Feature/guarded motion added distance until edge up #1199
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robot_skills/src/robot_skills/functionalities/arm/guarded_motion.py
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robot_skills/src/robot_skills/functionalities/arm/guarded_motion.py
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robot_skills/src/robot_skills/functionalities/arm/guarded_motion.py
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| # Sets the joint state to move down a certain distance (or 0 if distance is not set) | ||
| if distance_move_down is not None: | ||
| current_joint_state['arm_lift_joint'] = max(0, current_joint_state['arm_lift_joint'] - distance_move_down) |
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0 should be the lower limit of the joint.
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0 is the lowest the arm lift joint state value can be. With the distance_move_down it can be greater than 0
robot_skills/src/robot_skills/functionalities/arm/guarded_motion.py
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| for part in arm.parts: | ||
| if isinstance(arm.parts[part], ForceSensor): | ||
| return True | ||
| return False | ||
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| def move_down_until_force_sensor_edge_up(self, force_sensor=None, timeout=10, retract_distance=0.01): | ||
| def move_down_until_force_sensor_edge_up(self, force_sensor=None, timeout=10, retract_distance=0.01, |
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I think the final position is more interesting than the distance to move down.
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I agree, I thought of adding the distance to move down first before working on the final position since this requires to calculate at what height the force sensor is. I think the final point is an interesting feature for me to work on in the future
| force_sensor = self.parts["force_sensor"] | ||
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| # Fill with required joint names (desired in hardware / gazebo impl) | ||
| goal = self._create_lower_force_sensing_goal(timeout) | ||
| goal = self._create_lower_force_sensing_goal(distance_move_down, timeout) | ||
| self._ac_joint_traj.send_goal(goal) | ||
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| force_sensor.wait_for_edge_up(timeout) |
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The behaviour we currently create will wait for the timeout if its end goal is reached. So it might be waiting at the lower position without continuing.
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I don't think this is acceptable
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Isn't this the same behaviour as before? but with a different distance to move down.
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I suggest that we decide before continuing:
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move_down_until_force_sensor_edge_upinguarded_motion.pyandarms.pyso that the travel distance until an edge up is customizableguarded_motion.pymove_down_until_force_sensor_edge_up