Robot Parameters

This document provides a comprehensive overview of the parameter system in the Stretch robot codebase, including its organizational structure, runtime plug-in mechanisms, and the tools available for managing parameters. It is designed to be easily accessible to both users and AI agents.

1. High-Level Organizational Structure

The parameter system in Stretch uses a multi-layered dictionary approach, prioritized from base defaults to user-specific overrides. Parameters are resolved dynamically at runtime by stretch4_body.core.robot_params.RobotParams.

The parameter dictionaries are loaded and overwritten in the following order (ascending priority):

1. robot_params_<MODEL>.py (Python): Model-specific nominal parameters (e.g., robot_params_SE4.py). Defines the baseline configuration for a specific robot model.
2. stretch_configuration_params.yaml (YAML): Robot-specific data (e.g., serial numbers, hardware offsets, and factory calibration data). Typically updated by factory or calibration tools.
3. stretch_user_params.yaml (YAML): User-specific overrides (e.g., custom velocity limits, contact thresholds, controller tunings). This is the highest priority.

[!WARNING] Common Trap: A frequent issue is that a robot may have user_params overriding the factory params (perhaps set by another user previously), generating undesired or unexpected behavior. Always check stretch_user_params.yaml for active user overrides if the robot behaves unexpectedly.

[!NOTE] YAML vs. Python: Python files serve as the rigid, heavily-structured "default" settings shipped by the manufacturer. YAML files act as local configuration files used to store specific calibrations (configuration_params.yaml) or explicit user preferences (user_params.yaml) without modifying the tracked source code.

Plug-in System and Runtime Generation

Stretch utilizes a highly modular plug-in architecture to dynamically generate configurations at runtime based on the physical hardware attached to the robot.

• Plug-in Managers (SentryManager, SafeMotionManager, RoutineManager): The system uses various managers to dynamically load plug-ins.

  • SentryManager handles safety sentries or monitors (e.g., self_collision_loop) that protect the robot or monitor state.
  • SafeMotionManager manages plug-ins that restrict motions of the motors to help avoid hazards (e.g., limiting velocity/acceleration, triggering safe stops).
  • RoutineManager manages plug-ins that execute complex routines or behaviors. These plug-ins are defined in the parameters under ['controllers']. At runtime, the respective manager reads the py_module_name and py_class_name for each enabled plug-in and instantiates them dynamically.
• End-Of-Arm (EOA) Tool Generation: The End-Of-Arm tool configuration is entirely generated at runtime. When robot.tool is specified in a YAML file (e.g., 'eoa_wrist_dw4_tool_sg4'), the RobotParams class looks up the corresponding tool template in nominal_params. It expands the parameter dictionary by pulling in the relevant joint properties (like SE4_wrist_yaw_DW4 or SE4_stretch_gripper_DW4) into the active devices list.

2. Managing Parameters with CLI Tools

The codebase provides two primary Python scripts to inspect and modify parameters:

stretch_params.py

This tool recursively traverses the resolved parameter tree and prints it to the console, importantly noting the Origin of each parameter (e.g., whether it came from nominal python defaults, or was overridden by stretch_user_params.yaml).

Using with grep: Since the parameter list is extensive, stretch_params.py is best used alongside grep to quickly check the active value of a specific parameter and ensure user overrides are being respected.

# Check the active value and origin of the arm's velocity
stretch_params.py | grep arm | grep vel_m

stretch_change_param.py

An interactive command-line utility used to safely modify the robot parameters. It dynamically explores the RobotParams tree. When a user modifies a value, the script automatically writes the override to stretch_user_params.yaml without destroying existing overrides in the file.

# Launch the interactive parameter modification tool
stretch_change_param.py

3. Detailed Parameter Sections in robot_params_SE4.py

The robot_params_SE4.py file contains the baseline configuration for the Stretch SE4 model. It is organized into several distinct logical blocks:

3.1. EOA Joint Templates

Variables like SE4_wrist_yaw_DW4 and SE4_stretch_gripper_DW4 define the physical attributes of individual dynamixel/feetech servos.

• Details: Contains eeprom_cfg (limits, PIDs, protections) and motion profiles (default, fast, max, slow).
• Relation to Structure: These serve as building blocks. They are not directly loaded into the root parameter dictionary until an EOA tool explicitly requests them.

3.2. EndOfArm Defn (Tool Configurations)

Dictionaries like SE4_eoa_wrist_dw4_tool_sg4 group multiple EOA joints together into a cohesive tool.

• Details: Defines the wrist, the tool, stow positions, collision management offsets, and points to the py_class_name and py_module_name for the software driver. It also enumerates the required joint templates under the devices key.
• Relation to Structure: This represents the plug-in schema. When a tool is selected, RobotParams iterates through the devices key and merges the associated EOA Joint Templates (from 3.1) into the active parameter tree.

3.3. nominal_params (Root Dictionary)

This is the master dictionary that gets injected into RobotParams. It contains base configurations for major subsystems and managers:

• Hardware Subsystems: Configurations for hardware like omnibase (kinematics, wheel diameter), arm (gearing, homing thresholds), and generic motor templates (e.g., hello-motor-omni-2 or stepper motors).
• Loops and Rates: Settings for control loops like line_sensor_loop and end_of_arm_loop (e.g., loop_rate_Hz).
• Plug-in Configurations: Defines the parameter profiles for the various plug-ins managed by SentryManager, SafeMotionManager, and RoutineManager (e.g., settings for routine_docking or sentry_self_collision).
• Relation to Structure: It acts as the baseline priority hierarchy. It holds the supported_eoa lists and templates that the runtime generation system uses to build the final dictionary.

4. Organizational Structure Visualization

The following diagram illustrates how parameters flow into the resolved parameter tree and how plug-ins are generated.

Summary for AI Agents

When interacting with the Stretch parameter system:

1. Never edit robot_params_SE4.py to change a local behavior. Always instruct the user to use stretch_change_param.py or modify stretch_user_params.yaml.
2. Dynamic Resolution: Be aware that the dictionary structure changes based on the configured tool. If a joint isn't physically attached (defined by robot.tool), its parameters will not exist in the resolved tree.
3. Debugging: Use stretch_params.py to trace where a parameter is coming from if you suspect a YAML file isn't applying correctly.