This PR changes ada_feeding to use pymoveit2's devel branch (our earlier branch, amal/scale_collision_meshes, had diverged from devel).
In the process of doing so, this PR also adds an initialization timeout to ada_planning_scene.py, for cases where moveit2 doesn't process the messages.
[x] Verify all planning scene objects are initialized, and initialization terminates (took for log Planning scene initialized)
[x] Feed an entire bite in sim, verify it works. (Verified that it works on bender)
[x] Try initializing with a collision object (i.e., uncomment food in ada_planning_scene.yaml) and verify that it gets successfully added.
[x] Real: python3 src/ada_feeding/start.py
[x] Eat an entire bite, verify it works.
Before opening a pull request
[x] Format your code using black formatterpython3 -m black .
[x] Run your code through pylint and address all warnings/errors. The only warnings that are acceptable to not address is TODOs that should be addressed in a future PR. From the top-level ada_feeding directory, run: pylint --recursive=y --rcfile=.pylintrc ..
Description
This PR changes
ada_feedingto usepymoveit2'sdevelbranch (our earlier branch,amal/scale_collision_meshes, had diverged fromdevel).In the process of doing so, this PR also adds an initialization timeout to
ada_planning_scene.py, for cases wheremoveit2doesn't process the messages.Testing procedure
python3 src/ada_feeding/start.py --sim mockPlanning scene initialized)bender)foodin ada_planning_scene.yaml) and verify that it gets successfully added.python3 src/ada_feeding/start.pyBefore opening a pull request
python3 -m black .ada_feedingdirectory, run:pylint --recursive=y --rcfile=.pylintrc ..Before Merging
Squash & Merge