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SoMa-Project / ec_grasp_planner

Grasp Planner Based on Environmental Constraint Exploitation
BSD 3-Clause "New" or "Revised" License
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hybrid-automaton-tools-py in SoMa #16

Closed psotiropoulos closed 6 years ago

psotiropoulos commented 6 years ago

@zweistein @cerdogan @ptriantd-ocado @hmn-ocado it might make sense to bring the hybrid-automaton-tools-py in the SoMa project.

There are some configurations in the cookbook.py that might need to be changed per setup (eg. rbo actuation, and safety switces).

zweistein commented 6 years ago

We fixed this during the ambassador visit by adding the hybrid-automaton-tools-py repository directly to the SOMA organization.

psotiropoulos commented 6 years ago

@zweistein Do we still need to keep it as a submodule? What is the benefit of that?

zweistein commented 6 years ago

Right now the only benefit is that the clone, tag, and checkout scripts are using the submodule. If you wish to move it out from the submodule, the scripts must be updated too.

Why? do you have any issues with the current setup?

psotiropoulos commented 6 years ago

It seems unnecessarily complex... If you want to add another controller on the hybrid_automaton_manager you have to edit the components.py and then you'll have to update both the submodule and the ec_planner repos.

zweistein commented 6 years ago

You are right, this is our interface, so different robots can execute the same plan. Do you propose any modification? Do you want to open this issue or maybe a new one? Right now, we are not focusing on enhancing existing interfaces but to integrate new features and prepare robust demos.