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Added a threshold for stowing the arm #104

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Added a threshold for stowing the arm #104

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f60715a
Added a threshold for stowing the arm, if the final position is not w…
hello-robot-shehab Jul 2, 2026
1cdf2d5
Changed the threshold to 0.025m
hello-robot-shehab Jul 17, 2026
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11 changes: 8 additions & 3 deletions stretch4_body/behavior/routines/routine_stow.py
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Original file line number Diff line number Diff line change
Expand Up @@ -43,12 +43,17 @@ def run(self,cmd_id,*args, **kwargs):

if 'arm' in self.robot.subsystems:
pos_arm = cfg['arm']
threshold = 0.025
# Bring in arm before bring down
self.logger.info('--------- Stowing Arm ----')
self.robot.arm.move_to(pos_arm)
if not self.wait_until_at_setpoint(self.robot.arm.motor, timeout=6.0):
self.logger.warning(f'Arm failed to reach final position when stowing. Expecting {pos_arm} but got {self.robot.arm.status["pos"]:.3f}')
return False
if not self.wait_until_at_setpoint(self.robot.arm.motor, timeout=4.0):
actual_pos = self.robot.arm.status['pos']
within_threshold = abs(actual_pos - pos_arm) < threshold
self.logger.warning(f'Arm failed to reach final position when stowing. Expecting {pos_arm} but got {actual_pos:.3f}. The arm is {"within" if within_threshold else "not within"} threshold, {"continuing" if within_threshold else "aborting"}.')

if not within_threshold:
return False

if 'end_of_arm' in self.robot.subsystems:
cmd = ['end_of_arm', 'stow', cmd_id, args, kwargs]
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