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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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Move _angle_pitch() method in `Robot.home()` to a End of Arm tool class managed callback #325

Open hello-fazil opened 3 months ago

hello-fazil commented 3 months ago

The method _angle_pitch() is defined and called from the Robot.home() method at the start of the execution to ensure the end-of-arm tool's pitch joint is in a safe pose before the start of the homing process. This method is currently hard coded with values and exists in the Robbot() class.

Ideally, the _angle_pitch should be converted into a pre_home() method managed by the EOA tool classes and introduce a new set of pre-homing parameters if applicable.