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Add functionality to set the grasp and carry overrides #116

Merged
merged 3 commits into from
Jun 18, 2024
Merged

Add functionality to set the grasp and carry overrides #116

merged 3 commits into from
Jun 18, 2024

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jbarry-bdai
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@jbarry-bdai jbarry-bdai commented Jun 17, 2024 •
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This adds a function that lets us override grasp state (whether or not the robot thinks it's carrying something) and/or carry state (what the robot will do on stow) through the spot wrapper. A companion request will be open in spot_ros2 to wrap this in a ros2 service.

Testing Done
All testing done by calling the ROS2 service from the command line and then checking the manipulation state topic:

  • Only grasp override set in request message
  • Only carry override set in the request message
  • Grasp state override and carry state explicitly set to 0 in request message
  • Carry override and grasp override set in request message
  • Carry override set and grasp override set to NOT_HOLDING (correctly returns a False and an error message)

I also spot checked that the tablet Empty/Grasping icon changed appropriately and checked the hijack behavior to see the carry state effects.

@jbarry-bdai jbarry-bdai requested a review from tkusnur-bdai June 17, 2024 17:18
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coveralls commented Jun 17, 2024 •
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Pull Request Test Coverage Report for Build 9551951006

Details

  • 3 of 25 (12.0%) changed or added relevant lines in 1 file are covered.
  • 7 unchanged lines in 1 file lost coverage.
  • Overall coverage decreased (-0.2%) to 46.287%
Changes Missing Coverage Covered Lines Changed/Added Lines %
spot_wrapper/spot_arm.py 3 25 12.0%
Files with Coverage Reduction New Missed Lines %
spot_wrapper/spot_arm.py 7 14.65%
Totals Coverage Status
Change from base Build 9390806461: -0.2%
Covered Lines: 1689
Relevant Lines: 3649
💛 - Coveralls

1 similar comment
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Pull Request Test Coverage Report for Build 9551951006

Details

  • 3 of 25 (12.0%) changed or added relevant lines in 1 file are covered.
  • 7 unchanged lines in 1 file lost coverage.
  • Overall coverage decreased (-0.2%) to 46.287%
Changes Missing Coverage Covered Lines Changed/Added Lines %
spot_wrapper/spot_arm.py 3 25 12.0%
Files with Coverage Reduction New Missed Lines %
spot_wrapper/spot_arm.py 7 14.65%
Totals Coverage Status
Change from base Build 9390806461: -0.2%
Covered Lines: 1689
Relevant Lines: 3649
💛 - Coveralls

khughes-bdai
khughes-bdai approved these changes Jun 17, 2024
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LGTM

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coveralls commented Jun 17, 2024 •
edited
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Pull Request Test Coverage Report for Build 9552061702

Details

  • 3 of 25 (12.0%) changed or added relevant lines in 1 file are covered.
  • 7 unchanged lines in 1 file lost coverage.
  • Overall coverage decreased (-0.2%) to 46.287%
Changes Missing Coverage Covered Lines Changed/Added Lines %
spot_wrapper/spot_arm.py 3 25 12.0%
Files with Coverage Reduction New Missed Lines %
spot_wrapper/spot_arm.py 7 14.65%
Totals Coverage Status
Change from base Build 9390806461: -0.2%
Covered Lines: 1689
Relevant Lines: 3649
💛 - Coveralls

2 similar comments
@coveralls
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Pull Request Test Coverage Report for Build 9552061702

Details

  • 3 of 25 (12.0%) changed or added relevant lines in 1 file are covered.
  • 7 unchanged lines in 1 file lost coverage.
  • Overall coverage decreased (-0.2%) to 46.287%
Changes Missing Coverage Covered Lines Changed/Added Lines %
spot_wrapper/spot_arm.py 3 25 12.0%
Files with Coverage Reduction New Missed Lines %
spot_wrapper/spot_arm.py 7 14.65%
Totals Coverage Status
Change from base Build 9390806461: -0.2%
Covered Lines: 1689
Relevant Lines: 3649
💛 - Coveralls

@coveralls
Copy link

Pull Request Test Coverage Report for Build 9552061702

Details

  • 3 of 25 (12.0%) changed or added relevant lines in 1 file are covered.
  • 7 unchanged lines in 1 file lost coverage.
  • Overall coverage decreased (-0.2%) to 46.287%
Changes Missing Coverage Covered Lines Changed/Added Lines %
spot_wrapper/spot_arm.py 3 25 12.0%
Files with Coverage Reduction New Missed Lines %
spot_wrapper/spot_arm.py 7 14.65%
Totals Coverage Status
Change from base Build 9390806461: -0.2%
Covered Lines: 1689
Relevant Lines: 3649
💛 - Coveralls

@jbarry-bdai jbarry-bdai mentioned this pull request Jun 17, 2024
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coveralls commented Jun 17, 2024 •
edited
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Pull Request Test Coverage Report for Build 9553884378

Details

  • 2 of 20 (10.0%) changed or added relevant lines in 1 file are covered.
  • No unchanged relevant lines lost coverage.
  • Overall coverage decreased (-0.2%) to 46.287%
Changes Missing Coverage Covered Lines Changed/Added Lines %
spot_wrapper/spot_arm.py 2 20 10.0%
Totals Coverage Status
Change from base Build 9390806461: -0.2%
Covered Lines: 1689
Relevant Lines: 3649
💛 - Coveralls

@jbarry-bdai
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@khughes-bdai had to do some updating... mind re-approving the most recent commit?

@jbarry-bdai jbarry-bdai requested a review from khughes-bdai June 17, 2024 19:57
mhidalgo-bdai
mhidalgo-bdai approved these changes Jun 18, 2024
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LGTM

@jbarry-bdai jbarry-bdai merged commit 5c8d6eb into main Jun 18, 2024
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@jbarry-bdai jbarry-bdai deleted the jlb/add_override_grasp_carry branch June 18, 2024 13:40
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@mhidalgo-bdai mhidalgo-bdai mhidalgo-bdai approved these changes

@heuristicus heuristicus Awaiting requested review from heuristicus heuristicus is a code owner

@amessing-bdai amessing-bdai Awaiting requested review from amessing-bdai amessing-bdai is a code owner

@tcappellari-bdai tcappellari-bdai Awaiting requested review from tcappellari-bdai tcappellari-bdai is a code owner

@tkusnur-bdai tkusnur-bdai Awaiting requested review from tkusnur-bdai

@khughes-bdai khughes-bdai Awaiting requested review from khughes-bdai khughes-bdai is a code owner

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@jbarry-bdai @coveralls @mhidalgo-bdai @khughes-bdai