src/conntact/assembly_algorithm_blocks.py
def algorithm_execute(self):
        """Main execution loop. A True exit state will cause the buffered Trigger "self.next_trigger" to be run, changing the state. If using a state realized as an AssemblyStep class, we delete the old step here. Also executes the once-per-cycle non-step commands needed for continuous safe operation.
        """

        self.completion_confidence = 0
        
        self.next_trigger, self.switch_state = self.post_action(CHECK_FEEDBACK_TRIGGER)

        rospy.loginfo(Fore.BLACK + Back.GREEN + "Beginning search algorithm. "+Style.RESET_ALL)

        while not rospy.is_shutdown() and self.state != EXIT_STATE:
            # Main program loop. 
            # Refresh values, run process trigger (either loop-back to perform state actions or transition to new state), then output controller commands and wait for next loop time.
            self.all_states_calc()
            self.checkForceCap()

            if(self.switch_state): #If the command to change states has come in:
                self.switch_state = False
                if(self.step):
                    #If a Step class has been defined for the current State, we delete it to be tidy.
                    del self.step
                    self.step = None
            else:
                # If we're not switching states, we use RUN_LOOP_TRIGGER to execute this state's loop code.
                self.next_trigger = RUN_LOOP_TRIGGER
                
            # Execute the trigger chosen
            self.trigger(self.next_trigger)

            # Publish robot motion commands only once per loop, right at the end of the loop:
            self.update_commands()
            self._rate.sleep()
Main execution loop. A True exit state will cause the buffered Trigger "self.next_trigger" to be run, changing the state. If using a state realized as an AssemblyStep class, we delete the old step here. Also executes the once-per-cycle non-step commands needed for continuous safe operation.
        
Main execution loop. A True exit state will cause the buffered Trigger "self.next_trigger" to be run, changing the state. If using a state realized as an AssemblyStep class, we delete the old step here. Also executes the once-per-cycle non-step commands needed for continuous safe operation.
Main execution loop . A True exit state will cause the buffered Trigger " self . next_trigger " to be run changing the state . If using a state realized as an AssemblyStep class we delete the old step here . Also executes the once - per - cycle non - step commands needed for continuous safe operation .
def algorithm_execute(self):
        self.completion_confidence = 0
        self.next_trigger, self.switch_state = self.post_action(CHECK_FEEDBACK_TRIGGER)
        rospy.loginfo(Fore.BLACK + Back.GREEN + "Beginning search algorithm. "+Style.RESET_ALL)
        while not rospy.is_shutdown() and self.state != EXIT_STATE:
            self.all_states_calc()
            self.checkForceCap()
            if(self.switch_state): 
                self.switch_state = False
                if(self.step):
                    del self.step
                    self.step = None
            else:
                self.next_trigger = RUN_LOOP_TRIGGER
            self.trigger(self.next_trigger)
            self.update_commands()
            self._rate.sleep()
def algorithm_execute ( self ) : self . completion_confidence = 0 self . next_trigger , self . switch_state = self . post_action ( CHECK_FEEDBACK_TRIGGER ) rospy . loginfo ( Fore . BLACK + Back . GREEN + "Beginning search algorithm. " + Style . RESET_ALL ) while not rospy . is_shutdown ( ) and self . state != EXIT_STATE : self . all_states_calc ( ) self . checkForceCap ( ) if ( self . switch_state ) : self . switch_state = False if ( self . step ) : del self . step self . step = None else : self . next_trigger = RUN_LOOP_TRIGGER self . trigger ( self . next_trigger ) self . update_commands ( ) self . _rate . sleep ( )
Main execution loop.
Main execution loop .
"""Main execution loop. A True exit state will cause the buffered Trigger "self.next_trigger" to be run, changing the state. If using a state realized as an AssemblyStep class, we delete the old step here. Also executes the once-per-cycle non-step commands needed for continuous safe operation.
        """ # Main program loop.  # Refresh values, run process trigger (either loop-back to perform state actions or transition to new state), then output controller commands and wait for next loop time. #If the command to change states has come in: #If a Step class has been defined for the current State, we delete it to be tidy. # If we're not switching states, we use RUN_LOOP_TRIGGER to execute this state's loop code. # Execute the trigger chosen # Publish robot motion commands only once per loop, right at the end of the loop:
self