Hello Stretch users!
TLDR: If you upgrade to Stretch Body v0.3.0 you will be required to run tool RE1_migrate_params.py before Stretch Body will operate
We have recently released a new version of Stretch Body. In addition to a number of small bug fixes, this release introduces a new parameter organization for Stretch.
Starting with v0.3.0, Stretch Body will automatically check if you must first migrate your parameter data to the new format. For example:
>>$ stretch_robot_home.py
Please run tool RE1_migrate_params.py before continuing.
...
Fortunately, this migration is straightforward. Simply run:
>>$ RE1_migrate_params.py
...
Robot stretch-re1-2000 now configured to use latest parameter format
This tool copies your existing robot parameters to the new format. It also stores a backup of your original data (stretch_re1_user_params.yaml and stretch_re1_factory_params.yaml). The tool will do a check to ensure consistency between data before and after migration as well.
Starting with v0.3.0, your robot parameter data will be found in two new files under ~/stretch_user:/stretch-re1-xxxx
-
stretch_configuration_params.yaml| Robot specific data (eg, serial numbers and calibrations) -
stretch_user_params.yaml| User specific data (eg, contact thresholds, controller tunings, etc)
Our expectation is that you can continue to customize your robot’s configuration by editing stretch_user_params.yaml (as it takes precedence over all other settings).
More details on this release can be found here
In the coming weeks we’ll post a more in depth tutorial on working with Stretch parameter data. I will post it here when it is ready.
As always, feel free to email us at support@hello-robot.com or post here if you have any questions or issues.
Best,
Aaron