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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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Robot params does not provide Dynamixel joint's min max range values in world radians #297

Open hello-fazil opened 4 months ago

hello-fazil commented 4 months ago

Currently the robot params only provides the min max range values in ticks frame (stretch_gripper.range_t) and not in world radians for dynamixel joints. Ideally It would be very useful to get the range of all dynamixel joints in world radians through robot params.

For example most of the joint state parameter values are hard coded in Visual servoing demo (issue Max gripper joint state param has to be assigned robot specific)

hello-fazil commented 4 months ago

If maintaining two similar parameters but in different coordinate frames (ticks and rad) are difficult and confusing in robot params. I could imagine us introducing a helper method get_dxl_joint_range_world_rad(joint_name) which would convert the ticks to world rad that could be used in demo codes usefully.