WIP: Split arm class into a collection of pieces #1011
Conversation
| @@ -318,6 +322,188 @@ class GripperState(object): | |||
| OPEN = "open" | |||
| CLOSE = "close" | |||
|
|
|||
| class ArmPiece(object): | |||
There was a problem hiding this comment.
Still doubting the name 'Piece'. I'd expect that it will all be 'Interfaces', such as a JointInterface, CartesianInterface, ForceInterface, etc.
| rospy.logerr(e) | ||
| return False | ||
|
|
||
| class ArmDatabasePiece(ArmPiece): |
There was a problem hiding this comment.
Dit zijn specifiek joint goals en trajectories. Zouden we die niet strakker willen koppelen aan de ArmsJointPiece klasse? Overigens zou daar dan de bijbehorende action client in geconstrueerd kunnen worden en kunnen daar ook de has_joint_trajectory, send_joint_goals etc. bijhoren.
| """ | ||
| return self.trajectories.get(configuration) | ||
|
|
||
| class ArmMarkerPublisherPiece(ArmPiece): |
There was a problem hiding this comment.
Ik noemde al de CartesianInterface in een voorgaande comment. Deze functionaliteit zou daar onderdeel van kunnen zijn (publish_marker wordt nu alleen aangeroepen vanuit de send_goal functie)
| grasp_precompute_goal.goal.yaw = yaw | ||
|
|
||
| self._publish_marker(grasp_precompute_goal, [1, 0, 0], "grasp_point") | ||
| grasp_goal = make_grasp_precompute_goal(frame_in_baselink, pre_grasp, first_joint_pos_only, |
There was a problem hiding this comment.
Nice, deze hele functie wordt zo een stuk leesbaarder!
|
|
||
| self._publish_marker(grasp_precompute_goal, [1, 0, 0], "grasp_point") | ||
| grasp_goal = make_grasp_precompute_goal(frame_in_baselink, pre_grasp, first_joint_pos_only, | ||
| allowed_touch_objects) |
There was a problem hiding this comment.
Wat mij betreft zou dit dan een onderdeel worden van de CartesianInterface
|
|
||
|
|
||
| class ForceSensingArm(Arm): | ||
| def __init__(self, robot_name, tf_listener, get_joint_states, side): | ||
| def __init__(self, robot_name, tf_listener, get_joint_states, side, joints_piece=None): |
There was a problem hiding this comment.
Zouden we dit dan niet ook anders moeten maken? Dus dat we b.v. een HeroArm hebben waar we al die pieces en een ForcePiece aan toevoegen?
|
Making small steps in #1023 and #1024 for real. Mostly only aiming for exporting code out of the arm currently, rather than also finding a final set of interface classes. Very likely, some of the code being moved out early will end up as part of the interface (or even completely internal) of other (larger) interfaces. |
Addresses #911
@jlunenburg A first small step