├── .flake8 ├── .github └── workflows │ └── auto_deploy_docs.yaml ├── .gitignore ├── README.md ├── docs ├── extra.css ├── images │ ├── vscode_ros_debugger_bar.png │ ├── vscode_ros_debugger_choose_mode.png │ ├── vscode_ros_debugger_launch.png │ └── vscode_testing.png └── tutorial_ros_debugging.md ├── hello_helpers ├── LICENSE.md ├── README.md ├── package.xml ├── resource │ └── hello_helpers ├── setup.cfg ├── setup.py └── src │ └── hello_helpers │ ├── __init__.py │ ├── fit_plane.py │ ├── gamepad_conversion.py │ ├── gripper_conversion.py │ ├── hello_misc.py │ ├── hello_ros_viz.py │ ├── joint_qpos_conversion.py │ └── simple_command_group.py ├── images ├── banner.png ├── calibration_comparison1.png ├── calibration_comparison2.png ├── calibration_fit_check.png ├── hello_robot_favicon.png └── hello_robot_logo_light.png ├── mkdocs.yml ├── stretch_calibration ├── LICENSE.md ├── README.md ├── config │ └── head_calibration_options.yaml ├── launch │ ├── check_head_calibration.launch.py │ ├── collect_check_head_calibration_data.launch.py │ ├── collect_head_calibration_data.launch.py │ ├── process_head_calibration_data.launch.py │ ├── process_head_calibration_data_with_visualization.launch.py │ ├── simple_test_head_calibration.launch.py │ ├── simple_test_head_calibration_low_resolution.launch.py │ ├── use_prior_head_calibration_to_update_urdf.launch.py │ └── visualize_head_calibration.launch.py ├── package.xml ├── resource │ └── stretch_calibration ├── rviz │ ├── head_calibration.rviz │ └── stretch_simple_test.rviz ├── setup.cfg ├── setup.py ├── stretch_calibration │ ├── __init__.py │ ├── calibration.py │ ├── check_head_calibration.py │ ├── collect_head_calibration_data.py │ ├── process_head_calibration_data.py │ ├── revert_to_previous_calibration.py │ ├── update_uncalibrated_urdf.py │ ├── update_urdf_after_xacro_change.py │ ├── update_with_most_recent_calibration.py │ └── visualize_most_recent_head_calibration.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── stretch_core ├── API.md ├── LICENSE.md ├── README.md ├── config │ ├── HighAccuracyPreset.json │ ├── controller_calibration_head_factory_default.yaml │ ├── laser_filter_params.yaml │ └── stretch_marker_dict.yaml ├── launch │ ├── align_to_aruco.launch.py │ ├── beta_gripper_camera.launch.py │ ├── beta_navigation_camera.launch.py │ ├── d405_basic.launch.py │ ├── d435i_basic.launch.py │ ├── d435i_high_resolution.launch.py │ ├── d435i_low_resolution.launch.py │ ├── multi_camera.launch.py │ ├── navigation_camera.launch.py │ ├── rplidar.launch.py │ ├── rplidar_keepout.launch.py │ ├── stretch_aruco.launch.py │ ├── stretch_driver.launch.py │ └── stretch_realsense.launch.py ├── package.xml ├── resource │ └── stretch_core ├── rviz │ └── stretch_simple_test.rviz ├── setup.cfg ├── setup.py ├── stretch_core │ ├── __init__.py │ ├── align_to_aruco.py │ ├── avoider.py │ ├── command_groups.py │ ├── d435i_accel_correction.py │ ├── d435i_configure.py │ ├── d435i_frustum_visualizer.py │ ├── detect_aruco_markers.py │ ├── joint_trajectory_server.py │ ├── keyboard.py │ ├── keyboard_teleop.py │ ├── remote_gamepad.py │ ├── rwlock.py │ ├── stretch_diagnostics.py │ ├── stretch_driver.py │ ├── trajectory_components.py │ └── usb_cam.py └── test │ ├── common │ ├── client_nodes │ │ ├── joint_pose_streaming.py │ │ └── stretch_driver.py │ └── launch_descriptions.py │ ├── test_action_cancellation.py │ ├── test_action_trajectory_mode.py │ ├── test_aruco_detection.py │ ├── test_camera.py │ ├── test_flake8.py │ ├── test_pep257.py │ ├── test_rplidar.py │ ├── test_streaming_position_commands.py │ └── test_stretch_driver.py ├── stretch_deep_perception ├── LICENSE.md ├── README.md ├── launch │ ├── stretch_detect_body_landmarks.launch │ ├── stretch_detect_body_landmarks.launch.py │ ├── stretch_detect_faces.launch │ ├── stretch_detect_faces.launch.py │ ├── stretch_detect_nearest_mouth.launch │ ├── stretch_detect_nearest_mouth.launch.py │ ├── stretch_detect_objects.launch │ └── stretch_detect_objects.launch.py ├── package.xml ├── resource │ └── stretch_deep_perception ├── rviz │ ├── body_landmark_detection.rviz │ ├── face_detection.rviz │ ├── nearest_mouth_detection.rviz │ └── object_detection.rviz ├── setup.cfg ├── setup.py ├── stretch_deep_perception │ ├── __init__.py │ ├── body_landmark_detector.py │ ├── deep_learning_model_options.py │ ├── deep_models_shared.py │ ├── detect_body_landmarks.py │ ├── detect_faces.py │ ├── detect_nearest_mouth.py │ ├── detect_objects.py │ ├── detection_2d_to_3d.py │ ├── detection_node.py │ ├── detection_ros_markers.py │ ├── head_estimator.py │ ├── numba_image_to_pointcloud.py │ ├── object_detect_pytorch.py │ ├── object_detector.py │ ├── test_body_landmark_detection_with_images.py │ ├── test_head_estimation_with_images.py │ └── test_object_detection_with_images.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── stretch_demos ├── LICENSE.md ├── README.md ├── launch │ ├── clean_surface.launch.py │ ├── grasp_object.launch.py │ ├── handover_object.launch.py │ ├── hello_world.launch.py │ └── open_drawer.launch.py ├── package.xml ├── resource │ └── stretch_demos ├── setup.cfg ├── setup.py └── stretch_demos │ ├── __init__.py │ ├── clean_surface.py │ ├── grasp_object.py │ ├── handover_object.py │ ├── hello_world.py │ └── open_drawer.py ├── stretch_description ├── CMakeLists.txt ├── LICENSE.md ├── README.md ├── batch │ ├── guthrie │ │ ├── meshes │ │ │ ├── base_imu.STL │ │ │ ├── base_link.STL │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ └── omni_wheel_m.STL │ │ └── urdf │ │ │ ├── stretch_aruco.xacro │ │ │ ├── stretch_base_imu.xacro │ │ │ ├── stretch_d435i.xacro │ │ │ ├── stretch_description_dex.xacro │ │ │ ├── stretch_description_standard.xacro │ │ │ ├── stretch_dry_erase_marker.xacro │ │ │ ├── stretch_gripper.xacro │ │ │ ├── stretch_gripper_with_puller.xacro │ │ │ ├── stretch_laser_range_finder.xacro │ │ │ ├── stretch_main.xacro │ │ │ └── stretch_respeaker.xacro │ ├── hank │ │ ├── meshes │ │ │ ├── base_imu.STL │ │ │ ├── base_link.STL │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ └── omni_wheel_m.STL │ │ └── urdf │ │ │ ├── stretch_aruco.xacro │ │ │ ├── stretch_base_imu.xacro │ │ │ ├── stretch_d435i.xacro │ │ │ ├── stretch_description_dex.xacro │ │ │ ├── stretch_description_standard.xacro │ │ │ ├── stretch_dry_erase_marker.xacro │ │ │ ├── stretch_gripper.xacro │ │ │ ├── stretch_gripper_with_puller.xacro │ │ │ ├── stretch_laser_range_finder.xacro │ │ │ ├── stretch_main.xacro │ │ │ └── stretch_respeaker.xacro │ ├── irma │ │ ├── meshes │ │ │ ├── base_imu.STL │ │ │ ├── base_link.STL │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ └── omni_wheel_m.STL │ │ └── urdf │ │ │ ├── stretch_aruco.xacro │ │ │ ├── stretch_base_imu.xacro │ │ │ ├── stretch_d435i.xacro │ │ │ ├── stretch_description_dex.xacro │ │ │ ├── stretch_description_standard.xacro │ │ │ ├── stretch_dry_erase_marker.xacro │ │ │ ├── stretch_gripper.xacro │ │ │ ├── stretch_gripper_with_puller.xacro │ │ │ ├── stretch_laser_range_finder.xacro │ │ │ ├── stretch_main.xacro │ │ │ └── stretch_respeaker.xacro │ ├── joplin │ │ ├── meshes │ │ │ ├── base_imu.STL │ │ │ ├── base_link.STL │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ └── omni_wheel_m.STL │ │ └── urdf │ │ │ ├── stretch_aruco.xacro │ │ │ ├── stretch_base_imu.xacro │ │ │ ├── stretch_d435i.xacro │ │ │ ├── stretch_description_dex.xacro │ │ │ ├── stretch_description_standard.xacro │ │ │ ├── stretch_dry_erase_marker.xacro │ │ │ ├── stretch_gripper.xacro │ │ │ ├── stretch_gripper_with_puller.xacro │ │ │ ├── stretch_laser_range_finder.xacro │ │ │ ├── stretch_main.xacro │ │ │ └── stretch_respeaker.xacro │ ├── kendrick │ │ ├── meshes │ │ │ ├── base_imu.STL │ │ │ ├── base_link.STL │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ └── omni_wheel_m.STL │ │ └── urdf │ │ │ ├── stretch_aruco.xacro │ │ │ ├── stretch_base_imu.xacro │ │ │ ├── stretch_d435i.xacro │ │ │ ├── stretch_description_dex.xacro │ │ │ ├── stretch_description_standard.xacro │ │ │ ├── stretch_dry_erase_marker.xacro │ │ │ ├── stretch_gripper.xacro │ │ │ ├── stretch_gripper_with_puller.xacro │ │ │ ├── stretch_laser_range_finder.xacro │ │ │ ├── stretch_main.xacro │ │ │ └── stretch_respeaker.xacro │ ├── louis │ │ ├── meshes │ │ │ ├── base_imu.STL │ │ │ ├── base_link.STL │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ └── omni_wheel_m.STL │ │ └── urdf │ │ │ ├── stretch_aruco.xacro │ │ │ ├── stretch_base_imu.xacro │ │ │ ├── stretch_d435i.xacro │ │ │ ├── stretch_description_dex.xacro │ │ │ ├── stretch_description_standard.xacro │ │ │ ├── stretch_dry_erase_marker.xacro │ │ │ ├── stretch_gripper.xacro │ │ │ ├── stretch_gripper_with_puller.xacro │ │ │ ├── stretch_laser_range_finder.xacro │ │ │ ├── stretch_main.xacro │ │ │ └── stretch_respeaker.xacro │ ├── mitski │ │ ├── meshes │ │ │ ├── base_imu.STL │ │ │ ├── base_link.STL │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_camera.