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@alters-mit
alters-mit committed Sep 13, 2023
2 parents 5e0426c + 632a17d commit 2be7df9
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Showing 4 changed files with 16 additions and 10 deletions.
2 changes: 1 addition & 1 deletion controllers/examples/actions/push.py
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ def __init__(self, target: int, arm: Arm, dynamic: MagnebotDynamic):
orientation_mode=OrientationMode.x,
target_orientation=TargetOrientation.up,
dynamic=dynamic,
set_torso=False)
set_torso=True)

def get_initialization_commands(self, resp: List[bytes], static: MagnebotStatic, dynamic: MagnebotDynamic,
image_frequency: ImageFrequency) -> List[dict]:
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2 changes: 2 additions & 0 deletions doc/changelog.md
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Expand Up @@ -9,6 +9,8 @@
## 2.2.6

- Required version of TDW is now >=1.11.22.0
- Fixed: Crash when running custom action example controllers because parameter `set_torso` is missing.
- Fixed: `reach_high.py` example controller doesn't work due to obsolete commands.

## 2.2.5

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12 changes: 8 additions & 4 deletions doc/manual/actions/ik.md
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Original file line number Diff line number Diff line change
Expand Up @@ -116,7 +116,8 @@ class Push(IKMotion):
super().__init__(arm=arm,
orientation_mode=OrientationMode.x,
target_orientation=TargetOrientation.up,
dynamic=dynamic)
dynamic=dynamic,
set_torso=True)

def get_initialization_commands(self, resp: List[bytes], static: MagnebotStatic, dynamic: MagnebotDynamic,
image_frequency: ImageFrequency) -> List[dict]:
Expand Down Expand Up @@ -172,7 +173,8 @@ class Push(IKMotion):
super().__init__(arm=arm,
orientation_mode=OrientationMode.x,
target_orientation=TargetOrientation.up,
dynamic=dynamic)
dynamic=dynamic,
set_torso=True)

def get_initialization_commands(self, resp: List[bytes], static: MagnebotStatic, dynamic: MagnebotDynamic,
image_frequency: ImageFrequency) -> List[dict]:
Expand Down Expand Up @@ -287,7 +289,8 @@ class Push(IKMotion):
super().__init__(arm=arm,
orientation_mode=OrientationMode.x,
target_orientation=TargetOrientation.up,
dynamic=dynamic)
dynamic=dynamic,
set_torso=True)

def get_initialization_commands(self, resp: List[bytes], static: MagnebotStatic, dynamic: MagnebotDynamic,
image_frequency: ImageFrequency) -> List[dict]:
Expand Down Expand Up @@ -407,7 +410,8 @@ class Push(IKMotion):
super().__init__(arm=arm,
orientation_mode=OrientationMode.x,
target_orientation=TargetOrientation.up,
dynamic=dynamic)
dynamic=dynamic,
set_torso=True)

def get_initialization_commands(self, resp: List[bytes], static: MagnebotStatic, dynamic: MagnebotDynamic,
image_frequency: ImageFrequency) -> List[dict]:
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10 changes: 5 additions & 5 deletions doc/manual/actions/movement.md
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,7 @@ from magnebot.actions.action import Action

class ApplyForceToWheels(WheelMotion):
def __init__(self, force: float, dynamic: MagnebotDynamic, collision_detection: CollisionDetection, previous: Action = None):
super().__init__(dynamic=dynamic, collision_detection=collision_detection, previous=previous)
super().__init__(dynamic=dynamic, collision_detection=collision_detection, previous=previous, set_torso=True)
self.force: float = force
```

Expand All @@ -97,7 +97,7 @@ from magnebot.actions.move_by import MoveBy

class ApplyForceToWheels(WheelMotion):
def __init__(self, force: float, dynamic: MagnebotDynamic, collision_detection: CollisionDetection, previous: Action = None):
super().__init__(dynamic=dynamic, collision_detection=collision_detection, previous=previous)
super().__init__(dynamic=dynamic, collision_detection=collision_detection, previous=previous, set_torso=True)
self.force: float = force

def _previous_was_same(self, previous: Action) -> bool:
Expand All @@ -123,7 +123,7 @@ from magnebot.actions.move_by import MoveBy

class ApplyForceToWheels(WheelMotion):
def __init__(self, force: float, dynamic: MagnebotDynamic, collision_detection: CollisionDetection, previous: Action = None):
super().__init__(dynamic=dynamic, collision_detection=collision_detection, previous=previous)
super().__init__(dynamic=dynamic, collision_detection=collision_detection, previous=previous, set_torso=True)
self.force: float = force

def _previous_was_same(self, previous: Action) -> bool:
Expand Down Expand Up @@ -159,7 +159,7 @@ from magnebot.actions.move_by import MoveBy

class ApplyForceToWheels(WheelMotion):
def __init__(self, force: float, dynamic: MagnebotDynamic, collision_detection: CollisionDetection, previous: Action = None):
super().__init__(dynamic=dynamic, collision_detection=collision_detection, previous=previous)
super().__init__(dynamic=dynamic, collision_detection=collision_detection, previous=previous, set_torso=True)
self.force: float = force

def _previous_was_same(self, previous: Action) -> bool:
Expand Down Expand Up @@ -205,7 +205,7 @@ from magnebot.util import get_default_post_processing_commands

class ApplyForceToWheels(WheelMotion):
def __init__(self, force: float, dynamic: MagnebotDynamic, collision_detection: CollisionDetection, previous: Action = None):
super().__init__(dynamic=dynamic, collision_detection=collision_detection, previous=previous)
super().__init__(dynamic=dynamic, collision_detection=collision_detection, previous=previous, set_torso=True)
self.force: float = force

def _previous_was_same(self, previous: Action) -> bool:
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