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PeterMitrano
requested changes
Nov 6, 2021
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PeterMitrano
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PeterMitrano
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I made some small suggestions. Feel free to correct me or disagree on anything
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| pdb.set_trace() | ||
| panda.set_execute(False) # this will stop the robot from actually executing a path, good for testing | ||
| # panda.plan_to_position_cartesian(panda.nebula_arm, panda.nebula_wrist, target_position=[0.04, 0.2867, 1.17206]) |
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it's not a good idea to include commented out code. If this code works and is safe, consider commenting it back in. If it doesn't work or you don't want people to reference it, just delete it
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waiting on testing with the new stack changes |
PeterMitrano
requested changes
Mar 22, 2022
arm_robots/src/arm_robots/panda.py
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| pass | ||
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| def send_joint_command(self, joint_names: List[str], trajectory_point: JointTrajectoryPoint) -> Tuple[bool, str]: | ||
| pass |
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this should probably raise NotImplementedError to avoid people accidentally calling this somehow
arm_robots/src/arm_robots/panda.py
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| plan_msg = RobotTrajectory() | ||
| plan_msg.joint_trajectory = trajectory | ||
| move_group.execute(plan_msg) | ||
| pass |
| client.wait_for_server() | ||
| rospy.loginfo(f"Connected.") | ||
| return client | ||
| if controller_name is not None: |
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leave this function alone and override connect to just have:
def connect(self, preload_move_groups=True):
self.jacobian_follower.connect_to_psm()
if preload_move_groups:
for group_name in self.robot_commander.get_group_names():
self.get_move_group_commander(group_name)
| @@ -1,25 +1,114 @@ | |||
| #! /usr/bin/env python | |||
| from rosgraph.names import ns_join | |||
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Added gripper interface, error clearing