tool-plate) to learn how to mechanically attach additional DOFs to the robot.
**Note: Stretch is compatible with [any Dynamixel X Series servo](https://emanual.robotis.com/docs/en/dxl/x/) that utilizes the TTL level Multidrop Bus.** **Note: Stretch is compatible with [any Dynamixel X Series servo](https://emanual.robotis.com/docs/en/dxl/x/) that utilizes the TTL level Multidrop Bus.**

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stretch_body/tutorial_splined_trajectories.md View File

@ -100,7 +100,8 @@ Sometimes the robot motion isn't quite what is expected when executing a splined
For example, the arm trajectory below has a large excursion outside of the joints range of motion (white). This is because the second waypoint expects a non-zero velocity when the arm reaches full extension. For example, the arm trajectory below has a large excursion outside of the joints range of motion (white). This is because the second waypoint expects a non-zero velocity when the arm reaches full extension.
<img src="./images/bad_trajectory.png" />
![](./images/bad_trajectory.png)
Often the trajectory waypoints will be generated from a motion planner. It is important that this planner incorporates the position, velocity, and acceleration constraints of the joint. These can be found by, for example Often the trajectory waypoints will be generated from a motion planner. It is important that this planner incorporates the position, velocity, and acceleration constraints of the joint. These can be found by, for example

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stretch_body/tutorial_stretch_body_api.md View File

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# Stretch Body API Reference # Stretch Body API Reference
Stretch Body is the Python interface to working with the Stretch RE1. This page serves as a reference of the interfaces defined in the `stretch_body` library. Stretch Body is the Python interface to working with the Stretch RE1. This page serves as a reference of the interfaces defined in the `stretch_body` library.
See the [Stretch Body Tutorials](shttps://docs.hello-robot.com/0.2/stretch-tutorials/stretch_body/) for additional information on working with this library.
See the [Stretch Body Tutorials](https://docs.hello-robot.com/0.2/stretch-tutorials/stretch_body/) for additional information on working with this library.
## The Robot Class ## The Robot Class

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