Issue with Gripper Position and Velocity Calculations with Stretch_ros2

[mkoenig2362]

Hello hello-robot team,
I'm combining the stretch_mujoco with the stretch_ros2 stack and ran into the following issue:
When pulling the gripper position and velocity from the StretchMujocoSimulator for the command_mobile_base_velocity_and_publish_state method inside the StretchDriver I have the problem that the calculations seem off. The published values for gripper_aperture_m range from -0.0003091475668224888 to a maximum of 0.0006818138736155684 and gripper_finger_rad between -0.000903940253866927 and 0.0019936078175893813. Without additional information it is hard to retrace the exact function of the status_to_all method and the value it expects.
I would appreciate greatly any help or explanation that you can offer.

[hello-binit]

Hey @mkoenig2362, sorry, I'm just seeing this question. Did you figure this out?