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Fix bug in cartesian planning #68

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merged 1 commit into from
May 10, 2024
Merged

Fix bug in cartesian planning #68

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4 changes: 2 additions & 2 deletions pymoveit2/moveit2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1936,11 +1936,11 @@ def _plan_cartesian_path(
)

# The below attributes were introduced in Iron and do not exist in Humble.
if hasattr(__cartesian_path_request, "max_velocity_scaling_factor"):
if hasattr(self.__cartesian_path_request, "max_velocity_scaling_factor"):
self.__cartesian_path_request.max_velocity_scaling_factor = (
self.__move_action_goal.request.max_velocity_scaling_factor
)
if hasattr(__cartesian_path_request, "max_acceleration_scaling_factor"):
if hasattr(self.__cartesian_path_request, "max_acceleration_scaling_factor"):
self.__cartesian_path_request.max_acceleration_scaling_factor = (
self.__move_action_goal.request.max_acceleration_scaling_factor
)
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