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Cancel goto for head #164

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merged 2 commits into from
Jan 12, 2024
Merged

Cancel goto for head #164

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3ceabd9
Cancel goto for head
glannuzel Jan 10, 2024
b5a4497
Merge branch 'develop' into 162-goto-for-head-cannot-be-cancelled
glannuzel Jan 12, 2024
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5 changes: 5 additions & 0 deletions src/reachy2_sdk/head.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
from pyquaternion import Quaternion as pyQuat
from reachy2_sdk_api.goto_pb2 import (
CartesianGoal,
GoToAck,
GoToId,
GoToInterpolation,
GoToRequest,
Expand Down Expand Up @@ -229,6 +230,10 @@ def rotate_to(
response = self._goto_stub.GoToJoints(request)
return response

def cancel_goto_by_id(self, goto_id: int) -> GoToAck:
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I gave the same name as for the arm, but the rotation function are called "look_at", "rotate_to" and "orient" for the head. Any idea on how to call the function?

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cancel_rotation?

response = self._goto_stub.CancelGoTo(goto_id)
return response

def orient(self, q: pyQuat, duration: float = 2.0, interpolation_mode: str = "minimum_jerk") -> GoToId:
"""Send neck to the orientation given as a quaternion."""
request = GoToRequest(
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