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ ├── omni_wheel_m.STL │ │ │ └── respeaker_base.STL │ │ └── urdf │ │ │ ├── stretch_aruco.xacro │ │ │ ├── stretch_base_imu.xacro │ │ │ ├── stretch_d435i.xacro │ │ │ ├── stretch_description_dex.xacro │ │ │ ├── stretch_description_standard.xacro │ │ │ ├── stretch_dry_erase_marker.xacro │ │ │ ├── stretch_gripper.xacro │ │ │ ├── stretch_gripper_with_puller.xacro │ │ │ ├── stretch_laser_range_finder.xacro │ │ │ ├── stretch_main.xacro │ │ │ └── stretch_respeaker.xacro │ ├── nina │ │ ├── meshes │ │ │ ├── base_imu.STL │ │ │ ├── base_link.STL │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_camera.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ ├── omni_wheel_m.STL │ │ │ └── respeaker_base.STL │ │ └── urdf │ │ │ ├── stretch_aruco.xacro │ │ │ ├── stretch_base_imu.xacro │ │ │ ├── stretch_d435i.xacro │ │ │ ├── stretch_description_dex.xacro │ │ │ ├── stretch_description_standard.xacro │ │ │ ├── stretch_dry_erase_marker.xacro │ │ │ ├── stretch_gripper.xacro │ │ │ ├── stretch_gripper_with_puller.xacro │ │ │ ├── stretch_laser_range_finder.xacro │ │ │ ├── stretch_main.xacro │ │ │ └── stretch_respeaker.xacro │ ├── otis │ │ ├── meshes │ │ │ ├── base_imu.STL │ │ │ ├── base_link.STL │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_camera.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ ├── omni_wheel_m.STL │ │ │ └── respeaker_base.STL │ │ └── urdf │ │ │ ├── stretch_aruco.xacro │ │ │ ├── stretch_base_imu.xacro │ │ │ ├── stretch_d435i.xacro │ │ │ ├── stretch_description_dex.xacro │ │ │ ├── stretch_description_standard.xacro │ │ │ ├── stretch_dry_erase_marker.xacro │ │ │ ├── stretch_gripper.xacro │ │ │ ├── stretch_gripper_with_puller.xacro │ │ │ ├── stretch_laser_range_finder.xacro │ │ │ ├── stretch_main.xacro │ │ │ └── stretch_respeaker.xacro │ ├── prince │ │ ├── meshes │ │ │ ├── base_imu.STL │ │ │ ├── base_link.STL │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_camera.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ ├── omni_wheel_m.STL │ │ │ └── respeaker_base.STL │ │ └── urdf │ │ │ ├── stretch_aruco.xacro │ │ │ ├── stretch_base_imu.xacro │ │ │ ├── stretch_d435i.xacro │ │ │ ├── stretch_description_dex.xacro │ │ │ ├── stretch_description_standard.xacro │ │ │ ├── stretch_dry_erase_marker.xacro │ │ │ ├── stretch_gripper.xacro │ │ │ ├── stretch_gripper_with_puller.xacro │ │ │ ├── stretch_laser_range_finder.xacro │ │ │ ├── stretch_main.xacro │ │ │ └── stretch_respeaker.xacro │ ├── questlove │ │ ├── meshes │ │ │ ├── base_imu.STL │ │ │ ├── base_link.STL │ │ │ ├── laser.STL │ │ │ ├── link_arm_l0.STL │ │ │ ├── link_arm_l1.STL │ │ │ ├── link_arm_l2.STL │ │ │ ├── link_arm_l3.STL │ │ │ ├── link_arm_l4.STL │ │ │ ├── link_aruco_inner_wrist.STL │ │ │ ├── link_aruco_left_base.STL │ │ │ ├── link_aruco_right_base.STL │ │ │ ├── link_aruco_shoulder.STL │ │ │ ├── link_aruco_top_wrist.STL │ │ │ ├── link_camera.STL │ │ │ ├── link_dry_erase_holder.STL │ │ │ ├── link_dry_erase_marker.STL │ │ │ ├── link_gripper.STL │ │ │ ├── link_gripper_finger_left.STL │ │ │ ├── link_gripper_finger_right.STL │ │ │ ├── link_gripper_fingertip_left.STL │ │ │ ├── link_gripper_fingertip_right.STL │ │ │ ├── link_head.STL │ │ │ ├── link_head_pan.STL │ │ │ ├── link_head_tilt.STL │ │ │ ├── link_left_wheel.STL │ │ │ ├── link_lift.STL │ │ │ ├── link_mast.STL │ │ │ ├── link_puller.STL │ │ │ ├── link_respeaker.STL │ │ │ ├── link_right_wheel.STL │ │ │ ├── link_wrist_yaw.STL │ │ │ ├── omni_wheel_m.STL │ │ │ └── respeaker_base.STL │ │ └── urdf │ │ │ ├── stretch_aruco.xacro │ │ │ ├── stretch_base_imu.xacro │ │ │ ├── stretch_d435i.xacro │ │ │ ├── stretch_description_dex.xacro │ │ │ ├── stretch_description_standard.xacro │ │ │ ├── stretch_dry_erase_marker.xacro │ │ │ ├── stretch_gripper.xacro │ │ │ ├── stretch_gripper_with_puller.xacro │ │ │ ├── stretch_laser_range_finder.xacro │ │ │ ├── stretch_main.xacro │ │ │ └── stretch_respeaker.xacro │ └── update_description.py ├── launch │ └── display.launch.py ├── meshes │ └── .gitkeep ├── package.xml ├── rviz │ └── stretch.rviz ├── test │ ├── test_flake8.py │ └── test_pep257.py └── urdf │ ├── export_urdf.sh │ ├── export_urdf_license_template.md │ └── stretch_base_imu.xacro ├── stretch_funmap ├── .python-version ├── LICENSE.md ├── README.md ├── images │ ├── living_room_map.png │ ├── living_room_map_image.png │ ├── living_room_map_perspective.png │ ├── navigation_1.png │ ├── reach_1.png │ ├── reach_plan_1.png │ └── reach_plan_2.png ├── launch │ ├── funmap.launch.py │ └── mapping.launch.py ├── package.xml ├── pyproject.toml ├── resource │ └── stretch_funmap ├── rviz │ └── stretch_mapping.rviz ├── setup.cfg ├── setup.py ├── stretch_funmap │ ├── __init__.py │ ├── cython_min_cost_path.pyx │ ├── funmap.py │ ├── manipulation_planning.py │ ├── mapping.py │ ├── max_height_image.py │ ├── merge_maps.py │ ├── navigate.py │ ├── navigation_planning.py │ ├── numba_check_line_path.py │ ├── numba_compare_images.py │ ├── numba_create_plane_image.py │ ├── numba_height_image.py │ ├── numba_manipulation_planning.py │ ├── numba_sample_ridge.py │ ├── ros_max_height_image.py │ └── segment_max_height_image.py └── uv.lock ├── stretch_nav2 ├── CMakeLists.txt ├── LICENSE.md ├── README.md ├── config │ ├── mapper_params_online_async.yaml │ ├── nav2_params.yaml │ └── nav2_voxel_params.yaml ├── launch │ ├── bringup_launch.py │ ├── demo_security.launch.py │ ├── navigation.launch.py │ ├── navigation_launch.py │ ├── offline_mapping.launch.py │ ├── online_async_launch.py │ ├── online_mapping.launch.py │ ├── stretch_navigation.launch.py │ └── teleop_twist.launch.py ├── package.xml └── stretch_nav2 │ ├── __init__.py │ ├── robot_navigator.py │ └── simple_commander_demo.py ├── stretch_octomap ├── CMakeLists.txt ├── COLCON_IGNORE ├── LICENSE.md ├── README.md ├── launch │ ├── mapping.launch.py │ └── octomap_mapper.launch.xml ├── package.xml └── rviz │ └── octomap.rviz ├── stretch_rtabmap ├── CMakeLists.txt ├── LICENSE.md ├── README.md ├── launch │ ├── visual_mapping.launch.py │ ├── visual_navigation.launch.py │ └── visual_odometry.launch.py ├── package.xml └── rviz │ ├── rtabmap.rviz │ └── rtabmap_nav.rviz └── stretch_simulation ├── .gitignore ├── README.md ├── camera.png ├── launch ├── stretch_mujoco_driver.launch.py └── stretch_simulation_web_interface.launch.py ├── maps ├── gshaped_modern1_robocasa.pgm ├── gshaped_modern1_robocasa.yaml ├── mujoco_open_world_table.pgm └── mujoco_open_world_table.yaml ├── package.xml ├── rviz └── stretch_sim.rviz ├── setup.cfg ├── setup.py ├── stretch_create_ament_workspace.sh └── stretch_mujoco_driver ├── .gitignore ├── __init__.py ├── joint_trajectory_server.py ├── setup.sh └── stretch_mujoco_driver.py /.flake8: -------------------------------------------------------------------------------- 1 | [flake8] 2 | ignore = E261 3 | max_line_length = 140 4 | -------------------------------------------------------------------------------- /.github/workflows/auto_deploy_docs.yaml: -------------------------------------------------------------------------------- 1 | name: Auto Deploy Docs 2 | run-name: Edit by ${{ github.actor }} triggered docs deployment 3 | on: 4 | push: 5 | branches: 6 | - 'iron' 7 | paths: 8 | - '**.md' 9 | jobs: 10 | Dispatch-Deploy-Workflow: 11 | runs-on: ubuntu-latest 12 | steps: 13 | 14 | - name: Print out debug info 15 | run: echo "Repo ${{ github.repository }} | Branch ${{ github.ref }} | Runner ${{ runner.os }} | Event ${{ github.event_name }}" 16 | 17 | - name: Dispatch deploy workflow 18 | uses: actions/github-script@v6 19 | with: 20 | github-token: ${{ secrets.GHA_CROSSREPO_WORKFLOW_TOKEN }} 21 | script: | 22 | await github.rest.actions.createWorkflowDispatch({ 23 | owner: 'hello-robot', 24 | repo: 'hello-robot.github.io', 25 | workflow_id: 'auto_deploy.yaml', 26 | ref: '0.3', 27 | }) 28 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Emacs related 2 | *~ 3 | \#*\# 4 | .