From 83b1b8d9b543ae74fd03aab93514137afb24745d Mon Sep 17 00:00:00 2001 From: hello-chintan Date: Fri, 10 Mar 2023 11:43:06 -0800 Subject: [PATCH] Fix broken links and typos --- stretch_body/tutorial_parameter_management.md | 4 ++-- stretch_body/tutorial_safe_coding.md | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/stretch_body/tutorial_parameter_management.md b/stretch_body/tutorial_parameter_management.md index 3195a86..05f87f6 100644 --- a/stretch_body/tutorial_parameter_management.md +++ b/stretch_body/tutorial_parameter_management.md @@ -134,10 +134,10 @@ stretch_body.robot_params.nominal_params param.arm.motion.default.vel_m 0.1 ## Programmatically Modifying and Storing Parameters -A user can compute the value of a parameter programmatically and modify the robot settings accordingly. For example, in the Stretch Factory tool [REx_base_calibrate_wheel_seperation.py](https://github.com/hello-robot/stretch_factory/blob/master/python/tools/REx_base_calibrate_wheel_separation.py) we see that the parameter `wheel_seperation_m` is recomputed as the variable `d_avg`. This new value could be used during the robot execution by simply: +A user can compute the value of a parameter programmatically and modify the robot settings accordingly. For example, in the Stretch Factory tool [REx_base_calibrate_wheel_separation.py](https://github.com/hello-robot/stretch_factory/blob/master/python/tools/REx_base_calibrate_wheel_separation.py) we see that the parameter `wheel_separation_m` is recomputed as the variable `d_avg`. This new value could be used during the robot execution by simply: ```python -robot.base.params['wheel_seperation_m']=d_vag +robot.base.params['wheel_separation_m']=d_vag ``` or it could be saved as a user override: diff --git a/stretch_body/tutorial_safe_coding.md b/stretch_body/tutorial_safe_coding.md index 91f3b20..62ca61e 100644 --- a/stretch_body/tutorial_safe_coding.md +++ b/stretch_body/tutorial_safe_coding.md @@ -43,7 +43,7 @@ The [Pimu firmware](https://github.com/hello-robot/stretch_firmware/tree/master/ ## Robot Monitor -The [Robot Monitor](https://github.com/hello-robot/stretch_body/blob/master/python/stretch_body/robot_monitor.py) is a thread that monitors the Robot Status data for significant events. For example, it can monitor the error flags from the Dynamixel servos and notify when a thermal overload occurs. The Robot Monitor logs warnings to a log file by default. +The [Robot Monitor](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/robot_monitor.py) is a thread that monitors the Robot Status data for significant events. For example, it can monitor the error flags from the Dynamixel servos and notify when a thermal overload occurs. The Robot Monitor logs warnings to a log file by default. The default parameters associated with RobotMonitor are: @@ -99,7 +99,7 @@ Starting Robot Monitor. Ctrl-C to exit ## Robot Sentry -The [Robot Sentry](https://github.com/hello-robot/stretch_body/blob/master/python/stretch_body/robot_sentry.py) is a thread that can override and also generate commands to the robot hardware. Its purpose is to keep the robot operating within a safe regime. For example, the Robot Sentry monitors the position of the Lift and Arm and limits the maximum base velocity and acceleration to reduce the chance of toppling. The Robot Sentry reports events to the log file as well. +The [Robot Sentry](https://github.com/hello-robot/stretch_body/blob/331fa7f737628719264f66670c4cfb5a2ab94173/body/stretch_body/wrist_yaw.py#L35) is a thread that can override and also generate commands to the robot hardware. Its purpose is to keep the robot operating within a safe regime. For example, the Robot Sentry monitors the position of the Lift and Arm and limits the maximum base velocity and acceleration to reduce the chance of toppling. The Robot Sentry reports events to the log file as well. | YAML | Function | | ------------------------ | ------------------------------------------------------------ |