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Bugfix/lift runaway runstop #23

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Bugfix/lift runaway runstop #23

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2d34433
touch
hellorobotproduction May 18, 2026
20094db
finetune runaway condition on lift
hellorobotproduction May 28, 2026
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1 change: 1 addition & 0 deletions README.md
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
# Overview


The `stretch4_body` repository contains the core Python software stack that allows developers to interact with the hardware of Stretch 4 robots. The repository for Stretch 3 and below can be found in the [stretch_body](https://github.com/hello-robot/stretch_body) repo. This repo provides a robust, soft real-time capable framework for managing low-level motor communication, subsystem coordination, autonomous behaviors, and a high-level API for user applications. This repository is intended to be imported by other code that needs access to these features.

This package can be installed by:
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2 changes: 1 addition & 1 deletion stretch4_body/behavior/sentries/sentry_joint_runaway.py
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Expand Up @@ -13,7 +13,7 @@ def __init__(self, robot):

def step(self):
if self.robot.get_subsystem('lift') is not None:
if abs(self.robot.lift.status['vel'])>self.params['lift_runaway_vel'] and self.robot.lift.motor.hw_valid:
if self.robot.lift.status['vel']<0 and abs(self.robot.lift.status['vel'])>self.params['lift_runaway_vel'] and self.robot.lift.motor.hw_valid and not self.robot.power_periph.status['runstop_event']:

@hello-robot-shehab hello-robot-shehab May 28, 2026

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Blaine mentioned we should still have the runaway sentry active when runstopped; would this disable the safety feature during runstop?

self.logger.warning('Runaway velocity of lift of %f m/s. Shutting down actuator!'%self.robot.lift.status['vel'])
self.logger.warning('Stop the server with stretch_body_server --kill')
self.logger.warning('Run REx_actuator_control --lift to re-enable joint')
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