site_name: Stretch Tutorials site_url: https://docs.hello-robot.com/stretch_tutorials site_description: "Hello Robot Stretch Tutorials" copyright: 'Copyright © 2022 Hello Robot Inc' site_author: Hello Robot Inc use_directory_urls: True docs_dir: . site_dir: ../site theme: name: material #font: Arial palette: - scheme: default primary: hello-robot-light toggle: icon: material/lightbulb-outline name: Switch to dark mode - scheme: slate primary: hello-robot-dark toggle: icon: material/lightbulb name: Switch to light mode logo: images/hello_robot_logo_light.png favicon: images/hello_robot_favicon.png features: - navigation.instant extra_css: - ./extra.css markdown_extensions: - pymdownx.highlight - pymdownx.superfences - pymdownx.inlinehilite - pymdownx.keys - admonition - pymdownx.tabbed: alternate_style: true plugins: - same-dir # - simple: # merge_docs_dir: true # include_extensions: [".css", ".png"] # include_folders: ['../hello_helpers'] - mike: # these fields are all optional; the defaults are as below... version_selector: true # set to false to leave out the version selector css_dir: css # the directory to put the version selector's CSS javascript_dir: js # the directory to put the version selector's JS canonical_version: null # the version for ; `null` # uses the version specified via `mike deploy` - search - tags - mkdocstrings: default_handler: python handlers: python: selection: docstring_style: numpy rendering: show_root_heading: true show_source: false members_order: source heading_level: 3 show_if_no_docstring: true extra: version: provider: mike default: latest social: - icon: material/home link: https://hello-robot.com - icon: material/twitter link: https://twitter.com/HelloRobotInc - icon: material/github link: https://github.com/hello-robot - icon: material/linkedin link: https://linkedin.com/company/hello-robot-inc nav: - Overview: ./README.md - Getting to Know Stretch: - Overview: ./getting_started/README.md - Basics: - Safety Guide: ./getting_started/safety_guide.md - Quick Start Stretch RE1: ./getting_started/quick_start_guide_re1.md - Quick Start Stretch 2: ./getting_started/quick_start_guide_re2.md - Best Practices: ./getting_started/best_practices.md - Troubleshooting: ./getting_started/troubleshooting_guide.md - Advanced: - Command Line Tools: ./getting_started/command_line_tools.md - Untethered Operation: ./getting_started/untethered_operation.md - Updating Software: ./getting_started/updating_software.md - Stretch Body Python SDK: - Overview: ./stretch_body/README.md - Basics: - Introduction: ./stretch_body/tutorial_introduction.md - Command line Tools: ./stretch_body/tutorial_command_line_tools.md - Robot Motion: ./stretch_body/tutorial_robot_motion.md - Robot Sensors: ./stretch_body/tutorial_robot_sensors.md - Advanced: - Dynamixel Servos: ./stretch_body/tutorial_dynamixel_servos.md - Parameter Management: ./stretch_body/tutorial_parameter_management.md - Splined Trajectories: ./stretch_body/tutorial_splined_trajectories.md - Collision Avoidance: ./stretch_body/tutorial_collision_avoidance.md - Contact Models: ./stretch_body/tutorial_contact_models.md - Changing Tools: ./stretch_body/tutorial_tool_change.md - Custom Wrist DOF: ./stretch_body/tutorial_custom_wrist_dof.md - Safety Features: ./stretch_body/tutorial_safe_coding.md - ROS: - Overview: ./ros1/README.md - Basics: - Getting Started: ./ros1/getting_started.md - Teleoperating Stretch: ./ros1/teleoperating_stretch.md - Internal State of Stretch: ./ros1/internal_state_of_stretch.md - RViz Basics: ./ros1/rviz_basics.md - Navigation Stack: ./ros1/navigation_stack.md # - MoveIt! Basics: ./ros1/moveit_basics.md - Follow Joint Trajectory Commands: ./ros1/follow_joint_trajectory.md - Perception: ./ros1/perception.md - ArUco Marker Detection: ./ros1/aruco_marker_detection.md - ReSpeaker Microphone Array: ./ros1/respeaker_microphone_array.md - FUNMAP: https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap - Gazebo Basics: ./ros1/gazebo_basics.md - Other Examples: - Mobile Base Velocity Control: ./ros1/example_1.md - Filter Laser Scans: ./ros1/example_2.md - Mobile Base Collision Avoidance: ./ros1/example_3.md - Give Stretch a Balloon: ./ros1/example_4.md - Print Joint States: ./ros1/example_5.md - Store Effort Values: ./ros1/example_6.md - Capture Image: ./ros1/example_7.md - Voice to Text: ./ros1/example_8.md - Voice Teleoperation of Base: ./ros1/example_9.md - Tf2 Broadcaster and Listener: ./ros1/example_10.md - PointCloud Transformation: ./ros1/example_11.md - ArUco Tag Locator: ./ros1/example_12.md - 2D Navigation Goals: ./ros1/example_13.md - Autodocking: ./ros1/autodocking_nav_stack.md - ROS 2 (Beta): - Overview: ./ros2/README.md - Basics: - Getting Started: ./ros2/getting_started.md - Introduction to ROS 2: ./ros2/intro_to_ros2.md - Introduction to HelloNode: ./ros2/intro_to_hellonode.md - Teleoperating Stretch: ./ros2/teleoperating_stretch.md - Internal State of Stretch: ./ros2/internal_state_of_stretch.md - RViz Basics: ./ros2/rviz_basics.md - Nav2 Stack: - Overview: ./ros2/navigation_overview.md - Nav2 Basics: ./ros2/navigation_stack.md - Nav2 Simple Commander: ./ros2/navigation_simple_commander.md - Follow Joint Trajectory Commands: ./ros2/follow_joint_trajectory.md - Perception: ./ros2/perception.md - ArUco Marker Detection: ./ros2/aruco_marker_detection.md - ReSpeaker Microphone Array: - Respeaker Mic Array: ./ros2/respeaker_mic_array.md - Respeaker Topics: ./ros2/respeaker_topics.md - FUNMAP: https://github.com/hello-robot/stretch_ros2/tree/humble/stretch_funmap # - MoveIt 2: # - MoveIt Basics: ./ros2/moveit_basics.md # - MoveIt with RViz: ./ros2/moveit_rviz_demo.md # - MoveGroup C++ API: ./ros2/moveit_movegroup_demo.md # - ROS testing: ./ros2/ros_testing.md # - Other Nav Stack Features: ./ros2/other_nav_features.md # - Gazebo Basics: ./ros2/gazebo_basics.md - Other Examples: - Mobile Base Velocity Control: ./ros2/example_1.md - Filter Laser Scans: ./ros2/example_2.md - Mobile Base Collision Avoidance: ./ros2/example_3.md - Give Stretch a Balloon: ./ros2/example_4.md - Print Joint States: ./ros2/example_5.md - Store Effort Values: ./ros2/example_6.md - Capture Image: ./ros2/example_7.md - Voice to Text: ./ros2/example_8.md - Voice Teleoperation of Base: ./ros2/example_9.md - Tf2 Broadcaster and Listener: ./ros2/example_10.md - ArUco Tag Locator: ./ros2/example_12.md - Obstacle Avoider: ./ros2/obstacle_avoider.md - Align to ArUco: ./ros2/align_to_aruco.md - Deep Perception: ./ros2/deep_perception.md - Avoiding Race Conditions and Deadlocks: ./ros2/avoiding_deadlocks_race_conditions.md # - PointCloud Transformation: ./ros2/example_11.md - Stretch Tool Share: - Overview: ./stretch_tool_share/README.md - Basics: - Gripper Removal: ./stretch_tool_share/gripper_removal.md - Gripper Puller: ./stretch_tool_share/gripper_puller.md - Dry Erase Holder: ./stretch_tool_share/dry_erase_holder.md - Dex Wrist: ./stretch_tool_share/dexwrist.md - Dex to Standard Wrist: ./stretch_tool_share/dex_to_standard.md - Advanced: - Updating URDF: ./stretch_tool_share/updating_urdf.md