From c4963ff4e16d0c688f213e8f20e472c00bbfda60 Mon Sep 17 00:00:00 2001 From: Luca Krohm Date: Mon, 2 Dec 2024 23:00:40 +0100 Subject: [PATCH] [ForceTorqueMonitoring] Addressing PR comments --- src/pycram/ros_utils/force_torque_sensor.py | 11 ++--------- 1 file changed, 2 insertions(+), 9 deletions(-) diff --git a/src/pycram/ros_utils/force_torque_sensor.py b/src/pycram/ros_utils/force_torque_sensor.py index d8b5b6e42..43b6cd392 100644 --- a/src/pycram/ros_utils/force_torque_sensor.py +++ b/src/pycram/ros_utils/force_torque_sensor.py @@ -246,15 +246,8 @@ def get_derivative(self, is_filtered=True) -> WrenchStamped: return derivative def human_touch_monitoring(self): - print("monitoring") - if self.robot_name == 'hsrb': - der = self.get_last_value() - if abs(der.wrench.force.x) > 10.30: - print("sensor") - return SensorMonitoringCondition - elif self.robot_name == 'pr2': + rospy.loginfo_once("Now monitoring for human touch") + if self.robot_name == 'pr2': der = self.get_derivative() - print(der.wrench.torque.x) if abs(der.wrench.torque.x) > 3: - print("sensor") return SensorMonitoringCondition