cccccccc
/
stretch_tutorials
mirror of https://github.com/hello-robot/stretch_tutorials.git
1
0
Fork 0
Code Issues 0 Projects 0 Releases 0 Wiki Activity
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
451 Commits
6 Branches
218 MiB
 
Tree: 91bec4a3ba
Branches Tags
${ item.name }
Create branch ${ searchTerm }
from '91bec4a3ba'
${ noResults }
stretch_tutorials/stretch_body
Jesus Eduardo Rodriguez abef0b3e4b
Fix broken link for GIF 		11 months ago
..
custom_wrist_dof update copyright footer 2 years ago
images Add files via upload 11 months ago
jupyter Move Jupyter Stretch Body tutorials here 1 year ago
README.md Remove instances of RE2 1 year ago
tutorial_collision_avoidance.md Update bash prompts 1 year ago
tutorial_command_line_tools.md Update bash prompts 1 year ago
tutorial_contact_models.md Update bash prompts 1 year ago
tutorial_custom_wrist_dof.md stretch_body changes and add admonitions 1 year ago
tutorial_dynamixel_servos.md Erase something 1 year ago
tutorial_introduction.md MInor visualization edit 1 year ago
tutorial_parameter_management.md Added some output changes 1 year ago
tutorial_robot_motion.md Minimal things 1 year ago
tutorial_robot_sensors.md Update bash prompts 1 year ago
tutorial_safe_coding.md Fix broken links and typos 1 year ago
tutorial_splined_trajectories.md Fix an error in the program trajectories code 1 year ago
tutorial_stretch_chat.md Fix broken link for GIF 11 months ago
tutorial_tool_change.md Update bash prompts 1 year ago

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 robots. The Stretch Body interface is intended for users who are looking for an alternative to ROS.

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

Basics

Tutorial Description
1 Introduction Introduction to the Stretch Body package
2 Command line Tools Using the Stretch Body command line tools
3 Stretch Body API Walk through of the Stretch Body API
4 Robot Motion How to command robot motion
4 Robot Sensors How to read robot sensors

Advanced

Tutorial Description
1 Dynamixel Servos How to configure and work with the Dynamixel servos
2 Parameter Management How to work with parameter system
3 Splined Trajectories How to generated coordinated, smooth, and full-body motion
4 Collision Avoidance How to work with the collision avoidance system
5 Contact Models How to work with the contact detection system
6 Changing Tools How to configure Stretch to work with a different tool
7 Custom Wrist DOF How to integrate custom DOF onto the wrist
8 Safety Features Learn about Stretch Body features that keep the robot safe