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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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Base effort not published #307

Open hello-binit opened 6 months ago

hello-binit commented 6 months ago

The status dictionary for the mobile base is missing the effort state. The stepper status dictionary contains motor effort, but these values aren't converted into mobile base effort.

https://github.com/hello-robot/stretch_body/blob/e7bb48ff8ca7ff9b5f483000ce3f520dbc8cbd45/body/stretch_body/base.py#L23 The effort array isn't used anywhere else: Screenshot from 2024-04-26 00-24-16

The "translation_force" and "rotation_torque" keys are marked as deprecated:

https://github.com/hello-robot/stretch_body/blob/e7bb48ff8ca7ff9b5f483000ce3f520dbc8cbd45/body/stretch_body/base.py#L571-L572