rdiankov / openrave

Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.

http://www.openrave.org

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Support robot controller axis manufacturer code #1360

Closed kanbouchou closed 3 months ago

kanbouchou commented 4 months ago

Overview

Introduce robotControllerAxisManufacturerCode to joint class to support servos from different manufacturers in a daisy chain.
Fix bug with _vmimic indefinitely growing in PyJointInfo::_Update

Detail

We have robotControllerAxisProductCode field in joint class already, and we could encode manufacturer name in there as well, but need to introduce a rule (separator) which I wanted to avoid. Also, AttachedSensorInfo has _sensorMaker so using same pattern here as well.

rdiankov commented 4 months ago

@kanbouchou Isn't that what ElectricMotorActuatorInfo::model_type is for?

rdiankov commented 4 months ago

@kanbouchou Isn't that what ElectricMotorActuatorInfo::model_type is for?

nm, i see the comment for robotControllerAxisProductCode. In that case, i would add a little more to the comment to robotControllerAxisManufacturerCode to explain why it is different from product code. Thanks,

kanbouchou commented 4 months ago

@kanbouchou Isn't that what ElectricMotorActuatorInfo::model_type is for?

nm, i see the comment for robotControllerAxisProductCode. In that case, i would add a little more to the comment to robotControllerAxisManufacturerCode to explain why it is different from product code. Thanks,

I've added a bit more comment. Basically, product code by itself is not guaranteed to be globally unique because different manufacturers can happen to have same product code. That's why we need manufacturer code in addition to product code to handle devices from different manufacturers by a single device driver.

rdiankov commented 3 months ago

thanks~