Bundle the default configuration for OpenArm Cell#4
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Pull request overview
This PR bundles a default OpenArm “cell” configuration YAML into the dora_openarm Python package and updates the CLI entrypoint to use that bundled config by default.
Changes:
- Added
src/dora_openarm/openarm_cell.yamlas the default OpenArm driver configuration. - Updated
dora_openarm.main:mainto default--configto the packaged YAML location. - Configured setuptools to include
*.yamlfiles as package data in distributions.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
src/dora_openarm/openarm_cell.yaml |
Adds a bundled default OpenArm configuration YAML. |
src/dora_openarm/main.py |
Points the CLI’s default --config at the bundled YAML. |
pyproject.toml |
Ensures YAML files are included in the built package as data files. |
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| parser.add_argument( | ||
| "--config", | ||
| default="openarm_cell.yaml", | ||
| default=f"{base_dir}/openarm_cell.yaml", |
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| @@ -84,7 +85,7 @@ def main(): | |||
| ) | |||
| parser.add_argument( | |||
| "--config", | |||
| default="openarm_cell.yaml", | |||
| default=f"{base_dir}/openarm_cell.yaml", | |||
| help="The configuration file for this OpenArm", | |||
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| # IF using POS_FORCE gripper, set to "POS_FORCE" | ||
| # If POS_FORCE mode is used, you can set force limits here. and control gains will be ignored. | ||
| # If MIT mode is used, control gains will be applied. | ||
| gripper_posforce: true | ||
| # This value will be used only if gripper_control_mode is "POS_FORCE" |
Contributor
Author
|
We don't need this. openarm_driver provides the default configuration file. |
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