HERB ros_control migration #63
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TODO: use OpenRAVE data path for this instead
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Ready for review. Need to decide if there's anything we want to merge first before tagging the final OWD version. |
| @@ -121,3 +122,6 @@ def FindIK(self, target): | |||
| ik_params = openravepy.IkParameterization(target, openravepy.IkParameterization.Type.Lookat3D) | |||
| return self.ikmodel.manip.FindIKSolution(ik_params, 0) | |||
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| def GetDofValues(self): | |||
| """Temp override to return static position while head is immobilized""" | |||
| return [0, -0.3] | |||
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Print a warning in here or mark this function as @deprecated.
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We need to merge this pull request simultaneously with personalrobotics/prpy#233 and personalrobotics/herb_description#25. |
| # This is because we are overriding the force/torque sensor datatype | ||
| # sensor_data = hand.handstate_sensor.GetSensorData() | ||
| # return sensor_data.force.copy() | ||
| raise NotImplementedError("Strain guage not yet implemented in Python under ros_control") |
| @param **kw_args planner parameters | ||
| @return felt_force flag indicating whether we felt a force. | ||
| """ | ||
| raise NotImplementedError('MoveUntilTouch not yet implemented under ros_control.') |
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Only disable when not simulated.
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Travis seems to be caching an old version of I ran the unit tests locally and found that all of the unit tests fail. There appear to be some pretty major API breaks on the @ClintLiddick Could you investigate? |
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Oh fun. I'll check it out in the morning. Most of the methods now just
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There appears to be a transient Apt problem on Travis. I ran the tests locally and they passed. |
@mkoval minimal changes to match the update to prpy