Add a valid arm-model to fake configuration #2192
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viambot
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what about enforcing the fake model to always require a model and/or select a default one? Fakes should generally work with zero config. |
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When the related set of changes were coming through, we fielded a request that we make it so an empty config for a fake arm would not error out. We also wanted to provide the user with exactly what they had requested in this case, which was nothing, so in the absence of either attribute, we have set the fake to a Because the default |
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As soon as we implement the ability to display geometries in their proper locations and are able to visualize an arm via App, I think it will be more useful to have an arm in app that can actually do things; be it a ur5, an xarm6, or some set of connected joints without a real life analog. Looking at e.g. the fake Camera, it returns an autogenerated gradient image, not some external real-life image that was selected to be "the fake image". Beyond our own internal testing, what's the use case for "I want a controllable imaginary arm, but I don't care what it actually looks like, how big it is, or how many degrees of freedom it has"? |
viambot
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biotinker
requested changes
Apr 11, 2023
viambot
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When we modified the fake arm behavior, we updated this in several places but not the
/etcconfig for checking out all fake components. This just adds anxArm6as the faked arm model. Coincidentally, the errors emitted do indicate the underlying issue, but Eric didn't seem to follow what was happening. We might need to reevaluate that error message.We could use model-path (I tested with this) but you have relative path resolution issues if you start the server from a different place, so I opted to keep this as simple as possible.