From 930423c2de3ec244598414bb977877c9a80cca54 Mon Sep 17 00:00:00 2001 From: Binit Shah Date: Fri, 14 Jan 2022 23:44:34 -0800 Subject: [PATCH] Fix pluggable ee errors --- stretch_core/nodes/command_groups.py | 2 +- stretch_core/nodes/joint_trajectory_server.py | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/stretch_core/nodes/command_groups.py b/stretch_core/nodes/command_groups.py index c7ec7be..b7f23a8 100644 --- a/stretch_core/nodes/command_groups.py +++ b/stretch_core/nodes/command_groups.py @@ -139,9 +139,9 @@ class WristYawCommandGroup(SimpleCommandGroup): class GripperCommandGroup(SimpleCommandGroup): def __init__(self, range_robotis=None, node=None): + self.gripper_conversion = GripperConversion() SimpleCommandGroup.__init__(self, 'joint_gripper_finger_left', range_robotis, acceptable_joint_error=1.0, node=node) self.gripper_joint_names = ['joint_gripper_finger_left', 'joint_gripper_finger_right', 'gripper_aperture'] - self.gripper_conversion = GripperConversion() self.update_joint_range(range_robotis) def update_joint_range(self, joint_range, node=None): diff --git a/stretch_core/nodes/joint_trajectory_server.py b/stretch_core/nodes/joint_trajectory_server.py index 8235cf2..7a195fa 100644 --- a/stretch_core/nodes/joint_trajectory_server.py +++ b/stretch_core/nodes/joint_trajectory_server.py @@ -1,5 +1,7 @@ #! /usr/bin/env python3 +import importlib + import rospy import actionlib from control_msgs.msg import FollowJointTrajectoryAction