\#* 5 | 6 | # Python related 7 | *.pyc 8 | *.so 9 | __pycache__/ 10 | 11 | # Stretch related 12 | stretch_description.srdf 13 | stretch_description.xacro 14 | stretch.urdf 15 | stretch_uncalibrated.urdf 16 | controller_calibration_head.yaml 17 | controller_calibration_tool.yaml 18 | stretch_description/meshes/* 19 | stretch_description/urdf/* 20 | stretch_description/urdf/exported_urdf 21 | stretch_description/urdf/exported_urdf/* 22 | stretch_description/urdf/exported_urdf_previous 23 | stretch_description/urdf/exported_urdf_previous/* 24 | stretch_funmap/stretch_funmap/cython_min_cost_path.c 25 | stretch_navigation/map/ 26 | 27 | # Vim files 28 | *.swp 29 | *.swn 30 | *.swo 31 | 32 | # Colcon generated folders and files that we shouldn't check in 33 | build/ 34 | install/ 35 | log/ 36 | 37 | # VSCode 38 | .vscode/ -------------------------------------------------------------------------------- /docs/extra.css: -------------------------------------------------------------------------------- 1 | [data-md-color-primary=hello-robot-light]{ 2 | --md-primary-fg-color: #122837; 3 | --md-primary-fg-color--light: hsla(0,0%, 100%, 0.7); 4 | --md-primary-fg-color--dark: hsla(0, 0%, 0%, 0.07); 5 | --md-primary-bg-color: hsla(341, 85%, 89%, 1.0); 6 | --md-typeset-a-color: #0550b3; 7 | --md-code-hl-number-color: hsla(196, 86%, 29%, 1); 8 | } 9 | [data-md-color-primary=hello-robot-dark]{ 10 | --md-primary-fg-color: #122837; 11 | --md-primary-fg-color--light: hsla(0,0%, 100%, 0.7); 12 | --md-primary-fg-color--dark: hsla(0, 0%, 0%, 0.07); 13 | --md-primary-bg-color: hsla(341, 85%, 89%, 1.0); 14 | --md-typeset-a-color: hsla(341, 85%, 89%, 1.0); 15 | --md-code-hl-number-color: hsla(196, 86%, 29%, 1); 16 | } 17 | 18 | 19 | [data-md-color-scheme="slate"] { 20 | --md-hue: 210; /* [0, 360] */ 21 | } 22 | 23 | /* 24 | Tables set to 100% width 25 | */ 26 | 27 | .md-typeset__table { 28 | min-width: 100%; 29 | } 30 | 31 | .md-typeset table:not([class]) { 32 | display: table; 33 | } 34 | -------------------------------------------------------------------------------- /docs/images/vscode_ros_debugger_bar.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/docs/images/vscode_ros_debugger_bar.png -------------------------------------------------------------------------------- /docs/images/vscode_ros_debugger_choose_mode.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/docs/images/vscode_ros_debugger_choose_mode.png -------------------------------------------------------------------------------- /docs/images/vscode_ros_debugger_launch.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/docs/images/vscode_ros_debugger_launch.png -------------------------------------------------------------------------------- /docs/images/vscode_testing.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/docs/images/vscode_testing.png -------------------------------------------------------------------------------- /hello_helpers/LICENSE.md: -------------------------------------------------------------------------------- 1 | The following license applies to the entire contents of this directory (the "Contents"), which contains software for use with the Stretch mobile manipulators, which are robots produced and sold by Hello Robot Inc. 2 | 3 | Copyright 2020-2024 Hello Robot Inc. 4 | 5 | The Contents are licensed under the Apache License, Version 2.0 (the "License"). You may not use the Contents except in compliance with the License. You may obtain a copy of the License at 6 | 7 | http://www.apache.org/licenses/LICENSE-2.0 8 | 9 | Unless required by applicable law or agreed to in writing, the Contents are distributed under the License are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. 10 | 11 | For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. 12 | -------------------------------------------------------------------------------- /hello_helpers/resource/hello_helpers: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/hello_helpers/resource/hello_helpers -------------------------------------------------------------------------------- /hello_helpers/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/hello_helpers 3 | [install] 4 | install_scripts=$base/lib/hello_helpers 5 | -------------------------------------------------------------------------------- /hello_helpers/setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import setup 2 | 3 | package_name = 'hello_helpers' 4 | 5 | setup( 6 | name=package_name, 7 | version='0.2.0', 8 | package_dir={'': 'src'}, 9 | packages=[package_name], 10 | data_files=[ 11 | ('share/ament_index/resource_index/packages', ['resource/' + package_name]), 12 | ('share/' + package_name, ['package.xml']), 13 | ], 14 | install_requires=['setuptools'], 15 | url='', 16 | license='Apache License 2.0', 17 | author='Hello Robot Inc.', 18 | author_email='support@hello-robot.com', 19 | description='The hello_helpers package',\ 20 | tests_require=['pytest'], 21 | entry_points={ 22 | 'console_scripts': [ 23 | 'configure_wrist = hello_helpers.configure_wrist:main', 24 | ], 25 | }, 26 | ) 27 | -------------------------------------------------------------------------------- /hello_helpers/src/hello_helpers/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/hello_helpers/src/hello_helpers/__init__.py -------------------------------------------------------------------------------- /images/banner.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/images/banner.png -------------------------------------------------------------------------------- /images/calibration_comparison1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/images/calibration_comparison1.png -------------------------------------------------------------------------------- /images/calibration_comparison2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/images/calibration_comparison2.png -------------------------------------------------------------------------------- /images/calibration_fit_check.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/images/calibration_fit_check.png -------------------------------------------------------------------------------- /images/hello_robot_favicon.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/images/hello_robot_favicon.png -------------------------------------------------------------------------------- /images/hello_robot_logo_light.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/images/hello_robot_logo_light.png -------------------------------------------------------------------------------- /stretch_calibration/LICENSE.md: -------------------------------------------------------------------------------- 1 | The following license applies to the entire contents of this directory (the "Contents"), which contains software for use with the Stretch mobile manipulators, which are robots produced and sold by Hello Robot Inc. 2 | 3 | Copyright 2020-2024 Hello Robot Inc. 4 | 5 | The Contents include free software and other kinds of works: you can redistribute them and/or modify them under the terms of the GNU General Public License v3.0 (GNU GPLv3) as published by the Free Software Foundation. 6 | 7 | The Contents are distributed in the hope that they will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License v3.0 (GNU GPLv3) for more details, which can be found via the following link: 8 | 9 | https://www.gnu.org/licenses/gpl-3.0.html 10 | 11 | For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. 12 | -------------------------------------------------------------------------------- /stretch_calibration/config/head_calibration_options.yaml: -------------------------------------------------------------------------------- 1 | /**: 2 | ros__parameters: 3 | 'head_calibration_options': 4 | 'data_to_use': 'use_all_data' #'use_very_little_data' #'use_all_data' 5 | 'fit_quality': 'slow_high_quality' #'fastest_lowest_quality' #'slow_high_quality' 6 | -------------------------------------------------------------------------------- /stretch_calibration/resource/stretch_calibration: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_calibration/resource/stretch_calibration -------------------------------------------------------------------------------- /stretch_calibration/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/stretch_calibration 3 | [install] 4 | install_scripts=$base/lib/stretch_calibration 5 | -------------------------------------------------------------------------------- /stretch_calibration/stretch_calibration/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_calibration/stretch_calibration/__init__.py -------------------------------------------------------------------------------- /stretch_calibration/test/test_copyright.py: -------------------------------------------------------------------------------- 1 | # Copyright 2015 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_copyright.main import main 16 | import pytest 17 | 18 | 19 | @pytest.mark.copyright 20 | @pytest.mark.linter 21 | def test_copyright(): 22 | rc = main(argv=['.', 'test']) 23 | assert rc == 0, 'Found errors' 24 | -------------------------------------------------------------------------------- /stretch_calibration/test/test_flake8.