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

2. Install pre-requisites:

# Required installation tools
conda install -c conda-forge ffmpeg cmake librealsense

# Code formatting tools
conda install cmake-format clang-format

4. Install the package:

make install

5. Prepare frontend:

cd stretch/frontend
nvm use 16.15.1
npm install

6. Run the bot:

bot

References

• Hello Robot repositories
  • Stretch Body
  • Stretch Firmware
  • Stretch ROS

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