Add error recovery for trossen arms#70
Open
shantanuparab-tr wants to merge 1 commit intotrossen-aifrom
Open
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This pull request updates the
disconnectmethod introssen_arm_driver.pyto improve the shutdown sequence for the Trossen arm. The changes ensure the arm is properly reconfigured and moved to the sleep pose in a blocking manner during disconnection.Improvements to device disconnection and safety:
self.driver.cleanup()at the start of the disconnect process to ensure resources are properly released.set_all_positionsfor the sleep pose to be blocking (wait=True), ensuring the arm reaches the sleep position before disconnecting.