[RSDK-10924] Add IsHoldingSomething to Gripper API #935
Conversation
…d57bbb650e95807d8b89a4b84408a
|
Warning your change may break code samples. If your change modifies any of the following functions please contact @viamrobotics/fleet-management. Thanks!
|
| from typing import Any, Dict, Final, Optional, Tuple | ||
|
|
||
| from viam.components.component_base import ComponentBase | ||
| from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT | ||
|
|
||
| from . import KinematicsFileFormat | ||
|
|
||
| @dataclass |
There was a problem hiding this comment.
Can we move this inside of Gripper? that way this class is Gripper.HoldingStatus?
I don't think this class makes sense outside the context of a gripper
| # Grab with the gripper. | ||
| holding_status = await my_gripper.is_holding_something() | ||
| # get the boolean result | ||
| is_holding_something = holding_status.is_holding_something |
There was a problem hiding this comment.
(q) naively, is_holding_something is the only thing I care about here and I don't understand what the meta field does at all, so this looks to me like we're just asking for an extra step to get the relevant information. Can you clarify what the meta field in a HoldingStatus actually is?
There was a problem hiding this comment.
I'll add a comment, but it's something eliot specifically asked for here: https://docs.google.com/document/d/1N1TRTOMww_4NUNDVbeeWg9raNpSK0Srb16kG4R2qYks/edit?disco=AAABlaa3cpE
No description provided.