hello-robot / stretch_web_teleop

Remote web teleoperation for the Stretch mobile manipulators from Hello Robot Inc.

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Gracefully handle case where gripper pointcloud has size 0 #84

Closed hello-amal closed 1 month ago

hello-amal commented 1 month ago

Description

If the gripper's pointcloud had depth 0 while gripper depth AR were enabled , it would crash. This PR addresses that.

Testing procedure

[x] Verify the fix: Before the changed code in configure_video_streams and move_to_pregrasp, add lines of code hardcoding the pointcloud size to 0 (e.g., np.zeros((0,3), dtype=np.uint16)). Launch the interface, toggle on gripper depth AR, try move-to-pregrasp, verify that the node doesn't crash.
[x] Remove those lines, try the above two features, verify that they work.

Before opening a pull request

From the top-level of this repository, run:

[ ] pre-commit run --all-files

To merge

[ ] Squash & Merge