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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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stretch_configure_tool.py should check tool configuration in stretch_user_params.yaml #340

Open hello-lamsey opened 1 month ago

hello-lamsey commented 1 month ago

Description

When swapping my tool from the tablet the gripper, I attempted to use stretch_configure_tool.py to update my tool. While the script updated my configuration in stretch_configuration_params.yaml, it did not update the robot.tool setting in the user params. This led to misbehavior when homing the robot (incorrect wrist pitch), and could cause self-collisions.

Steps to Recreate

  1. Detach gripper, attach tablet, run stretch_configure_tool.py and add tool: eoa_wrist_dw3_tool_tablet_12in to the robot.
  2. Detach tablet, attach gripper, run stretch_configure_tool.py. Then, stretch_system_check.py should still report the tablet as the tool.
hello-binit commented 1 month ago

From #300: "The stretch_configure_tool CLI should flag the user if the tool parameter is set in stretch_user_params."