Refactor Code Base - Githubissues

OSU-AIMS / light_painting

Demonstration project which traces a LED EEF through space for a long-exposure photo.

Apache License 2.0

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Refactor Code Base #7

Closed acbuynak closed 2 years ago

acbuynak commented 2 years ago

This PR refactors the main python scripts for this project. Verified functionality on both simulation and hardware. All trajectory generation is handled by the MoveIt framework.

Motion Planner	Support Script	Status
goTo_Pose()	`robotControl_moveit.py`	Implemented, Tested as Functional
basic moveit cartesian	`robotControl_moveit.py`	Not Implemented
SimpleMover (Descartes wrapper)	`robotControl_SimpleMover.py`	Implemented, Tested as NonFunctional

Suggest squashed merge.

acbuynak commented 2 years ago

Note: This refactor removes the variable time delay capability. This capability should be added back in future work.