@ -18,22 +18,8 @@ A few items you'll want to know about before getting started.
The entire robot powers up and down with the On/Off switch. When powering down, we recommend selecting 'Power Off' from the Ubuntu Desktop prior to hitting the Off switch
### Charging the Battery
The provided battery charger can be plugged and unplugged at any time during operation. Stretch uses the following charger modes:
| 12V AGM | Charging while robot is powered down |
| SUPPLY | 1) Power the robot during tethered use<br/>2) Repair damaged batteries. |
| REPAIR | Repair damaged 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.
### Runstop
@ -59,8 +45,39 @@ The lightbar will also flash as follows:
| Runstopped | Rapid flash at 1 Hz |
| Charger plugged in | Slow strobe at 0.5 Hz |
Try runstopping the robot and plugging in the charger to become familiar with these modes.
## Hello World Demo
Stretch comes ready to run out of the box. The Xbox Teleoperation demo will let you quickly test out the robot capabilities by teleoperating it with an Xbox Controller.
**Note**: You will find the USB Dongle already plugged into the the USB port of the base trunk.
To start the demo after unboxing and turning the power on:
* Wait for about 45 seconds. You will hear the Ubuntu startup sound, followed by two beeps (indicating the demo is running).
* Hit the Connect button on the controller. The upper two LEDs of the ring will illuminate.
* Hit the Home Robot button. Stretch will go through its homing calibration routine.
* **Note**: make sure the space around the robot is clear before running the Home function
You're ready to go! A few things to try:
* Hit the Stow Robot button. The robot will assume the stow pose.
* Practice driving the robot around.
* Pull the Fast Base trigger while driving. When stowed, it will make Stretch drive faster
* Manually stop the arm or lift from moving to make it stop upon contact.
* Try picking up your cellphone from the floor
* Try grasping cup from a counter top
* Try delivering an object to a person
If you're done, let's power down. First attach the clip-clamp just below the shoulder as shown.
Hold down the Shutdown PC button on the Xbox controller for 2 seconds. This will cause the PC to turn off. You can then power down the robot with the On/Off switch.
Now that you're familiar with the robot, take a minute to watch the [Stretch Powered Best Practices Video](https://youtu.be/iEaapHNfEWA).
### Safe Handling
@ -81,9 +98,7 @@ The [Stretch Unpowered Best Practices Video](https://youtu.be/mQdOGEksdYM) provi
* Manually moving the head and wrist. They will move but they want to go at their own speed.
* The lift will slowly descend when the robot is powered off. If the arm is retracted it may come to rest the tool on the base. If desired to hold the arm up when un-powered, the provided 'clip-clamp' can be clipped onto the mast below the shoulder to support it.
**NOTE**: The RE2 lift descends faster than the RE1. For the RE2 we recommend always attaching the clip-clamp as shown below prior to powering down the NUC computer
**NOTE**: The RE2 lift descends faster than the RE1. For the RE2 we recommend always attaching the clip-clamp prior to powering down the NUC computer
**Things that can hurt the robot**:
@ -93,42 +108,25 @@ The [Stretch Unpowered Best Practices Video](https://youtu.be/mQdOGEksdYM) provi
* Laying the robot down with it weight on its camera.
* Trying to ride on the robot, getting it wet, etc. (eg, common sense)
## Hello World Demo
Stretch comes ready to run out of the box. The Xbox Teleoperation demo will let you quickly test out the robot capabilities by teleoperating it with an Xbox Controller.
**Note**: You will find the USB Dongle already plugged into the the USB port of the base trunk.
To start the demo after unboxing and turning the power on:
* Wait for about 45 seconds. You will hear the Ubuntu startup sound, followed by two beeps (indicating the demo is running).
* Hit the Connect button on the controller. The upper two LEDs of the ring will illuminate.
* Hit the Home Robot button. Stretch will go through its homing calibration routine.
* **Note**: make sure the space around the robot is clear before running the Home function
You're ready to go! A few things to try:
* Hit the Stow Robot button. The robot will assume the stow pose.
* Practice driving the robot around.
* Pull the Fast Base trigger while driving. When stowed, it will make Stretch drive faster
* Manually stop the arm or lift from moving to make it stop upon contact.
* Try picking up your cellphone from the floor
* Try grasping cup from a counter top
* Try delivering an object to a person
### Charging the Battery
If you're done, hold down the Shutdown PC button for 2 seconds. This will cause the PC to turn off. You can then power down the robot. Or proceed to the next step...
The provided battery charger can be plugged and unplugged at any time during operation. Stretch uses the following charger modes:
Now that you're familiar with the robot, take a minute to watch the [Stretch Powered Best Practices Video](https://youtu.be/iEaapHNfEWA).
| 12V AGM | Charging while robot is powered down |
| SUPPLY | 1) Power the robot during tethered use<br/>2) Repair damaged batteries. |
| REPAIR | Repair damaged 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.
## Get Plugged In
Let's get plugged in.
* Power up the robot
* Plug in a mouse, keyboard and HDMI monitor to the robot trunk
Aaron Edsinger
2 years ago