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2.1 KiB
2.1 KiB
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 |