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UM-ARM-Lab / kuka_iiwa_interface

Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK
BSD 2-Clause "Simplified" License
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Decide on location of manual motion script #130

Open bsaund opened 3 years ago

bsaund commented 3 years ago

Currently manual_motion is duplicated in KHI and arm_robots.

manual_motion does not require arm_robots code, which was more important with the openrave dependency of arm_or_robots. With the open_rave dependency dropped, we can migrate everything to arm_robots to keep all victor motion scripts in the same place

PeterMitrano commented 3 years ago

I think I prefer it being in KHI if it doesn't need/use arm_robots

PeterMitrano commented 3 years ago

but I guess it depends on what you mean by "everything"?

bsaund commented 3 years ago

I misspoke. I just mean migrating manual_motion.

PeterMitrano commented 3 years ago

I'd say it makes more sense in VHI (I can never keep these names straight), since it's specific to that code

bsaund commented 3 years ago

The VHI version will need to be fixed to work with the other changes we've made to KHI. I think some namespaces have changed.

PeterMitrano commented 3 years ago

I think someone has used manual motion recently @powertj @LemonPi @mvandermerwe which version did you use?

bsaund commented 3 years ago

Over winter break the arm_robots version worked, the KHI one did not.

mvandermerwe commented 3 years ago

I did not use manual motion recently.

PeterMitrano commented 3 years ago

in that case I'd say move the arm_robots version to VHI