Commanding velocity to the arm and lift

Knowledge Base
2

Hi @sguysc, welcome to the forum! Yes, you can send velocity commands to the arm and lift joints using the set_velocity() API in Stretch Body. Here’s an example script of what using this API would look like:

import stretch_body.robot

r = stretch_body.robot.Robot()
r.startup()
assert(r.is_calibrated()) # the robot must be homed

# move the arm out at 0.05 m/s
r.arm.set_velocity(0.05)
r.push_command()

[...]

# some time later, move the lift up at 0.05 m/s
r.lift.set_velocity(0.05)
r.push_command()

Let me know if you have any questions.