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_flake8.main import main_with_errors 16 | import pytest 17 | 18 | 19 | @pytest.mark.flake8 20 | @pytest.mark.linter 21 | def test_flake8(): 22 | rc, errors = main_with_errors(argv=[]) 23 | assert rc == 0, \ 24 | 'Found %d code style errors / warnings:\n' % len(errors) + \ 25 | '\n'.join(errors) 26 | -------------------------------------------------------------------------------- /stretch_calibration/test/test_pep257.py: -------------------------------------------------------------------------------- 1 | # Copyright 2015 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_pep257.main import main 16 | import pytest 17 | 18 | 19 | @pytest.mark.linter 20 | @pytest.mark.pep257 21 | def test_pep257(): 22 | rc = main(argv=['.', 'test']) 23 | assert rc == 0, 'Found code style errors / warnings' 24 | -------------------------------------------------------------------------------- /stretch_core/LICENSE.md: -------------------------------------------------------------------------------- 1 | The following license applies to the entire contents of this directory (the "Contents"), which contains software for use with the Stretch mobile manipulators, which are robots produced and sold by Hello Robot Inc. 2 | 3 | Copyright 2020-2024 Hello Robot Inc. 4 | 5 | The Contents are licensed under the Apache License, Version 2.0 (the "License"). You may not use the Contents except in compliance with the License. You may obtain a copy of the License at 6 | 7 | http://www.apache.org/licenses/LICENSE-2.0 8 | 9 | Unless required by applicable law or agreed to in writing, the Contents are distributed under the License are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. 10 | 11 | For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. 12 | -------------------------------------------------------------------------------- /stretch_core/config/controller_calibration_head_factory_default.yaml: -------------------------------------------------------------------------------- 1 | pan_angle_offset: 0.0 2 | tilt_angle_offset: 0.0 3 | pan_looked_left_offset: 0.0 4 | tilt_looking_up_offset: 0.0 5 | arm_retracted_offset: 0.0 6 | tilt_angle_backlash_transition: -0.4 7 | -------------------------------------------------------------------------------- /stretch_core/config/laser_filter_params.yaml: -------------------------------------------------------------------------------- 1 | laser_filter: 2 | ros__parameters: 3 | filter1: 4 | name: shadows 5 | type: laser_filters/ScanShadowsFilter 6 | params: 7 | min_angle: 10. 8 | max_angle: 170. 9 | neighbors: 20 10 | window: 1 11 | filter2: 12 | name: speckle_filter 13 | type: laser_filters/LaserScanSpeckleFilter 14 | params: 15 | filter_type: 1 16 | max_range: 2.0 17 | max_range_difference: 0.1 18 | filter_window: 4 19 | filter3: 20 | name: box 21 | type: laser_filters/LaserScanBoxFilter 22 | params: 23 | box_frame: laser 24 | min_x: -0.1 25 | max_x: 0.3 26 | min_y: -0.3 27 | max_y: 0.2 28 | min_z: -0.1 29 | max_z: 0.1 30 | filter4: 31 | name: angle 32 | type: laser_filters/LaserScanAngularBoundsFilterInPlace 33 | params: 34 | lower_angle: -1.34 35 | upper_angle: -0.78 -------------------------------------------------------------------------------- /stretch_core/launch/beta_gripper_camera.launch.py: -------------------------------------------------------------------------------- 1 | from launch import LaunchDescription 2 | from launch.actions import DeclareLaunchArgument 3 | from launch.substitutions import LaunchConfiguration 4 | from launch_ros.actions import Node 5 | 6 | def generate_launch_description(): 7 | print_debug_arg = DeclareLaunchArgument('print_debug', default_value='False', description='Print debug info') 8 | camera_params = [ 9 | { 10 | 'camera_port': '/dev/hello-gripper-camera', 11 | 'publish_topic':'/gripper_camera/image_raw', 12 | 'print_debug': LaunchConfiguration('print_debug'), 13 | 14 | # Properties 15 | 'format': 'MJPG', 16 | 'size': [1024, 768], 17 | 'fps': 100, 18 | 'brightness': -40, 19 | 'contrast': 40, 20 | 'saturation': 60, 21 | 'hue': 0, 22 | 'gamma': 80, 23 | 'gain': 50, 24 | 'white_balence_temp': 4250, 25 | 'sharpness': 100, 26 | 'backlight': 1 27 | } 28 | ] 29 | usb_cam = Node(package='stretch_core', 30 | executable='usb_cam', 31 | emulate_tty=True, 32 | output='screen', 33 | parameters=camera_params, 34 | name='gripper_camera') 35 | return LaunchDescription([print_debug_arg, usb_cam]) -------------------------------------------------------------------------------- /stretch_core/launch/stretch_aruco.launch.py: -------------------------------------------------------------------------------- 1 | import os 2 | from ament_index_python.packages import get_package_share_directory 3 | from launch import LaunchDescription 4 | from launch.substitutions import LaunchConfiguration, Command 5 | from launch_ros.actions import Node 6 | from launch.actions import DeclareLaunchArgument 7 | from launch.actions import IncludeLaunchDescription 8 | from launch.launch_description_sources import PythonLaunchDescriptionSource 9 | 10 | 11 | def generate_launch_description(): 12 | 13 | dict_file_path = os.path.join(get_package_share_directory('stretch_core'), 'config', 'stretch_marker_dict.yaml') 14 | 15 | detect_aruco_markers = Node( 16 | package='stretch_core', 17 | executable='detect_aruco_markers', 18 | output='screen', 19 | parameters=[dict_file_path], 20 | ) 21 | 22 | return LaunchDescription([ 23 | detect_aruco_markers, 24 | ]) -------------------------------------------------------------------------------- /stretch_core/resource/stretch_core: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_core/resource/stretch_core -------------------------------------------------------------------------------- /stretch_core/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/stretch_core 3 | [install] 4 | install_scripts=$base/lib/stretch_core 5 | -------------------------------------------------------------------------------- /stretch_core/stretch_core/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_core/stretch_core/__init__.py -------------------------------------------------------------------------------- /stretch_core/test/common/launch_descriptions.py: -------------------------------------------------------------------------------- 1 | import pytest 2 | import launch 3 | import launch_pytest 4 | from pathlib import Path 5 | 6 | from launch.actions import IncludeLaunchDescription 7 | from launch.launch_description_sources import PythonLaunchDescriptionSource 8 | from ament_index_python.packages import get_package_share_directory 9 | 10 | 11 | @launch_pytest.fixture 12 | def stretch_driver_ld(): 13 | """Construct the LaunchDescription with stretch_driver 14 | """ 15 | return launch.LaunchDescription([ 16 | IncludeLaunchDescription( 17 | PythonLaunchDescriptionSource([ 18 | str(Path(get_package_share_directory('stretch_core')) / 'launch' / 'stretch_driver.launch.py'), 19 | ]) 20 | ), 21 | # Tell launch when to start the test 22 | # If no ReadyToTest action is added, one will be appended automatically. 23 | launch_pytest.actions.ReadyToTest() 24 | ]) 25 | -------------------------------------------------------------------------------- /stretch_core/test/test_action_cancellation.py: -------------------------------------------------------------------------------- 1 | import time 2 | import pytest 3 | import rclpy 4 | 5 | from common.launch_descriptions import stretch_driver_ld 6 | from common.client_nodes.stretch_driver import Client 7 | 8 | 9 | @pytest.mark.launch(fixture=stretch_driver_ld) 10 | def test_position_mode_cancellation(): 11 | rclpy.init() 12 | node = Client("test_fjt_cancel") 13 | 14 | # Move the arm lift all the way up 15 | print(node.mode) 16 | node.move_to_configuration({"joint_lift": 1.1}) 17 | 18 | # Move the lift part way down 19 | node.get_logger().info("Moving lift down...") 20 | node.move_to_configuration({"joint_lift": 0.5}, blocking=False) 21 | 22 | # Sleep for 0.5s, then cancel 23 | time.sleep(0.5) 24 | node.get_logger().info("Cancelling the goal") 25 | node.cancel_goal() 26 | 27 | # Lift position should not be near 0.5 28 | time.sleep(2) 29 | assert node.q_curr["joint_lift"] > 1.0 30 | 31 | # Clean up 32 | node.destroy_node() 33 | rclpy.shutdown() 34 | -------------------------------------------------------------------------------- /stretch_core/test/test_flake8.