cccccccc
/
stretch_tutorials
mirror of https://github.com/hello-robot/stretch_tutorials.git
1
0
Fork 0
Code Issues 0 Projects 0 Releases 0 Wiki Activity
Browse Source

Modified instructions to change the mode to position rather than manipulation.

noetic
hello-sanchez 2 years ago
parent
7c751544e3
commit
c28ac91692
3 changed files with 24 additions and 12 deletions
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. +2
    -2
      example_6.md
  2. +14
    -8
      follow_joint_trajectory.md
  3. +8
    -2
      src/single_joint_actuator.py

+ 2
- 2
example_6.md View File

@ -14,11 +14,11 @@ Begin by running the following command in the terminal in a terminal.
roslaunch stretch_core stretch_driver.launch
```
Switch the mode to *manipulation* mode using a rosservice call. Then run the single effort sensing node.
Switch the mode to *position* mode using a rosservice call. Then run the single effort sensing node.
```bash
# Terminal 2
rosservice call /switch_to_manipulation_mode
rosservice call /switch_to_position_mode
cd catkin_ws/src/stretch_tutorials/src/
python effort_sensing.py
```

+ 14
- 8
follow_joint_trajectory.md View File

@ -16,11 +16,11 @@ Begin by running the following command in the terminal in a terminal.
roslaunch stretch_core stretch_driver.launch
```
Switch the mode to *manipulation* mode using a rosservice call. Then run the stow command node.
Switch the mode to *position* mode using a rosservice call. Then run the stow command node.
```bash
# Terminal 2
rosservice call /switch_to_manipulation_mode
rosservice call /switch_to_position_mode
cd catkin_ws/src/stretch_tutorials/src/
python stow_command.py
```
@ -168,11 +168,11 @@ Begin by running the following command in the terminal in a terminal.
roslaunch stretch_core stretch_driver.launch
```
Switch the mode to *manipulation* mode using a rosservice call. Then run the multipoint command node.
Switch the mode to *position* mode using a rosservice call. Then run the multipoint command node.
```bash
# Terminal 2
rosservice call /switch_to_manipulation_mode
rosservice call /switch_to_position_mode
cd catkin_ws/src/stretch_tutorials/src/
python multipoint_command.py
```
@ -291,17 +291,23 @@ Set *trajectory_goal* as a `FollowJointTrajectoryGoal` and define the joint name
<img src="images/single_joint_actuator.gif"/>
</p>
You can also actuate a single joint for the Stretch. Below are the list of joints and their position limit that can be moved in the *position* mode.
You can also actuate a single joint for the Stretch. Below are the list of joints and their position limit.
```
############################# Joint limits #############################
############################# JOINT LIMITS #############################
joint_lift: lower_limit = 0.15, upper_limit = 1.10 # in meters
wrist_extension: lower_limit = 0.00, upper_limit = 0.50 # in meters
joint_wrist_yaw: lower_limit = -1.75, upper_limit = 4.00 # in radians
joint_head_pan: lower_limit = -2.80, upper_limit = 2.90 # in radians
joint_head_tilt: lower_limit = -1.60, upper_limit = 0.40 # in radians
joint_gripper_finger_left: lower_limit = -0.35, upper_limit = 0.165 # in radians
# INCLUDED JOINT IN MANIPULATION MODE
joint_mobile_base_translation: lower_limit = -0.50, upper_limit = 0.50 # in radians
# INCLUDED JOINTS IN POSITION MODE
translate_mobile_base: No lower or upper limit. Defined by a step size in meters
rotate_mobile_base: No lower or upper limit. Defined by a step size in radians
########################################################################
```
@ -312,11 +318,11 @@ Begin by running the following command in the terminal in a terminal.
roslaunch stretch_core stretch_driver.launch
```
Switch the mode to *manipulation* mode using a rosservice call. Then run the single joint actuator node.
Switch the mode to *position* mode using a rosservice call. Then run the single joint actuator node.
```bash
# Terminal 2
rosservice call /switch_to_manipulation_mode
rosservice call /switch_to_position_mode
cd catkin_ws/src/stretch_tutorials/src/
python single_joint_actuator.py
```

+ 8
- 2
src/single_joint_actuator.py View File

@ -30,14 +30,20 @@ class SingleJointActuator(hm.HelloNode):
:param self: The self reference.
"""
# Here is a list of joints and their recommended position limits:
############################# Joint limits #############################
############################# JOINT LIMITS #############################
# joint_lift: lower_limit = 0.15, upper_limit = 1.10 # in meters
# wrist_extension: lower_limit = 0.00, upper_limit = 0.50 # in meters
# joint_wrist_yaw: lower_limit = -1.75, upper_limit = 4.00 # in radians
# joint_head_pan: lower_limit = -2.80, upper_limit = 2.90 # in radians
# joint_head_tilt: lower_limit = -1.60, upper_limit = 0.40 # in radians
# joint_gripper_finger_left: lower_limit = -0.35, upper_limit = 0.165 # in radians
# joint_gripper_finger_left: lower_limit = -0.35, upper_limit = 0.165 # in radians
#
# INCLUDED JOINT IN MANIPULATION MODE
# joint_mobile_base_translation: lower_limit = -0.50, upper_limit = 0.50 # in radians
#
# INCLUDED JOINTS IN POSITION MODE
# translate_mobile_base: No lower or upper limit. Defined by a step size in meters
# rotate_mobile_base: No lower or upper limit. Defined by a step size in radians
########################################################################
# Set trajectory_goal as a FollowJointTrajectoryGoal and define

Write Preview
Loading…
Cancel
Save