From e7f8a82814b860e0553b193ba3dd57fa10121c76 Mon Sep 17 00:00:00 2001 From: IrvingF7 <13810062+IrvingF7@users.noreply.github.com> Date: Sun, 3 Mar 2024 04:57:25 -0500 Subject: [PATCH] Fixed order of return values in doc string of compute_cartesian_path() (#3574) --- moveit_commander/src/moveit_commander/move_group.py | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/moveit_commander/src/moveit_commander/move_group.py b/moveit_commander/src/moveit_commander/move_group.py index eb5eedd6610..da3a4dfc463 100644 --- a/moveit_commander/src/moveit_commander/move_group.py +++ b/moveit_commander/src/moveit_commander/move_group.py @@ -652,7 +652,13 @@ def compute_cartesian_path( avoid_collisions=True, path_constraints=None, ): - """Compute a sequence of waypoints that make the end-effector move in straight line segments that follow the poses specified as waypoints. Configurations are computed for every eef_step meters; The jump_threshold specifies the maximum distance in configuration space between consecutive points in the resultingpath; Kinematic constraints for the path given by path_constraints will be met for every point along the trajectory, if they are not met, a partial solution will be returned. The return value is a tuple: a fraction of how much of the path was followed, the actual RobotTrajectory.""" + """Compute a sequence of waypoints that make the end-effector move in straight line segments that follow the poses specified as waypoints. + Configurations are computed for every eef_step meters. + The jump_threshold specifies the maximum distance in configuration space between consecutive points in the resultingpath. + Kinematic constraints for the path given by path_constraints will be met for every point along the trajectory. + If the Kinematic constraints are not met, a partial solution will be returned. + The return value is a tuple: the actual RobotTrajectory and the fraction of how much of the path was followed. + """ if path_constraints: if type(path_constraints) is Constraints: constraints_str = conversions.msg_to_string(path_constraints)