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_flake8.main import main_with_errors 16 | import pytest 17 | 18 | 19 | @pytest.mark.flake8 20 | @pytest.mark.linter 21 | def test_flake8(): 22 | rc, errors = main_with_errors(argv=['--config', '../.flake8', '--exclude', 'tests', 'nodes']) 23 | assert rc == 0, \ 24 | 'Found %d code style errors / warnings:\n' % len(errors) + \ 25 | '\n'.join(errors) 26 | -------------------------------------------------------------------------------- /stretch_core/test/test_pep257.py: -------------------------------------------------------------------------------- 1 | # Copyright 2015 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_pep257.main import main 16 | import pytest 17 | 18 | 19 | @pytest.mark.linter 20 | @pytest.mark.pep257 21 | def test_pep257(): 22 | rc = main(argv=['.', 'test']) 23 | assert rc == 0, 'Found code style errors / warnings' 24 | -------------------------------------------------------------------------------- /stretch_deep_perception/LICENSE.md: -------------------------------------------------------------------------------- 1 | The following license applies to the entire contents of this directory (the "Contents"), which contains software for use with the Stretch mobile manipulators, which are robots produced and sold by Hello Robot Inc. 2 | 3 | Copyright 2020-2024 Hello Robot Inc. 4 | 5 | The Contents are licensed under the Apache License, Version 2.0 (the "License"). You may not use the Contents except in compliance with the License. You may obtain a copy of the License at 6 | 7 | http://www.apache.org/licenses/LICENSE-2.0 8 | 9 | Unless required by applicable law or agreed to in writing, the Contents are distributed under the License are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. 10 | 11 | For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. 12 | -------------------------------------------------------------------------------- /stretch_deep_perception/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | stretch_deep_perception 5 | 0.2.0 6 | The stretch_deep_perception package 7 | Hello Robot Inc. 8 | Apache License 2.0 9 | 10 | actionlib_msgs 11 | geometry_msgs 12 | nav_msgs 13 | control_msgs 14 | trajectory_msgs 15 | rclpy 16 | std_msgs 17 | sensor_msgs 18 | sensor_msgs_py 19 | std_srvs 20 | tf2 21 | python-pytorch-pip 22 | python3-seaborn 23 | 24 | ament_copyright 25 | ament_flake8 26 | ament_pep257 27 | python3-pytest 28 | 29 | 30 | ament_python 31 | 32 | 33 | -------------------------------------------------------------------------------- /stretch_deep_perception/resource/stretch_deep_perception: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_deep_perception/resource/stretch_deep_perception -------------------------------------------------------------------------------- /stretch_deep_perception/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/stretch_deep_perception 3 | [install] 4 | install_scripts=$base/lib/stretch_deep_perception 5 | -------------------------------------------------------------------------------- /stretch_deep_perception/setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import setup 2 | from glob import glob 3 | 4 | package_name = 'stretch_deep_perception' 5 | 6 | setup( 7 | name=package_name, 8 | version='0.0.0', 9 | packages=[package_name], 10 | data_files=[ 11 | ('share/ament_index/resource_index/packages', 12 | ['resource/' + package_name]), 13 | ('share/' + package_name, ['package.xml']), 14 | ('share/' + package_name + '/launch', glob('launch/*.launch.py')), 15 | ('share/' + package_name + '/rviz', glob('rviz/*')), 16 | ], 17 | install_requires=['setuptools'], 18 | zip_safe=True, 19 | maintainer='Hello Robot Inc.', 20 | maintainer_email='support@hello-robot.com', 21 | description='The stretch_deep_perception package', 22 | license='Apache 2.0', 23 | tests_require=['pytest'], 24 | entry_points={ 25 | 'console_scripts': [ 26 | 'detect_objects = stretch_deep_perception.detect_objects:main', 27 | 'detect_faces = stretch_deep_perception.detect_faces:main', 28 | 'detect_nearest_mouth = stretch_deep_perception.detect_nearest_mouth:main', 29 | 'detect_body_landmarks = stretch_deep_perception.detect_body_landmarks:main' 30 | ], 31 | }, 32 | ) 33 | -------------------------------------------------------------------------------- /stretch_deep_perception/stretch_deep_perception/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_deep_perception/stretch_deep_perception/__init__.py -------------------------------------------------------------------------------- /stretch_deep_perception/stretch_deep_perception/deep_learning_model_options.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import os 3 | 4 | def get_directory(): 5 | return os.environ['HELLO_FLEET_PATH'] + '/stretch_deep_perception_models/' 6 | 7 | def use_neural_compute_stick(): 8 | # Currently this only work for two models: object and face 9 | # detection. Currently it does not work with head pose 10 | # estimation, facial landmarks, and body landmarks. 11 | return False 12 | -------------------------------------------------------------------------------- /stretch_deep_perception/stretch_deep_perception/detect_body_landmarks.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import cv2 4 | import sys 5 | import rclpy 6 | 7 | from . import body_landmark_detector as bl 8 | from . import detection_node as dn 9 | from . import deep_learning_model_options as do 10 | 11 | def main(): 12 | print('cv2.__version__ =', cv2.__version__) 13 | print('Python version (must be > 3.0):', sys.version) 14 | assert(int(sys.version[0]) >= 3) 15 | 16 | models_directory = do.get_directory() 17 | print('Using the following directory for deep learning models:', models_directory) 18 | use_neural_compute_stick = do.use_neural_compute_stick() 19 | 20 | detector = bl.BodyLandmarkDetector(models_directory, 21 | use_neural_compute_stick=use_neural_compute_stick) 22 | 23 | default_marker_name = 'body_landmarks' 24 | node_name = 'DetectBodyLandmarksNode' 25 | topic_base_name = 'body_landmarks' 26 | fit_plane = True 27 | node = dn.DetectionNode(detector, default_marker_name, node_name, topic_base_name, fit_plane) 28 | node.main() 29 | # try: 30 | # rospy.spin() 31 | # except KeyboardInterrupt: 32 | # print('interrupt received, so shutting down') 33 | 34 | if __name__=="__main__": 35 | main() 36 | -------------------------------------------------------------------------------- /stretch_deep_perception/stretch_deep_perception/detect_objects.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import rclpy 4 | 5 | from . import object_detect_pytorch as od 6 | from . import detection_node as dn 7 | 8 | def main(): 9 | confidence_threshold = 0.0 10 | detector = od.ObjectDetector(confidence_threshold=confidence_threshold) 11 | default_marker_name = 'object' 12 | node_name = 'DetectObjectsNode' 13 | topic_base_name = 'objects' 14 | fit_plane = False 15 | node = dn.DetectionNode(detector, default_marker_name, node_name, topic_base_name, fit_plane) 16 | node.main() 17 | 18 | # try: 19 | # rclpy.spin(node.node) 20 | # except KeyboardInterrupt: 21 | # print('interrupt received, so shutting down') 22 | 23 | if __name__ == '__main__': 24 | main() 25 | -------------------------------------------------------------------------------- /stretch_deep_perception/stretch_deep_perception/numba_image_to_pointcloud.py: -------------------------------------------------------------------------------- 1 | from numba import jit, njit 2 | import numpy as np 3 | 4 | @njit(fastmath=True) 5 | def numba_image_to_pointcloud(depth_image, bounding_box, camera_matrix): 6 | x_min, y_min, x_max, y_max = bounding_box 7 | h, w = depth_image.shape 8 | 9 | # check and correct the bounding box to be within the rgb_image 10 | x_min = int(round(max(0, x_min))) 11 | y_min = int(round(max(0, y_min))) 12 | x_max = int(round(min(w-1, x_max))) 13 | y_max = int(round(min(h-1, y_max))) 14 | if x_max < x_min: 15 | x_max = x_min 16 | if y_max < y_min: 17 | y_max = y_min 18 | 19 | f_x = camera_matrix[0,0] 20 | c_x = camera_matrix[0,2] 21 | f_y = camera_matrix[1,1] 22 | c_y = camera_matrix[1,2] 23 | 24 | out_w = (x_max - x_min) + 1 25 | out_h = (y_max - y_min) + 1 26 | points = np.empty((out_h * out_w, 3), dtype=np.float32) 27 | 28 | i = 0 29 | x = x_min 30 | while x <= x_max: 31 | y = y_min 32 | while y <= y_max: 33 | z_3d = depth_image[y,x] / 1000.0 34 | x_3d = ((x - c_x) / f_x) * z_3d 35 | y_3d = ((y - c_y) / f_y) * z_3d 36 | points[i] = (x_3d, y_3d, z_3d) 37 | i += 1 38 | y += 1 39 | x += 1 40 | 41 | return points 42 | -------------------------------------------------------------------------------- /stretch_deep_perception/test/test_copyright.py: -------------------------------------------------------------------------------- 1 | # Copyright 2015 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_copyright.main import main 16 | import pytest 17 | 18 | 19 | @pytest.mark.copyright 20 | @pytest.mark.linter 21 | def test_copyright(): 22 | rc = main(argv=['.', 'test']) 23 | assert rc == 0, 'Found errors' 24 | -------------------------------------------------------------------------------- /stretch_deep_perception/test/test_flake8.