/stretch-robot

Stretch robot control code

Primary LanguagePython

Stretch Robot

Stretch robot control code

Getting Started

These instructions have only been successfully tested on a Linux machine. They were also tested on a Mac M1 machine, but support for librealsense on non-X86 devices is pretty bad at the moment.

  1. Create a Conda environment:
conda create --name stretch python=3.10
  1. Install pre-requisites:
# Required installation tools
conda install -c conda-forge ffmpeg cmake librealsense

# Code formatting tools
conda install cmake-format clang-format
  1. Install the package:
make install
  1. Prepare frontend:
cd stretch/frontend
nvm use 16.15.1
npm install
  1. Run the bot:
bot

References

TODO

  • RealSense camera doesn't like having multiple streams open at once. Instead, will need to use a WebSocket manager pattern
  • Need to add the depth camera in addition to the RGB camera
  • Should try to derive a good way of visualizing camera extrinsics