sim.get_status() provides base pose w.r.t. wheel odometry frame (I think... maybe it's world frame?). status.base.theta is reported in [pi, -pi) range, whereas the real robot reports theta in [0, 2*pi).
https://github.com/hello-robot/stretch_body/blob/e761f062d2367fe0d53031c156476e5b8ced9bb6/body/stretch_body/base.py#L743
The range should match the real robot.
sim.get_status()provides base pose w.r.t. wheel odometry frame (I think... maybe it's world frame?).status.base.thetais reported in [pi, -pi) range, whereas the real robot reports theta in [0, 2*pi).https://github.com/hello-robot/stretch_body/blob/e761f062d2367fe0d53031c156476e5b8ced9bb6/body/stretch_body/base.py#L743
The range should match the real robot.