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_flake8.main import main_with_errors 16 | import pytest 17 | 18 | 19 | @pytest.mark.flake8 20 | @pytest.mark.linter 21 | def test_flake8(): 22 | rc, errors = main_with_errors(argv=[]) 23 | assert rc == 0, \ 24 | 'Found %d code style errors / warnings:\n' % len(errors) + \ 25 | '\n'.join(errors) 26 | -------------------------------------------------------------------------------- /stretch_deep_perception/test/test_pep257.py: -------------------------------------------------------------------------------- 1 | # Copyright 2015 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_pep257.main import main 16 | import pytest 17 | 18 | 19 | @pytest.mark.linter 20 | @pytest.mark.pep257 21 | def test_pep257(): 22 | rc = main(argv=['.', 'test']) 23 | assert rc == 0, 'Found code style errors / warnings' 24 | -------------------------------------------------------------------------------- /stretch_demos/LICENSE.md: -------------------------------------------------------------------------------- 1 | The following license applies to the entire contents of this directory (the "Contents"), which contains software for use with the Stretch mobile manipulators, which are robots produced and sold by Hello Robot Inc. 2 | 3 | Copyright 2020-2024 Hello Robot Inc. 4 | 5 | The Contents are licensed under the Apache License, Version 2.0 (the "License"). You may not use the Contents except in compliance with the License. You may obtain a copy of the License at 6 | 7 | http://www.apache.org/licenses/LICENSE-2.0 8 | 9 | Unless required by applicable law or agreed to in writing, the Contents are distributed under the License are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. 10 | 11 | For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. 12 | -------------------------------------------------------------------------------- /stretch_demos/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | stretch_demos 5 | 0.1.0 6 | The stretch_demos package 7 | Hello Robot Inc. 8 | Apache License 2.0 9 | 10 | actionlib_msgs 11 | geometry_msgs 12 | nav_msgs 13 | control_msgs 14 | trajectory_msgs 15 | rclpy 16 | std_msgs 17 | std_srvs 18 | tf2 19 | 20 | ament_copyright 21 | ament_flake8 22 | ament_pep257 23 | python3-pytest 24 | 25 | 26 | ament_python 27 | 28 | 29 | -------------------------------------------------------------------------------- /stretch_demos/resource/stretch_demos: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_demos/resource/stretch_demos -------------------------------------------------------------------------------- /stretch_demos/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/stretch_demos 3 | [install] 4 | install_scripts=$base/lib/stretch_demos 5 | -------------------------------------------------------------------------------- /stretch_demos/setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import setup, find_packages 2 | from glob import glob 3 | 4 | package_name = 'stretch_demos' 5 | 6 | setup( 7 | name=package_name, 8 | version='0.0.0', 9 | packages=find_packages(), 10 | data_files=[ 11 | ('share/ament_index/resource_index/packages', 12 | ['resource/' + package_name]), 13 | ('share/' + package_name, ['package.xml']), 14 | ('share/' + package_name + '/launch', glob('launch/*.launch.py')), 15 | ('share/' + package_name + '/rviz', glob('rviz/*')), 16 | ], 17 | install_requires=['setuptools', 'wheel'], 18 | url='https://github.com/hello-robot/stretch_ros2', 19 | license='Apache License 2.0', 20 | author='Hello Robot Inc.', 21 | author_email='support@hello-robot.com', 22 | description='The stretch demos package', 23 | tests_require=['pytest'], 24 | entry_points={ 25 | 'console_scripts': [ 26 | 'clean_surface = stretch_demos.clean_surface:main', 27 | 'open_drawer = stretch_demos.open_drawer:main', 28 | 'grasp_object = stretch_demos.grasp_object:main', 29 | 'handover_object = stretch_demos.handover_object:main', 30 | 'hello_world = stretch_demos.hello_world:main' 31 | ], 32 | }, 33 | ) 34 | -------------------------------------------------------------------------------- /stretch_demos/stretch_demos/__init__.py: 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-------------------------------------------------------------------------------- /stretch_description/meshes/.gitkeep: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_description/meshes/.gitkeep -------------------------------------------------------------------------------- /stretch_description/rviz/stretch.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz_common/Displays 3 | Name: Displays 4 | - Class: rviz_common/Views 5 | Name: Views 6 | Visualization Manager: 7 | Displays: 8 | - Class: rviz_default_plugins/Grid 9 | Enabled: true 10 | Name: Grid 11 | - Class: rviz_default_plugins/RobotModel 12 | Description Source: Topic 13 | Description Topic: 14 | Value: /robot_description 15 | Enabled: true 16 | Name: RobotModel 17 | Enabled: true 18 | Tools: 19 | - Class: rviz_default_plugins/MoveCamera 20 | Value: true 21 | Views: 22 | Current: 23 | Class: rviz_default_plugins/Orbit 24 | Distance: 2.0 25 | Focal Point: 26 | X: 0.0 27 | Y: 0.0 28 | Z: 0.75 29 | Name: Current View 30 | Pitch: 0.0 31 | Value: Orbit (rviz) 32 | Yaw: 0.5 33 | -------------------------------------------------------------------------------- /stretch_description/test/test_flake8.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_flake8.main import main_with_errors 16 | import pytest 17 | 18 | 19 | @pytest.mark.flake8 20 | @pytest.mark.linter 21 | def test_flake8(): 22 | rc, errors = main_with_errors(argv=['--config', '../.flake8']) 23 | assert rc == 0, \ 24 | 'Found %d code style errors / warnings:\n' % len(errors) + \ 25 | '\n'.join(errors) 26 | -------------------------------------------------------------------------------- /stretch_description/test/test_pep257.py: -------------------------------------------------------------------------------- 1 | # Copyright 2015 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_pep257.main import main 16 | import pytest 17 | 18 | 19 | @pytest.mark.linter 20 | @pytest.mark.pep257 21 | def test_pep257(): 22 | rc = main(argv=['.', 'test']) 23 | assert rc == 0, 'Found code style errors / warnings' 24 | -------------------------------------------------------------------------------- /stretch_funmap/.python-version: -------------------------------------------------------------------------------- 1 | 3.10 2 | -------------------------------------------------------------------------------- /stretch_funmap/LICENSE.md: -------------------------------------------------------------------------------- 1 | The following license applies to the entire contents of this directory (the "Contents"), which contains software for use with the Stretch mobile manipulators, which are robots produced and sold by Hello Robot Inc. 2 | 3 | Copyright 2020-2024 Hello Robot Inc. 4 | 5 | This software is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License v3.0 (GNU LGPLv3) as published by the Free Software Foundation. 6 | 7 | This software is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License v3.0 (GNU LGPLv3) for more details, which can be found via the following link: 8 | 9 | https://www.gnu.org/licenses/lgpl-3.0.en.html 10 | 11 | For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. 12 | -------------------------------------------------------------------------------- /stretch_funmap/images/living_room_map.