Bound values. #156
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Bound values. #156
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| @@ -394,6 +395,21 @@ def goto_joints( | |||
| response = self._goto_stub.GoToJoints(request) | |||
| return response | |||
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| def _bound_goto_joints_values(self, positions: List[float], degrees: bool = True) -> List[float]: | |||
| if not degrees: | |||
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Please add a description of the function to explain what is in degree and what's in radian
src/reachy2_sdk/orbita_utils.py
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| goal_position = Register( | ||
| readonly=False, | ||
| type=FloatValue, | ||
| label="goal_position", | ||
| conversion=(_to_internal_position, _to_position), | ||
| ) | ||
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| def __init__(self, initial_state: Dict[str, float], axis_type: str, actuator: Any) -> None: | ||
| def __init__(self, initial_state: Dict[str, Any], axis_type: str, actuator: Any) -> None: |
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Why the types are changed to Any? Can actuator be typed as well?
src/reachy2_sdk/orbita_utils.py
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| goal_position = Register( | ||
| readonly=False, | ||
| type=float, | ||
| label="goal_position", | ||
| conversion=(_to_internal_position, _to_position), | ||
| ) | ||
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| def __init__(self, initial_state: Dict[str, float], axis_type: str, actuator: Any) -> None: | ||
| def __init__(self, initial_state: Dict[str, Any], axis_type: str, actuator: Any) -> None: |
src/reachy2_sdk/register.py
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| new_value = max(self.lower_limit, min(self.upper_limit, value)) | ||
| if new_value != value: | ||
| if self.cvt_to_external is not None: | ||
| print( |
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Merge back develop and use log system
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Bound values for registers:
Note that joint_limit are given in degrees by the server for the moment, while goal_position and present_position are given in degrees. I think all values should be sent in radians by the server, that's why I converted values to degrees.