Sometimes hitting the e stop causes the dex wrist to go limp which causes the wrist to drop into the lidar.
Steps to reproduce are:
Press e stop button
The robot wrist will now drop straight down into the lidar sensor and remain limp till homing.
Stretch RE2 with dex wrist
When a robot instance runs by default when the Runstop is hit, the wrist_pitch joint of the dex-wrist goes limp, as you mentioned, and would be free to move. You can change this behavior by disabling the runstop for the wrist_pitch joint by modifying the
enable_runstop parameter that makes it hold the position. You can do that by copying the below dictionary to your
But note data that this change would now allow the robot instance to move the wrist_pitch joint even on runstop mode.
Let us know if this solves your issue.
The wrist pitch parameter
disable_torque_on_stop may also work, without overriding the runstop completely