grabardm/lightweight-cobot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 1 Wiki Activity

refactor: remove commented section headers from motion_sequence_runner.py

Browse Source
This commit is contained in:
Даниил Грабарь
2026-05-26 16:10:25 +10:00
parent a4d318fceb
commit ec5fb3ccdb
1 changed files with 0 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/iiwa_planning/scripts/motion_sequence_runner.py
-4
View File
@@ -80,7 +80,6 @@ class MotionSequenceRunner(Node):
else: else:
self.get_logger().info('bag_path not set — recording disabled') self.get_logger().info('bag_path not set — recording disabled')
# ── Config ──────────────────────────────────────────────────────────────
def _load_config(self, config_path: str) -> dict: def _load_config(self, config_path: str) -> dict:
path = ( path = (
@@ -91,7 +90,6 @@ class MotionSequenceRunner(Node):
with open(path) as f: with open(path) as f:
return json.load(f) return json.load(f)
# ── Bag recording ────────────────────────────────────────────────────────
def _init_bag(self): def _init_bag(self):
bag_dir = Path(self._bag_path) bag_dir = Path(self._bag_path)
@@ -161,7 +159,6 @@ class MotionSequenceRunner(Node):
self._writer = None self._writer = None
self.get_logger().info(f'Bag closed → {self._bag_path}') self.get_logger().info(f'Bag closed → {self._bag_path}')
# ── Action helpers ────────────────────────────────────────────────────────
def _send_joints_goal(self, wp: dict) -> bool: def _send_joints_goal(self, wp: dict) -> bool:
goal = MoveToJoints.Goal() goal = MoveToJoints.Goal()
@@ -233,7 +230,6 @@ class MotionSequenceRunner(Node):
return self._send_joints_goal(wp) return self._send_joints_goal(wp)
return self._send_pose_goal(wp, idx=idx) return self._send_pose_goal(wp, idx=idx)
# ── Main sequence ─────────────────────────────────────────────────────────
def run(self, done_event: threading.Event): def run(self, done_event: threading.Event):
try: try: