diff --git a/README.md b/README.md index dee1330..0fb808a 100644 --- 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 | ------ -
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.
+
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
diff --git a/getting_started/README.md b/getting_started/README.md index ba09844..de514d5 100644 --- 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 | ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
diff --git a/getting_started/best_practices.md b/getting_started/best_practices.md index a3a2da6..e2ef5ed 100644 --- 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 | ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
\ No newline at end of file diff --git a/getting_started/quick_start_guide_re1.md b/getting_started/quick_start_guide_re1.md index d6e97fd..72ffe65 100644 --- 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! ------ -
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.
- - +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
\ No newline at end of file diff --git a/getting_started/quick_start_guide_re2.md b/getting_started/quick_start_guide_re2.md index 50bb49a..dc1b839 100644 --- 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! ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
diff --git a/getting_started/safety_guide.md b/getting_started/safety_guide.md index 46ad863..ef0070d 100644 --- 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) ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
\ No newline at end of file diff --git a/getting_started/troubleshooting_guide.md b/getting_started/troubleshooting_guide.md index eb25e8a..4eaf986 100644 --- 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) ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
\ No newline at end of file diff --git a/getting_started/untethered_operation.md b/getting_started/untethered_operation.md index ac8d73a..0400a43 100644 --- 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. ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
\ No newline at end of file diff --git a/getting_started/updating_software.md b/getting_started/updating_software.md index 67a7fac..a127d7b 100644 --- a/getting_started/updating_software.md +++ b/getting_started/updating_software.md @@ -74,5 +74,4 @@ $ REx_firmware_updater.py --status ``` ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
diff --git a/mkdocs.yml b/mkdocs.yml index 690493a..ee9be74 100644 --- 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 diff --git a/stretch_body/images/traj_gui.png b/stretch_body/images/traj_gui.png new file mode 100644 index 0000000..9f6c526 Binary files /dev/null and b/stretch_body/images/traj_gui.png differ diff --git a/stretch_body/tutorial_collision_avoidance.md b/stretch_body/tutorial_collision_avoidance.md index c21847e..581f463 100644 --- 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 ``` ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
diff --git a/stretch_body/tutorial_command_line_tools.md b/stretch_body/tutorial_command_line_tools.md index 36b2d5a..72ade8e 100644 --- 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. ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
diff --git a/stretch_body/tutorial_contact_models.md b/stretch_body/tutorial_contact_models.md index cebaa8f..f170443 100644 --- a/stretch_body/tutorial_contact_models.md +++ b/stretch_body/tutorial_contact_models.md @@ -165,5 +165,4 @@ optional arguments: ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
diff --git a/stretch_body/tutorial_custom_wrist_dof.md b/stretch_body/tutorial_custom_wrist_dof.md index 22c1cd6..87e9e17 100644 --- 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) ``` ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
diff --git a/stretch_body/tutorial_dynamixel_servos.md b/stretch_body/tutorial_dynamixel_servos.md index 5cd602f..df7b5e0 100644 --- 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() ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
diff --git a/stretch_body/tutorial_introduction.md b/stretch_body/tutorial_introduction.md index 9f71b06..0aa7f04 100644 --- 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. ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
\ No newline at end of file diff --git a/stretch_body/tutorial_parameter_management.md b/stretch_body/tutorial_parameter_management.md index e2c7f58..2a81275 100644 --- 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` ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
\ No newline at end of file diff --git a/stretch_body/tutorial_robot_motion.md b/stretch_body/tutorial_robot_motion.md index 614a8a7..c27d28d 100644 --- 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. ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
diff --git a/stretch_body/tutorial_robot_sensors.md b/stretch_body/tutorial_robot_sensors.md index ef79117..fe2ce0b 100644 --- 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). ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
\ No newline at end of file diff --git a/stretch_body/tutorial_safe_coding.md b/stretch_body/tutorial_safe_coding.md index 9918eba..3f6cbac 100644 --- 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. ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
diff --git a/stretch_body/tutorial_splined_trajectories.md b/stretch_body/tutorial_splined_trajectories.md index 33ea744..3ee9682 100644 --- 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 + **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. ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
diff --git a/stretch_body/tutorial_stretch_body_api.md b/stretch_body/tutorial_stretch_body_api.md index fd78626..8a2449b 100644 --- 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 ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.
\ No newline at end of file diff --git a/stretch_body/tutorial_tool_change.md b/stretch_body/tutorial_tool_change.md index abdf99b..debb238 100644 --- 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. ------ -
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.
- +
All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.