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roboticslab-uc3m / yarp-devices

A place for YARP devices
https://robots.uc3m.es/yarp-devices/
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Failed to assign different joint acceleration in python scripts #249

Closed rsantos88 closed 4 years ago

rsantos88 commented 4 years ago

I am trying to modify joint speeds and accelerations through python. I've successfully modified the speed with these lines:

# configure speed
sp = yarp.DVector(axesRA, 5)
posRA.setRefSpeeds(sp)
posLA.setRefSpeeds(sp)

I've checked that the joint speed has changed correctly (with get vels)... but when I try to modify the acceleration with these lines:

# Configure acceleration 
acc = yarp.DVector(axesRA, 5)
posRA.setRefAccelerations(acc)
posLA.setRefAccelerations(acc)

I get the following error message:

Traceback (most recent call last):
  File "teo-waving.py", line 84, in <module>
    posRA.setRefAccelerations(acc)
  File "/usr/local/lib/python2.7/dist-packages/yarp.py", line 9894, in setRefAccelerations
    return _yarp.IPositionControl_setRefAccelerations(self, *args)
NotImplementedError: Wrong number or type of arguments for overloaded function 'IPositionControl_setRefAccelerations'.
  Possible C/C++ prototypes are:
    yarp::dev::IPositionControl::setRefAccelerations(double const *)
    yarp::dev::IPositionControl::setRefAccelerations(int const,int const *,double const *)

Any suggestion? am I calling the function wrong?

PeterBowman commented 4 years ago

I think the Python bindings are faulty. You can verify this on your yarp/build/lib/python/yarp.py, mine poses the following differences between both methods:

def setRefSpeeds(self, *args):
        """
        setRefSpeeds(IPositionControl self, double const * spds) -> bool
        setRefSpeeds(IPositionControl self, int const n_joint, int const * joints, double const * spds) -> bool
        setRefSpeeds(IPositionControl self, DVector data) -> bool
        """
        return _yarp.IPositionControl_setRefSpeeds(self, *args)
def setRefAccelerations(self, *args):
        """
        setRefAccelerations(IPositionControl self, double const * accs) -> bool
        setRefAccelerations(IPositionControl self, int const n_joint, int const * joints, double const * accs) -> bool
        """
        return _yarp.IPositionControl_setRefAccelerations(self, *args)

Could you just use individual setRefAcceleration(joint, value) calls until this is fixed?

jgvictores commented 4 years ago

@PeterBowman Good catch!

I'd leave this issue open then until we solve it upstream, which should take a while.

@rsantos88 I'm confident you can implement the individual calls, right? :tada:

rsantos88 commented 4 years ago

@rsantos88 I'm confident you can implement the individual calls, right? :tada:

Yes, of course. Thanks!

PeterBowman commented 4 years ago

This is actually https://github.com/robotology/yarp/issues/1966. I'll submit a patch soon.

PeterBowman commented 4 years ago

WIP at https://github.com/robotology/yarp/pull/2316.

PeterBowman commented 4 years ago

The fix has been merged into master and is expected for the YARP 3.4 release later this month.