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[xs_modules] Use locobot as default robot_name argument #64

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Feb 26, 2024
Merged

[xs_modules] Use locobot as default robot_name argument #64

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7 changes: 3 additions & 4 deletions interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/locobot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,7 @@ def __init__(
arm_group_name: str = 'arm',
gripper_name: str = 'gripper',
turret_group_name: str = 'camera',
robot_name: str = '',
robot_name: str = 'locobot',
topic_dxl_joint_states: str = 'dynamixel/joint_states',
topic_base_joint_states: str = 'mobile_base/joint_states',
use_nav: bool = False,
Expand All @@ -93,9 +93,8 @@ def __init__(
yaml file; typically, this is 'gripper'
:param turret_group_name: (optional) joint group name that contains the 'turret' joints as
defined in the 'motor_config' yaml file; typically, this is 'camera'
:param robot_name: (optional) defaults to the value given to 'robot_model' if unspecified;
this can be customized if controlling two or more LoCoBots from one computer (like
'locobot1' and 'locobot2')
:param robot_name: (optional) this can be customized if controlling two or more LoCoBots
from one computer (like 'locobot1' and 'locobot2'); defaults to `'locobot'`
:param topic_dxl_joint_states: (optional) name of the joint states topic that contains just
the states of the dynamixel servos
:param topic_base_joint_states: (optional) name of the joints states topic that contains
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