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added distance_move_down parameter
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P-ict0 committed Jun 21, 2022
1 parent 6736e95 commit d399630
Showing 1 changed file with 3 additions and 2 deletions.
5 changes: 3 additions & 2 deletions robot_skills/src/robot_skills/arm/arms.py
Original file line number Diff line number Diff line change
Expand Up @@ -174,10 +174,11 @@ def has_force_sensor(self):
"Specify get_arm(..., force_sensor_required=True)")
return hasattr(self._arm, "force_sensor")

def move_down_until_force_sensor_edge_up(self, timeout=10, retract_distance=0.01):
def move_down_until_force_sensor_edge_up(self, timeout=10, retract_distance=0.01, distance_move_down=2.0):
self._test_die(self.has_force_sensor, 'has_force_sensor=' + str(self.has_force_sensor),
"Specify get_arm(..., force_sensor_required=True)")
return self._arm.move_down_until_force_sensor_edge_up(timeout=timeout, retract_distance=retract_distance)
return self._arm.move_down_until_force_sensor_edge_up(timeout=timeout, retract_distance=retract_distance,
distance_move_down=distance_move_down)

# salvaged deprecated functionality
def send_gripper_goal(self, state, timeout=5.0, gripper_type=None, max_torque=0.1):
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