Rename arm command group

stretch_core/nodes/command_groups.py

@@ -181,9 +181,8 @@ class GripperCommandGroup(SimpleCommandGroup):
             return (pos_rad, vel, effort)
 
 
-class TelescopingCommandGroup(SimpleCommandGroup):
+class ArmCommandGroup(SimpleCommandGroup):
     def __init__(self, range_m, calibrated_retracted_offset_m=0.0):
-        #SimpleCommandGroup.__init__(self, 'wrist_extension', range_m, acceptable_joint_error=0.005)
         SimpleCommandGroup.__init__(self, 'wrist_extension', range_m, acceptable_joint_error=0.008)
         self.telescoping_joints = ['joint_arm_l3', 'joint_arm_l2', 'joint_arm_l1', 'joint_arm_l0']
         self.is_telescoping = False

stretch_core/nodes/joint_trajectory_server.py

@@ -10,7 +10,7 @@ from trajectory_msgs.msg import JointTrajectoryPoint
 
 from command_groups import HeadPanCommandGroup, HeadTiltCommandGroup, \
                            WristYawCommandGroup, GripperCommandGroup, \
-                           TelescopingCommandGroup, LiftCommandGroup, \
+                           ArmCommandGroup, LiftCommandGroup, \
                            MobileBaseCommandGroup
 
 
@@ -50,11 +50,11 @@ class JointTrajectoryAction:
                                                  self.node.controller_parameters['tilt_angle_backlash_transition'])
         self.wrist_yaw_cg = WristYawCommandGroup(wrist_yaw_range_rad)
         self.gripper_cg = GripperCommandGroup(gripper_range_robotis)
-        self.telescoping_cg = TelescopingCommandGroup(tuple(r.arm.params['range_m']),
+        self.arm_cg = ArmCommandGroup(tuple(r.arm.params['range_m']),
                                                       self.node.controller_parameters['arm_retracted_offset'])
         self.lift_cg = LiftCommandGroup(tuple(r.lift.params['range_m']))
         self.mobile_base_cg = MobileBaseCommandGroup(virtual_range_m=(-0.5, 0.5))
-        self.command_groups = [self.telescoping_cg, self.lift_cg, self.mobile_base_cg, self.head_pan_cg,
+        self.command_groups = [self.arm_cg, self.lift_cg, self.mobile_base_cg, self.head_pan_cg,
                                self.head_tilt_cg, self.wrist_yaw_cg, self.gripper_cg]
 
     def execute_cb(self, goal):

stretch_core/nodes/stretch_driver

@@ -140,12 +140,12 @@ class StretchBodyNode:
             joint_state.effort.append(effort)
 
         # add telescoping joints to joint state
-        telescoping_cg = self.joint_trajectory_action.telescoping_cg
-        joint_state.name.extend(telescoping_cg.telescoping_joints)
-        pos, vel, effort = telescoping_cg.joint_state(robot_status)
-        for _ in range(len(telescoping_cg.telescoping_joints)):
-            joint_state.position.append(pos / len(cg.telescoping_joints))
-            joint_state.velocity.append(vel / len(cg.telescoping_joints))
+        arm_cg = self.joint_trajectory_action.arm_cg
+        joint_state.name.extend(arm_cg.telescoping_joints)
+        pos, vel, effort = arm_cg.joint_state(robot_status)
+        for _ in range(len(arm_cg.telescoping_joints)):
+            joint_state.position.append(pos / len(arm_cg.telescoping_joints))
+            joint_state.velocity.append(vel / len(arm_cg.telescoping_joints))
             joint_state.effort.append(effort)
 
         # add gripper joints to joint state