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stretch_remote

Python library to remotely control and listen to a stretch robot.

Quick Start

pip install -e .

Usage

Run this on the stretch robot

python3 stretch_remote/robot_server.py

Run this on a remote client via teleop.py

python3 teleop.py --ip <REMOTE_ROBOT_IP>

Use remote client python lib

from stretch_remote.remote_client import RemoteClient

rc = RemoteClient(ip=<IP>)

# home the robot
rc.home()

# Get the robot status
s = rc.get_status(compact=True)
print(s)

# Move the robot
# dict is described in absolute joint angles:
rc.move({'y': 0.1})

The joint angles dict are represented as:

  • x y z: meters
  • roll pitch yaw: radians
  • gripper: -50 (closed) to 0 (barely closed) to 100 (fully open)

Example: {'y': 0.1, 'z': 0.75, 'roll': 0, 'pitch': -0.3, 'yaw': 0, 'gripper': 55}