Comments about Collision Avoidance

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An update! We’ve just released Stretch Body v0.1.6 that integrates your feedback on the collision avoidance functionality (along with various bug-fixes). These updates can be installed

>>$ pip2 install hello-robot-stretch-body -U --no-cache-dir
>>$ pip2 install hello-robot-stretch-body-tools -U --no-cache-dir
>>$ pip2 install hello-robot-stretch-factory -U --no-cache-dir
>>$ pip2 install hello-robot-stretch-tool-share -U --no-cache-dir

Unfortunately we had to change the API a bit. Previously you might call:

lift.set_soft_motion_limit(min_val,max_val).

Now we support setting individual limits by:

lift.set_soft_motion_limit_min(min_val)
lift.set_soft_motion_limit_max(max_val)

Stretch Body also now distinguishes between Collision limits and User limits. In this way the two constraints can co-exist without overwriting each other. The most conservative joint range between the two is applied). This is further explained in the code here.

Thanks for the feedback and let us know if there are any questions!

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