Remove jump_threshold

grinding_motion_routines/src/grinding_motion_routines/moveit_executor.py

@@ -16,7 +16,13 @@
 class MoveitExecutor(object):
     """Executor including MoveItCommander . This class can command moving manipurator with single pose or way points."""
 
-    def __init__(self, move_group_name, ee_link,planner_id="RRTConnectkConfigDefault",planning_time =20):
+    def __init__(
+        self,
+        move_group_name,
+        ee_link,
+        planner_id="RRTConnectkConfigDefault",
+        planning_time=20,
+    ):
         # initialize
         moveit_commander.roscpp_initialize(sys.argv)
         robot = moveit_commander.RobotCommander()
@@ -36,23 +42,28 @@ def __init__(self, move_group_name, ee_link,planner_id="RRTConnectkConfigDefault
             queue_size=20,
         )
 
-
         # set planner
         move_group.set_planner_id(planner_id)
-        move_group.set_planning_time (planning_time)
+        move_group.set_planning_time(planning_time)
         # set end effector link
         move_group.set_end_effector_link(ee_link)
 
         # rospy.loginfo robot parameters
-        rospy.loginfo("============ Planning frame: %s" % move_group.get_planning_frame())
+        rospy.loginfo(
+            "============ Planning frame: %s" % move_group.get_planning_frame()
+        )
         rospy.loginfo("============ Planner ID: %s" % move_group.get_planner_id())
         rospy.loginfo("============ Planning time: %s" % move_group.get_planning_time())
-        rospy.loginfo("============ End effector link: %s" % move_group.get_end_effector_link())
-        rospy.loginfo("============ End effector pose: %s" % move_group.get_current_pose())
+        rospy.loginfo(
+            "============ End effector link: %s" % move_group.get_end_effector_link()
+        )
+        rospy.loginfo(
+            "============ End effector pose: %s" % move_group.get_current_pose()
+        )
         rospy.loginfo(
             "============ Available Planning Groups: %s" % robot.get_group_names()
         )
-        
+
         # Robot state
         rospy.loginfo("============ Rospy.loginfoing robot state")
         rospy.loginfo(robot.get_current_state())
@@ -97,6 +108,7 @@ def _list_to_pose(self, pose_list):
         pose_msg.orientation.w = pose_list[6]
 
         return pose_msg
+
     def change_planner_id(self, planner_id):
         self.move_group.set_planner_id(planner_id)
         rospy.loginfo("============ Planner ID: %s" % planner_id)
@@ -145,7 +157,6 @@ def execute_cartesian_path_to_goal_pose(
         acc_scale=0.1,
         execute=True,
         eef_step=0.01,
-        jump_threshold=0.0,
         avoid_collisions=True,
         path_constraints=None,
         number_of_waypoints=10,
@@ -175,7 +186,6 @@ def execute_cartesian_path_to_goal_pose(
             acc_scale=acc_scale,
             execute=execute,
             eef_step=eef_step,
-            jump_threshold=jump_threshold,
             avoid_collisions=avoid_collisions,
             path_constraints=path_constraints,
         )
@@ -189,7 +199,6 @@ def execute_cartesian_path_by_waypoints(
         acc_scale=0.1,
         execute=True,
         eef_step=0.01,
-        jump_threshold=0.0,
         avoid_collisions=True,
         path_constraints=None,
     ):
@@ -205,7 +214,6 @@ def execute_cartesian_path_by_waypoints(
         (path, fraction) = self.move_group.compute_cartesian_path(
             waypoints,
             eef_step=eef_step,
-            jump_threshold=jump_threshold,
             avoid_collisions=avoid_collisions,
             path_constraints=path_constraints,
         )