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stretch_tutorials/stretch_body
Aaron Edsinger 886345eb96 rework nav and landing pages 2 years ago
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README.md rework nav and landing pages 2 years ago
tutorial_collision_avoidance.md rework nav and landing pages 2 years ago
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tutorial_dynamixel_servos.md rework nav and landing pages 2 years ago
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tutorial_robot_motion.md rework nav and landing pages 2 years ago
tutorial_robot_sensors.md rework nav and landing pages 2 years ago
tutorial_safe_coding.md rework nav and landing pages 2 years ago
tutorial_simple_coding.py rework nav and landing pages 2 years ago
tutorial_splined_trajectories.md rework nav and landing pages 2 years ago
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README.md

Tutorial Track: Stretch Body

Stretch Body is a set of Python packages that allow a developer to directly program the hardware of the Stretch RE1 robot. The Stretch Body interface is intended for users who chose to not use ROS.

Stretch Body currently supports both Python2 and Python3. These tutorials assume a general familiarity with Python as well as basic robot motion control.

1. Basics

Tutorial Description
Safe Coding Best practices in writing safe Stretch Body code
Command line Tools Introduction to the Stretch Body command line tools
Simple Coding Simple examples of writing Stretch Body code
Robot Motion Exploring how to command robot motion
Robot Sensors Exploring how to read robot sensors

2. Advanced

Tutorial Description
Dynamixel Servos How to configure and work with the Stretch Dynamixel servos
Parameter Management How to work with Stretch's parameter system
Splined Trajectories How to generated coordinated, smooth, and full-body motion
Collision Avoidance How to work with Stretch's collision avoidance system
Changing Tools How to integrate 3rd party tools onto the Stretch wrist