refactor

2 years ago · efd3914985
--- a/README.md
+++ b/README.md
@ -12,5 +12,5 @@ The Stretch Tutorials reposotory provides tutorials on programming the Stretch R
 | [ROS 2](./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. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>

--- a/getting_started/README.md
+++ b/getting_started/README.md
@ -33,5 +33,4 @@ Another way is to look for the distinctive  pink stripe on the RE2 base:
 | 2 | [Updating Software](updating_software.md)       | How to periodically update the Stretch software         |

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/getting_started/best_practices.md
+++ b/getting_started/best_practices.md
@ -1,4 +1,4 @@
 # Tutorial: Stretch Best Practices
 # Stretch Best Practices

 ## Keeping the Robot Charged

@ -23,5 +23,4 @@ While Stretch can tolerate a fair amount of misuse, the following best practices
 | [Stretch Best Practices - Powered On Video](https://youtu.be/iEaapHNfEWA)  | How to work with Stretch when its power is on  |

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/getting_started/quick_start_guide_re1.md
+++ b/getting_started/quick_start_guide_re1.md
@ -226,6 +226,4 @@ We recommend next exploring the ROS based demos that ship with Stretch.  These [
 That's it. Happy coding!

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>


 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/getting_started/quick_start_guide_re2.md
+++ b/getting_started/quick_start_guide_re2.md
@ -20,9 +20,9 @@ The entire robot powers up and down with the On/Off switch. When powering down,

 ![](./images/trunk_rs.png)

 ### Battery Voltage
 ### LED Lightbar

 The LED lightbar on the base indicates the battery voltage according to its color. It should be green, indicating a full charge. If it is orange or red the batteries require charging.
 The LED lightbar on the base indicates the battery voltage according to its color. It should be green, indicating a full charge. If it is orange or red the batteries require charging. 

 ![](./images/lightbar_voltage.png)

@ -227,6 +227,5 @@ We recommend next exploring the ROS based demos that ship with Stretch.  These [
 That's it. Happy coding!

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>

--- a/getting_started/safety_guide.md
+++ b/getting_started/safety_guide.md
@ -211,5 +211,4 @@ The diagrams below show the potential crush points at the top and bottom of the
 ![](./images/lift_up_rs.png)

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/getting_started/troubleshooting_guide.md
+++ b/getting_started/troubleshooting_guide.md
@ -1,4 +1,4 @@
 # Stretch RE1 and RE2: Troubleshooting Guide
 # Stretch Troubleshooting Guide

 This guide covers common issues and ways to resolve them. Please check the [Hello Robot Forum](https://forum.hello-robot.com) for additional topics not covered here.

@ -61,5 +61,4 @@ To turn it off, search for 'Startup' from Ubuntu Activities. Uncheck the box for
 ![](./images/xbox_off_rs.png)

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/getting_started/untethered_operation.md
+++ b/getting_started/untethered_operation.md
@ -140,5 +140,4 @@ $ ssh-copy-id -i  username@ip-address
 This requires you to know the username and ip-address of the robot. Instructions on how to find this information is found in the [SSH & X Server](#ssh-x-server) section. You may now SSH into the robot as normal, and no prompt for the robot's password will appear.

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/getting_started/updating_software.md
+++ b/getting_started/updating_software.md
@ -74,5 +74,4 @@ $ REx_firmware_updater.py --status
 ```

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/mkdocs.yml
+++ b/mkdocs.yml
@ -82,10 +82,11 @@ extra:


 nav:
  - Overview: ./README.md
  - Getting to Know Stretch:
      - Overview: ./getting_started/README.md
      - Basics:
        - Robot Safety: ./getting_started/safety_guide.md
        - Safety Guide: ./getting_started/safety_guide.md
        - Quick Start RE1: ./getting_started/quick_start_guide_re1.md
        - Quick Start RE2: ./getting_started/quick_start_guide_re2.md
        - Best Practices: ./getting_started/best_practices.md
--- a/BIN
+++ b/BIN
--- a/stretch_body/tutorial_collision_avoidance.md
+++ b/stretch_body/tutorial_collision_avoidance.md
@ -241,5 +241,4 @@ Finally, test out the model by driving the arm and lift around using the XBox te
 ```

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/stretch_body/tutorial_command_line_tools.md
+++ b/stretch_body/tutorial_command_line_tools.md
@ -96,5 +96,4 @@ Take a minute to explore each of these tools from the console.


 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/stretch_body/tutorial_contact_models.md
+++ b/stretch_body/tutorial_contact_models.md
@ -165,5 +165,4 @@ optional arguments:


 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/stretch_body/tutorial_custom_wrist_dof.md
+++ b/stretch_body/tutorial_custom_wrist_dof.md
@ -88,5 +88,4 @@ In [4]: r.end_of_arm.move_by('wrist_pitch',0.1)
 ```

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/stretch_body/tutorial_dynamixel_servos.md
+++ b/stretch_body/tutorial_dynamixel_servos.md
@ -1,5 +1,4 @@

 # Working with Dynamixel Servos
 # Tutorial: Working with Dynamixel Servos

 In this tutorial we will go into the details with Dynamixel servos and Stretch.

@ -212,5 +211,4 @@ m.stop()


 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/stretch_body/tutorial_introduction.md
+++ b/stretch_body/tutorial_introduction.md
@ -183,5 +183,4 @@ robot.push_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. 

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/stretch_body/tutorial_parameter_management.md
+++ b/stretch_body/tutorial_parameter_management.md
@ -1,4 +1,4 @@
 # Parameters Management
 # Tutorial: Parameter Management

 In this tutorial we will discuss how parameters are managed in Stretch Body and show examples of how to customize your robot by overriding parameters.

@ -138,5 +138,4 @@ This will update the file `stretch_user_params.yaml`


 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/stretch_body/tutorial_robot_motion.md
+++ b/stretch_body/tutorial_robot_motion.md
@ -1,4 +1,3 @@

 # Tutorial: Robot Motion

 As we've seen in previous tutorials, commanding robot motion can be simple and straight forward. For example, incremental motion of the arm can be commanded by:
@ -314,5 +313,4 @@ The Stretch_Body interface is not designed to support high bandwidth control app
 In practice, a Python based control loop that calls push_command( ) at 1Hz to 10Hz is sufficiently matched to the robot natural dynamics. 

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/stretch_body/tutorial_robot_sensors.md
+++ b/stretch_body/tutorial_robot_sensors.md
@ -350,5 +350,4 @@ The `cliff_event` flag is set when any of the four sensor readings exceed `cliff
 The cliff detection logic can be found in the [Pimu firmware](https://github.com/hello-robot/stretch_firmware/blob/master/arduino/hello_pimu/Pimu.cpp).

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/stretch_body/tutorial_safe_coding.md
+++ b/stretch_body/tutorial_safe_coding.md
@ -109,5 +109,4 @@ The [Robot Sentry](https://github.com/hello-robot/stretch_body/blob/master/pytho
 See the [Collision Avoidance Tutorial](./tutorial_collision_avoidance.md) for more information the the Stretch collision avoidance system.

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/stretch_body/tutorial_splined_trajectories.md
+++ b/stretch_body/tutorial_splined_trajectories.md
@ -43,12 +43,16 @@ optional arguments:

 The tool GUI allows you to interactively construct a splined trajectory and then execute it on the robot. For example, on the arm:

 xxx
 <img src="./images/traj_gui.png"  />

 **NOTE**: Use caution when commanding the base. Ensure that attached cables are long enough to support base motion. Alternatively you may want to put the base on top of a book so the wheel don't touch the ground.

 Finally, you can explore a full-body trajectory using the non-GUI version of the tool:

 ```bash
 >>$ stretch_trajectory_jog.py --full_body
 ```



 ## Programming Trajectories
@ -117,5 +121,4 @@ It is generally important for the waypoints to be spaced far apart. Stretch isn'
 The stepper controllers (arm, lift, and base) can be updated at approximately 20 Hz maximum. Therefore, if your waypoints are spaced 50 ms apart, you run the risk of overflowing the stepper controller. Likewise, the Dynamixel joints can be updated at approximately 12 Hz. As a rule of thumb, spacing the waypoints over 100 ms apart is a good idea.

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/stretch_body/tutorial_stretch_body_api.md
+++ b/stretch_body/tutorial_stretch_body_api.md
@ -417,5 +417,4 @@ p.stop()
 ::: stretch_body.pimu.Pimu

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
--- a/stretch_body/tutorial_tool_change.md
+++ b/stretch_body/tutorial_tool_change.md
@ -244,5 +244,4 @@ Stretch ROS also supports the tool plug-in architecture. Under ROS this is manag
 More coming soon.

 ------
 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch RE1 and RE2 robots are covered by U.S. Patent 11,230,000 and other patents pending.</div>

 <div align="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>