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Cancel goto for head #164

Merged
merged 2 commits into from
Jan 12, 2024
Merged

Cancel goto for head #164

merged 2 commits into from
Jan 12, 2024

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glannuzel
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Add possibility to interrupt a head rotation.

@glannuzel glannuzel linked an issue Jan 10, 2024 that may be closed by this pull request
Goto for head cannot be cancelled #162
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glannuzel
glannuzel commented Jan 10, 2024
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src/reachy2_sdk/head.py
@@ -214,6 +215,10 @@ def orient(
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?

FabienDanieau
FabienDanieau approved these changes Jan 10, 2024
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Works. Tested with

    reachy.head.orient(pitch=0, roll=0, yaw=0, duration=1.0)
    time.sleep(1)
    req = reachy.head.orient(pitch=180, roll=0, yaw=0, duration=10)
    time.sleep(1)
    reachy.head.cancel_goto_by_id(req)

Should be added to unit test.

src/reachy2_sdk/head.py
@@ -214,6 +215,10 @@ def orient(
response = self._goto_stub.GoToJoints(request)
return response

def cancel_goto_by_id(self, goto_id: int) -> GoToAck:
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cancel_rotation?

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☂️ Python Coverage

current status: ✅

Overall Coverage

Lines Covered Coverage Threshold Status
1287 471 37% 0% 🟢

New Files

No new covered files...

Modified Files

File Coverage Status
src/reachy2_sdk/head.py 38% 🟢
TOTAL 38% 🟢

updated for commit: b5a4497 by action🐍

@glannuzel glannuzel merged commit f775e77 into develop Jan 12, 2024
5 checks passed
@glannuzel glannuzel deleted the 162-goto-for-head-cannot-be-cancelled branch January 12, 2024 09:25
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@FabienDanieau FabienDanieau FabienDanieau approved these changes

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Goto for head cannot be cancelled
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@glannuzel @FabienDanieau