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fix(gello): add position field move_joint arg

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Ilya Uraev 2025-06-04 18:19:52 +03:00
parent 3e2bb466a8
commit 643b9aec38
2 changed files with 3 additions and 2 deletions
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2
gello.py
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@ -114,7 +114,7 @@ class RobotControllerNode(Node):
def run_sequence(self): def run_sequence(self):
print(f"STEP #{self.sequence_step}") print(f"STEP #{self.sequence_step}")
self.robot_client.move_joint(self.last_gello[:-1]) self.robot_client.move_joint(self.last_gello.position[:-1])
if not self.waiting_for_gripper: if not self.waiting_for_gripper:
self.waiting_for_gripper = True self.waiting_for_gripper = True
threading.Thread( threading.Thread(

3
utils.py
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@ -176,12 +176,13 @@ class RobotClient:
raise RuntimeError(f"move_line failed: {ret}") raise RuntimeError(f"move_line failed: {ret}")
self.wait_untill_motion_is_done(10.0) self.wait_untill_motion_is_done(10.0)
def move_joint(self, joint_radian: list) -> None: def move_joint(self, joint_radian: list) -> bool:
cmd = {"command": "move_joint", "joint_radian": joint_radian} cmd = {"command": "move_joint", "joint_radian": joint_radian}
ret = self._send_single_json(cmd, 10.0) ret = self._send_single_json(cmd, 10.0)
if ret.get("ret") != 0: if ret.get("ret") != 0:
raise RuntimeError(f"move_joint failed: {ret}") raise RuntimeError(f"move_joint failed: {ret}")
self.wait_untill_motion_is_done(10.0) self.wait_untill_motion_is_done(10.0)
return True
def wait_untill_motion_is_done(self, timeout=10.0): def wait_untill_motion_is_done(self, timeout=10.0):
""" """