No problem @rishi! Would you try increasing the volume level using the following command:
Here’s how the volume settings on my robot are setup:
Regarding the movements, you won’t need to calculate a sleep time to accomplish a smooth motion. All joints on the robot execute asynchronously, which means that
robot.push_command() or the servo joint commands don’t block the program. So you can queue up joint commands, call push_command, and sleep for however long that part of the movement should last. Then, either you fire the next set of commands for the movement (which will be the new targets for the joints and the controllers will move the joint there smoothly), or the joints smoothly arrive to the commanded positions of the last set of commands.
A concrete example of what I’m talking about can be seen in the
stretch_xbox_controller_teleop.py script. The user acts as the sleep function, intermittently sending joint targets via the xbox controller, which the low level controllers in Stretch smoothly achieve.
Also keep in mind that you can set the velocity and acceleration for each individual command.