Automatic arm stow and prep buttons

[mayacakmak]

Add two buttons to the interface (appropriate location to be determined) to:

1. Stow the arm away in preparation for driving
2. Prepare the arm for manipulation (raise it high, extend a bit, rotate wrist out)

This issue is motivated in the problem description in Issue #11.

This issue depends on first addressing Issue #12.

[mayacakmak]

Look into stretch_robot_stow.py which uses implementation of robot.stow() here for a stow pose:
https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/robot.py

See if sending multiple joints (like when changing two camera angles during mode switches) can be used for setting arm poses.

[mayacakmak]

@kaviMD I'm working on this now, pinging in case you're thinking about this for the auto 90 degree rotation safeguards/fixes.

[mayacakmak]

I put in the buttons and they trigger an action that sends the three arm joints to a particular pose, which seemed to work well.

• We need to figure out what are some good poses for "stow" and "prep" (ready for manipulation). Currently it's some arbitrary numbers.
• The arm moved a bit too fast in my opinion, play around with movement speed
• Thinks about other possible safeguards for moving the arm from arbitrary poses to these poses to avoid pushing itself off the ground or harming something in the environment/in its gripper

[nickswalker]

@kaviMD The need for a special stow configuration came up again today. We need it so the robot can start playing back recorded commands from a repeatable start state. I think you had put a home pose as a default in the pose library at some point and maybe I took it out while I was working on the local storage backend. If we add it back we can close this.

[kavidey]

I added a list of default poses to poselibrary.cmp.ts.

stretch_web_interface/src/pages/operator/ts/poselibrary.cmp.ts

Lines 30 to 44 in 8a6f3a8

	const DEFAULT_POSES: PoseLibraryPose[] = [
	{
	description: "Default home pose for the robot",
	jointState: {
	joint_gripper_finger_left: -0.004946586225879734,
	joint_head_pan: 0.15000144616381927,
	joint_head_tilt: -1.4986945032621115,
	joint_lift: 0.19725222828319314,
	joint_wrist_yaw: 3.1407843089705096,
	wrist_extension: 0.0005250874586900127,
	},
	name: "Home",
	defaultPose: true
	}
	];

Previously the default poses were stored in firebase, but that won't work with LocalStorage, so instead, they are hardcoded into a variable in that file (this should also be easier to edit).