def reset_arm(self, arm, mode, data):
"""
Issues a position command to an arm.
Args:
arm: Either TRIAL_ARM or AUXILIARY_ARM.
mode: An integer code (defined in gps_pb2).
data: An array of floats.
"""
reset_command = PositionCommand()
reset_command.mode = mode
reset_command.data = data
reset_command.pd_gains = self._hyperparams['pid_params']
reset_command.arm = arm
timeout = self._hyperparams['trial_timeout']
reset_command.id = self._get_next_seq_id()
self._reset_service.publish_and_wait(reset_command, timeout=timeout)
def reset_arm(self, arm, mode, data):
"""
Issues a position command to an arm.
Args:
arm: Either TRIAL_ARM or AUXILIARY_ARM.
mode: An integer code (defined in gps_pb2).
data: An array of floats.
"""
reset_command = PositionCommand()
reset_command.mode = mode
reset_command.data = data
reset_command.pd_gains = self._hyperparams['pid_params']
reset_command.arm = arm
timeout = self._hyperparams['trial_timeout']
reset_command.id = self._get_next_seq_id()
self._reset_service.publish_and_wait(reset_command, timeout=timeout)
def reset_arm(self, arm, mode, data):
"""
Issues a position command to an arm.
Args:
arm: Either TRIAL_ARM or AUXILIARY_ARM.
mode: An integer code (defined in gps_pb2).
data: An array of floats.
"""
reset_command = PositionCommand()
reset_command.mode = mode
reset_command.data = data
reset_command.pd_gains = self._hyperparams['pid_params']
reset_command.arm = arm
timeout = self._hyperparams['trial_timeout']
reset_command.id = self._get_next_seq_id()
try:
self._reset_service.publish_and_wait(reset_command,
timeout=timeout)
except TimeoutException:
self.relax_arm(arm)
wait = raw_input(
'The robot arm seems to be stuck. Unstuck it and press <ENTER> to continue.'
)
self.reset_arm(arm, mode, data)