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_funmap/images/living_room_map.png -------------------------------------------------------------------------------- /stretch_funmap/images/living_room_map_image.png: -------------------------------------------------------------------------------- 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/stretch_funmap/launch/funmap.launch.py: -------------------------------------------------------------------------------- 1 | from launch import LaunchDescription 2 | from launch.actions import DeclareLaunchArgument 3 | from launch.substitutions import LaunchConfiguration 4 | from launch_ros.actions import Node 5 | 6 | configurable_parameters = [{'name': 'map_yaml', 'default': '', 'description': 'previously captured FUNMAP map (optional)'}, 7 | {'name': 'debug_directory', 'default': '', 'description': 'directory where debug imagery is saved'}, 8 | ] 9 | 10 | def declare_configurable_parameters(parameters): 11 | return [DeclareLaunchArgument(param['name'], default_value=param['default'], description=param['description']) for param in parameters] 12 | 13 | def generate_launch_description(): 14 | map_yaml = LaunchConfiguration('map_yaml') 15 | debug_directory = LaunchConfiguration('debug_directory') 16 | 17 | funmap_params = [ 18 | {'map_yaml': map_yaml, 19 | 'debug_directory': debug_directory, 20 | } 21 | ] 22 | 23 | funmap = Node(package='stretch_funmap', 24 | executable='funmap', 25 | output='screen', 26 | parameters=funmap_params) 27 | 28 | return LaunchDescription(declare_configurable_parameters(configurable_parameters) + [ 29 | funmap, 30 | ]) 31 | -------------------------------------------------------------------------------- /stretch_funmap/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | stretch_funmap 5 | 0.1.0 6 | The stretch_funmap package 7 | Hello Robot Inc. 8 | Apache License 2.0 9 | 10 | actionlib_msgs 11 | geometry_msgs 12 | nav_msgs 13 | nav2_msgs 14 | control_msgs 15 | trajectory_msgs 16 | rclpy 17 | std_msgs 18 | std_srvs 19 | tf2 20 | 21 | ament_copyright 22 | ament_flake8 23 | ament_pep257 24 | python3-pytest 25 | 26 | 27 | ament_python 28 | 29 | 30 | -------------------------------------------------------------------------------- /stretch_funmap/pyproject.toml: -------------------------------------------------------------------------------- 1 | [tool.setuptools] 2 | py-modules = [] 3 | 4 | [project] 5 | name = "stretch-funmap" 6 | version = "0.1.0" 7 | description = "" 8 | readme = "README.md" 9 | requires-python = ">=3.10" 10 | dependencies = [ 11 | "cma>=4.0.0", 12 | "cython>=3.0.11", 13 | "matplotlib>=3.10.0", 14 | "numba>=0.60.0", 15 | "numpy==1.23.2", 16 | "opencv-python>=4.7.0.72", 17 | "pyquaternion>=0.9.9", 18 | "pyyaml>=6.0.2", 19 | "scikit-image>=0.24.0", 20 | "scipy>=1.13.1", 21 | "transforms3d>=0.4.2", 22 | ] 23 | -------------------------------------------------------------------------------- /stretch_funmap/resource/stretch_funmap: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_funmap/resource/stretch_funmap -------------------------------------------------------------------------------- /stretch_funmap/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/stretch_funmap 3 | [install] 4 | install_scripts=$base/lib/stretch_funmap 5 | -------------------------------------------------------------------------------- /stretch_funmap/setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import setup, find_packages 2 | from glob import glob 3 | 4 | package_name = 'stretch_funmap' 5 | 6 | setup( 7 | name=package_name, 8 | version='0.0.0', 9 | packages=find_packages(), 10 | data_files=[ 11 | ('share/ament_index/resource_index/packages', 12 | ['resource/' + package_name]), 13 | ('share/' + package_name, ['package.xml']), 14 | ('share/' + package_name + '/launch', glob('launch/*.launch.py')), 15 | ('share/' + package_name + '/rviz', glob('rviz/*')), 16 | ], 17 | install_requires=['setuptools', 'wheel'], 18 | url='https://github.com/hello-robot/stretch_ros2', 19 | license='Apache License 2.0', 20 | author='Hello Robot Inc.', 21 | author_email='support@hello-robot.com', 22 | description='The stretch funmap package', 23 | tests_require=['pytest'], 24 | entry_points={ 25 | 'console_scripts': [ 26 | 'funmap = stretch_funmap.funmap:main' 27 | ], 28 | }, 29 | ) 30 | 31 | -------------------------------------------------------------------------------- /stretch_funmap/stretch_funmap/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_funmap/stretch_funmap/__init__.py -------------------------------------------------------------------------------- /stretch_nav2/LICENSE.md: -------------------------------------------------------------------------------- 1 | The following license applies to the entire contents of this directory (the "Contents"), which contains software for use with the Stretch mobile manipulators, which are robots produced and sold by Hello Robot Inc. 2 | 3 | Copyright 2020-2024 Hello Robot Inc. 4 | 5 | The Contents are licensed under the Apache License, Version 2.0 (the "License"). You may not use the Contents except in compliance with the License. You may obtain a copy of the License at 6 | 7 | http://www.apache.org/licenses/LICENSE-2.0 8 | 9 | Unless required by applicable law or agreed to in writing, the Contents are distributed under the License are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. 10 | 11 | For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. 12 | -------------------------------------------------------------------------------- /stretch_nav2/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | stretch_nav2 5 | 0.0.1 6 | The stretch_nav2 package 7 | Hello Robot Inc. 8 | Apache License 2.0 9 | 10 | ament_cmake 11 | ament_cmake_python 12 | 13 | joy 14 | teleop_twist_keyboard 15 | teleop_twist_joy 16 | nav2_amcl 17 | nav2_map_server 18 | nav2_bringup 19 | slam_toolbox 20 | 21 | ament_lint_auto 22 | ament_lint_common 23 | 24 | 25 | ament_cmake 26 | 27 | 28 | -------------------------------------------------------------------------------- /stretch_nav2/stretch_nav2/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_nav2/stretch_nav2/__init__.py -------------------------------------------------------------------------------- /stretch_octomap/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.8) 2 | project(stretch_octomap) 3 | 4 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 5 | add_compile_options(-Wall -Wextra -Wpedantic) 6 | endif() 7 | 8 | # find dependencies 9 | find_package(ament_cmake REQUIRED) 10 | find_package(rclcpp REQUIRED) 11 | 12 | # include Cpp "include" directory 13 | include_directories(include) 14 | 15 | if(BUILD_TESTING) 16 | find_package(ament_lint_auto REQUIRED) 17 | # the following line skips the linter which checks for copyrights 18 | # uncomment the line when a copyright and license is not present in all source files 19 | #set(ament_cmake_copyright_FOUND TRUE) 20 | # the following line skips cpplint (only works in a git repo) 21 | # uncomment the line when this package is not in a git repo 22 | #set(ament_cmake_cpplint_FOUND TRUE) 23 | ament_lint_auto_find_test_dependencies() 24 | endif() 25 | 26 | install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) 27 | install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME}) 28 | # install(DIRECTORY stretch_octomap DESTINATION share/${PROJECT_NAME}) 29 | 30 | ament_package() 31 | -------------------------------------------------------------------------------- /stretch_octomap/COLCON_IGNORE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_octomap/COLCON_IGNORE -------------------------------------------------------------------------------- /stretch_octomap/LICENSE.md: -------------------------------------------------------------------------------- 1 | The following license applies to the entire contents of this directory (the "Contents"), which contains software for use with the Stretch mobile manipulators, which are robots produced and sold by Hello Robot Inc. 2 | 3 | Copyright 2020-2024 Hello Robot Inc. 4 | 5 | The Contents are licensed under the Apache License, Version 2.0 (the "License"). You may not use the Contents except in compliance with the License. You may obtain a copy of the License at 6 | 7 | http://www.apache.org/licenses/LICENSE-2.0 8 | 9 | Unless required by applicable law or agreed to in writing, the Contents are distributed under the License are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. 10 | 11 | For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. 