Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Better arm editor debugging and allowing relative arm movement. #801

Merged
merged 4 commits into from
Jun 29, 2021
Merged

Better arm editor debugging and allowing relative arm movement. #801

Show file tree
Hide file tree
Changes from 3 commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
aea035b
Adding ability to control the arm from the debug editor and move the …
Lucaweihs Jun 21, 2021
1a05ba6
Fixing LGTM alert.
Lucaweihs Jun 23, 2021
6966a37
Misread LGTM alert, reverting.
Lucaweihs Jun 23, 2021
511fedf
Adding documentation.
Lucaweihs Jun 25, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
22 changes: 22 additions & 0 deletions unity/Assets/Scripts/ArmAgentController.cs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,28 @@ protected IK_Robot_Arm_Controller getArm() {
return arm;
}

public void MoveArmRelative(
Copy link
Collaborator

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

as mentioned in my review of #803, I'd like a quick comment summary for this action to make documentation upkeep easier.

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I have added this documentation.

Vector3 offset,
float speed = 1,
float? fixedDeltaTime = null,
bool returnToStart = true,
string coordinateSpace = "armBase",
bool restrictMovement = false,
bool disableRendering = true
) {
IK_Robot_Arm_Controller arm = getArm();
arm.moveArmRelative(
controller: this,
offset: offset,
unitsPerSecond: speed,
fixedDeltaTime: fixedDeltaTime.GetValueOrDefault(Time.fixedDeltaTime),
returnToStart: returnToStart,
coordinateSpace: coordinateSpace,
restrictTargetPosition: restrictMovement,
disableRendering: disableRendering
);
}

public void MoveArm(
Vector3 position,
float speed = 1,
Expand Down
Loading