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hello-robot / stretch_body

Python packages to interact with the hardware of the Stretch mobile manipulators from Hello Robot Inc.
https://docs.hello-robot.com/0.2/stretch-tutorials/stretch_body/
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RE1's nominal parameters missing "robot_collision_mgmt" #263

Closed hello-binit closed 9 months ago

hello-binit commented 9 months ago

With Stretch Body 0.7.2 (latest currently released), model name RE1V0 is missing a parameter named "robot_collision_mgmt", causing tools like stretch_robot_home.py to fail with error:

[ERROR] [robot_collision_mgmt]: Parameters for device robot_collision_mgmt not found. Check parameter YAML and device name. Exiting...
hello-fazil commented 9 months ago

The workaround for this bug until a fix is released would be adding the following lines to the stretch_user_params.yaml

robot_collision_mgmt:
  RE1V0: {}
  tool_stretch_gripper: {}
  tool_stretch_dex_wrist: {}
robot:
  use_collision_manager: 0
aedsinger commented 9 months ago

This is fixed in this PR, now merged to master:

https://github.com/hello-robot/stretch_body/pull/259