12 | -------------------------------------------------------------------------------- /stretch_octomap/README.md: -------------------------------------------------------------------------------- 1 | ![](../images/banner.png) 2 | 3 | ## Overview 4 | 5 | TODO 6 | 7 | ## License 8 | 9 | For license information, please see the LICENSE files. 10 | -------------------------------------------------------------------------------- /stretch_octomap/launch/octomap_mapper.launch.xml: -------------------------------------------------------------------------------- 1 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /stretch_octomap/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | stretch_octomap 5 | 0.0.1 6 | The stretch_octomap package 7 | Hello Robot Inc. 8 | Apache License 2.0 9 | 10 | ament_cmake 11 | 12 | geometry_msgs 13 | libpcl-all-dev 14 | message_filters 15 | nav_msgs 16 | octomap 17 | octomap_msgs 18 | octomap_ros 19 | pcl_conversions 20 | pcl_ros 21 | rclcpp 22 | rclcpp_components 23 | sensor_msgs 24 | std_msgs 25 | std_srvs 26 | tf2 27 | tf2_eigen 28 | tf2_geometry_msgs 29 | tf2_ros 30 | visualization_msgs 31 | 32 | ament_lint_auto 33 | ament_lint_common 34 | 35 | 36 | ament_cmake 37 | 38 | 39 | -------------------------------------------------------------------------------- /stretch_rtabmap/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.8) 2 | project(stretch_rtabmap) 3 | 4 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 5 | add_compile_options(-Wall -Wextra -Wpedantic) 6 | endif() 7 | 8 | # find dependencies 9 | find_package(ament_cmake REQUIRED) 10 | find_package(rclcpp REQUIRED) 11 | 12 | # include Cpp "include" directory 13 | include_directories(include) 14 | 15 | if(BUILD_TESTING) 16 | find_package(ament_lint_auto REQUIRED) 17 | # the following line skips the linter which checks for copyrights 18 | # uncomment the line when a copyright and license is not present in all source files 19 | #set(ament_cmake_copyright_FOUND TRUE) 20 | # the following line skips cpplint (only works in a git repo) 21 | # uncomment the line when this package is not in a git repo 22 | #set(ament_cmake_cpplint_FOUND TRUE) 23 | ament_lint_auto_find_test_dependencies() 24 | endif() 25 | 26 | install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) 27 | install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME}) 28 | # install(DIRECTORY stretch_octomap DESTINATION share/${PROJECT_NAME}) 29 | 30 | ament_package() 31 | -------------------------------------------------------------------------------- /stretch_rtabmap/LICENSE.md: -------------------------------------------------------------------------------- 1 | The following license applies to the entire contents of this directory (the "Contents"), which contains software for use with the Stretch mobile manipulators, which are robots produced and sold by Hello Robot Inc. 2 | 3 | Copyright 2020-2024 Hello Robot Inc. 4 | 5 | The Contents are licensed under the Apache License, Version 2.0 (the "License"). You may not use the Contents except in compliance with the License. You may obtain a copy of the License at 6 | 7 | http://www.apache.org/licenses/LICENSE-2.0 8 | 9 | Unless required by applicable law or agreed to in writing, the Contents are distributed under the License are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. 10 | 11 | For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc. 12 | -------------------------------------------------------------------------------- /stretch_rtabmap/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | stretch_rtabmap 5 | 0.0.1 6 | The stretch_rtabmap package 7 | Hello Robot Inc. 8 | Apache License 2.0 9 | 10 | ament_cmake 11 | 12 | geometry_msgs 13 | message_filters 14 | nav_msgs 15 | rtabmap_ros 16 | sensor_msgs 17 | std_msgs 18 | std_srvs 19 | tf2 20 | tf2_eigen 21 | tf2_geometry_msgs 22 | tf2_ros 23 | visualization_msgs 24 | 25 | ament_lint_auto 26 | ament_lint_common 27 | 28 | 29 | ament_cmake 30 | 31 | 32 | -------------------------------------------------------------------------------- /stretch_simulation/.gitignore: -------------------------------------------------------------------------------- 1 | .DS_Store -------------------------------------------------------------------------------- /stretch_simulation/camera.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_simulation/camera.png -------------------------------------------------------------------------------- /stretch_simulation/maps/gshaped_modern1_robocasa.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_simulation/maps/gshaped_modern1_robocasa.pgm -------------------------------------------------------------------------------- /stretch_simulation/maps/gshaped_modern1_robocasa.yaml: -------------------------------------------------------------------------------- 1 | image: gshaped_modern1_robocasa.pgm 2 | mode: trinary 3 | resolution: 0.05 4 | origin: [-0.0786, -5.1, 0] 5 | negate: 0 6 | occupied_thresh: 0.65 7 | free_thresh: 0.25 -------------------------------------------------------------------------------- /stretch_simulation/maps/mujoco_open_world_table.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_simulation/maps/mujoco_open_world_table.pgm -------------------------------------------------------------------------------- /stretch_simulation/maps/mujoco_open_world_table.yaml: -------------------------------------------------------------------------------- 1 | image: mujoco_open_world_table.pgm 2 | resolution: 0.05 # 5 cm per pixel 3 | origin: [-1.2, -1.2, 0.0] # bottom-left corner of the map 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 -------------------------------------------------------------------------------- /stretch_simulation/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/stretch_simulation 3 | [install] 4 | install_scripts=$base/lib/stretch_simulation 5 | -------------------------------------------------------------------------------- /stretch_simulation/setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import setup, find_packages 2 | from glob import glob 3 | 4 | package_name = 'stretch_simulation' 5 | 6 | setup( 7 | name=package_name, 8 | version='0.2.0', 9 | packages=find_packages(), 10 | data_files=[ 11 | # ('share/ament_index/resource_index/packages', ['resource/' + package_name]), 12 | ('share/' + package_name, ['package.xml']), 13 | ('share/' + package_name + '/launch', glob('launch/*.launch.py')), 14 | ('share/' + package_name + '/rviz', glob('rviz/*')), 15 | ], 16 | install_requires=['setuptools'], 17 | url='https://github.com/hello-robot/stretch_ros2', 18 | license='Apache License 2.0', 19 | author='Hello Robot Inc.', 20 | author_email='support@hello-robot.com', 21 | description='The stretch_simulation package', 22 | tests_require=['pytest'], 23 | entry_points={ 24 | 'console_scripts': [ 25 | 'stretch_mujoco_driver = stretch_mujoco_driver.stretch_mujoco_driver:main', 26 | ], 27 | }, 28 | ) 29 | -------------------------------------------------------------------------------- /stretch_simulation/stretch_mujoco_driver/.gitignore: -------------------------------------------------------------------------------- 1 | dependencies/ -------------------------------------------------------------------------------- /stretch_simulation/stretch_mujoco_driver/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hello-robot/stretch_ros2/f84ed08595a5315163b995e0b3848805105ffd99/stretch_simulation/stretch_mujoco_driver/__init__.py -------------------------------------------------------------------------------- /stretch_simulation/stretch_mujoco_driver/setup.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | SCRIPT_DIR=$(dirname "$0") 4 | 5 | set -e 6 | 7 | cd "$SCRIPT_DIR" 8 | 9 | mkdir -p dependencies 10 | 11 | cd dependencies 12 | 13 | # Install stretch_mujoco and robocasa: 14 | git clone https://github.com/hello-robot/stretch_mujoco.git --depth 1 15 | 16 | cd stretch_mujoco 17 | 18 | git submodule update --init 19 | 20 | pip install -e ".[robocasa]" 21 | 22 | pip install -e "third_party/robocasa" 23 | pip install "third_party/robosuite" 24 | python3 third_party/robosuite/robosuite/scripts/setup_macros.py 25 | python3 third_party/robocasa/robocasa/scripts/setup_macros.py 26 | python3 third_party/robocasa/robocasa/scripts/download_kitchen_assets.py 27 | 28 | # Colcon Build: 29 | cd ~/ament_ws 30 | 31 | colcon build 32 | 33 | source ./install/setup.bash 34 | 35 | echo "Done. You can now use 'ros2 launch stretch_simulation stretch_mujoco_driver.launch.py mode:=navigation'." 36 | --------------------------------------------------------------------------------