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Manipulation station needs refactoring to be able to swap grippers readily... #10851
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(Peanut gallery comment) Please make this solution be decomposition + modularity, not more entry points or configurations switches! |
status: much pain, almost refactored |
Correction: it's almost refactored in my branch. Getting it through the PR process may be painful! |
Is there a WIP branch that the aforementioned peanut gallery can peek at? |
I'll post it to this issue when ready. I'm now rejiggering python bindings
for the refactor.
…--------------------------------
Evan Drumwright
Senior Research Scientist
http://positronicslab.github.io
Toyota Research Institute
Palo Alto, CA
On Wed, Mar 27, 2019 at 7:07 AM Eric Cousineau ***@***.***> wrote:
Is there a WIP branch that the aforementioned peanut gallery can peek at?
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@edrumwri, any update PR to this issue. |
No PR yet, sorting out a final technical wrinkle before I have a running
version locally.
…--------------------------------
Evan Drumwright
Senior Research Scientist
http://positronicslab.github.io
Toyota Research Institute
Palo Alto, CA
On Fri, Apr 12, 2019 at 11:33 AM tri-ltyyu ***@***.***> wrote:
@edrumwri <https://github.com/edrumwri>, any update PR to this issue.
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Is it possible to post the WIP branch to make sure the concerns about modularity raised earlier are addressed? |
Yes, but please wait until I've converged on something that runs!
…--------------------------------
Evan Drumwright
Senior Research Scientist
http://positronicslab.github.io
Toyota Research Institute
Palo Alto, CA
On Mon, Apr 15, 2019 at 8:45 AM tri-ltyyu ***@***.***> wrote:
Is it possible to post the WIP branch to make sure the concerns about
modularity raised earlier are addressed?
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Finally got the refactor running today (whew!) I'm going to clean up my code a little and then point interested folks to my branch for comment. |
@EricCousineau-TRI @rcory (cc @tri-ltyyu) PTAL at: https://github.com/edrumwri/drake/tree/manipulation_station_refactor Unit tests have yet to be modified. Only the end_effector_teleop_mouse is runnable. So this is not ready for PR but will give you the idea of the proposed refactor. |
I like the manipulator + gripper consolidation, a lot! My only minor recommendation is that |
Status: waiting on @RussTedrake to review the proposed API. |
First PR is wending through the review process. See #11320. |
This looks dead to me. @EricCousineau-TRI @rcory should this be closed now? (Was assigned to Evan.) |
Fine with me to close this out. |
OK. @EricCousineau-TRI please close this if you think we should or reassign. |
Will close for now. @edrumwri, please let us know if you might need this in the future! |
(for enabling a TRI-funded university researcher's project).
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