robossembler/gello_software
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ur5e fix

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This commit is contained in:
Philipp Wu 2024-04-05 12:41:37 -07:00
parent 288888594a
commit daae81f4a7
1 changed files with 7 additions and 0 deletions
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7
gello/robots/robotiq_gripper.py
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@ -284,6 +284,9 @@ class RobotiqGripper:
:return: A tuple with a bool indicating whether the action it was successfully sent, and an integer with :return: A tuple with a bool indicating whether the action it was successfully sent, and an integer with
the actual position that was requested, after being adjusted to the min/max calibrated range. the actual position that was requested, after being adjusted to the min/max calibrated range.
""" """
position = int(position)
speed = int(speed)
force = int(force)
def clip_val(min_val, val, max_val): def clip_val(min_val, val, max_val):
return max(min_val, min(val, max_val)) return max(min_val, min(val, max_val))
@ -317,6 +320,10 @@ class RobotiqGripper:
that the move had completed, a status indicating how the move ended (see ObjectStatus enum for details). Note that the move had completed, a status indicating how the move ended (see ObjectStatus enum for details). Note
that it is possible that the position was not reached, if an object was detected during motion. that it is possible that the position was not reached, if an object was detected during motion.
""" """
position = int(position)
speed = int(speed)
force = int(force)
set_ok, cmd_pos = self.move(position, speed, force) set_ok, cmd_pos = self.move(position, speed, force)
if not set_ok: if not set_ok:
raise RuntimeError("Failed to set variables for move.") raise RuntimeError("Failed to set variables for move.")