{"action":"created","comment":{"url":"https://api.github.com/repos/RethinkRobotics/baxter_examples/pulls/comments/27746205","id":27746205,"diff_hunk":"@@ -233,12 +239,38 @@ def find_start_offset(pos):\n             cur_cmd = [cmd['right_gripper']]\n             self._add_point(cur_cmd, 'right_gripper', values[0] + start_offset)\n \n+    def _feedback(self, data):\n+        if not self._get_trajectory_flag():\n+            self._set_trajectory_flag(value=True)\n+\n+    def _set_trajectory_flag(self, value=False):\n+        # Lock\n+        self._lock.acquire()\n+        # Assign a value to the flag\n+        self._arm_trajectory_started = value","path":"scripts/joint_trajectory_file_playback.py","position":45,"original_position":45,"commit_id":"0f682c0875655c1e4e4ee9d77f1a330e0ddee307","original_commit_id":"0f682c0875655c1e4e4ee9d77f1a330e0ddee307","user":{"login":"rethink-imcmahon","id":8646015,"avatar_url":"https://avatars.githubusercontent.com/u/8646015?v=3","gravatar_id":"","url":"https://api.github.com/users/rethink-imcmahon","html_url":"https://github.com/rethink-imcmahon","followers_url":"https://api.github.com/users/rethink-imcmahon/followers","following_url":"https://api.github.com/users/rethink-imcmahon/following{/other_user}","gists_url":"https://api.github.com/users/rethink-imcmahon/gists{/gist_id}","starred_url":"https://api.github.com/users/rethink-imcmahon/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rethink-imcmahon/subscriptions","organizations_url":"https://api.github.com/users/rethink-imcmahon/orgs","repos_url":"https://api.github.com/users/rethink-imcmahon/repos","events_url":"https://api.github.com/users/rethink-imcmahon/events{/privacy}","received_events_url":"https://api.github.com/users/rethink-imcmahon/received_events","type":"User","site_admin":false},"body":"The `value` variable leaves scope at the end of this function, but you have a good point. If this were a more complex variable than a Bool, then perhaps deepcopy would make more sense.","created_at":"2015-04-03T18:27:27Z","updated_at":"2015-04-03T18:27:27Z","html_url":"https://github.com/RethinkRobotics/baxter_examples/pull/39#discussion_r27746205","pull_request_url":"https://api.github.com/repos/RethinkRobotics/baxter_examples/pulls/39","_links":{"self":{"href":"https://api.github.com/repos/RethinkRobotics/baxter_examples/pulls/comments/27746205"},"html":{"href":"https://github.com/RethinkRobotics/baxter_examples/pull/39#discussion_r27746205"},"pull_request":{"href":"https://api.github.com/repos/RethinkRobotics/baxter_examples/pulls/39"}}},"pull_request":{"url":"https://api.github.com/repos/RethinkRobotics/baxter_examples/pulls/39","id":32605323,"html_url":"https://github.com/RethinkRobotics/baxter_examples/pull/39","diff_url":"https://github.com/RethinkRobotics/baxter_examples/pull/39.diff","patch_url":"https://github.com/RethinkRobotics/baxter_examples/pull/39.patch","issue_url":"https://api.github.com/repos/RethinkRobotics/baxter_examples/issues/39","number":39,"state":"open","locked":false,"title":"Resolves gripper out of sync with arm motion","user":{"login":"rethink-imcmahon","id":8646015,"avatar_url":"https://avatars.githubusercontent.com/u/8646015?v=3","gravatar_id":"","url":"https://api.github.com/users/rethink-imcmahon","html_url":"https://github.com/rethink-imcmahon","followers_url":"https://api.github.com/users/rethink-imcmahon/followers","following_url":"https://api.github.com/users/rethink-imcmahon/following{/other_user}","gists_url":"https://api.github.com/users/rethink-imcmahon/gists{/gist_id}","starred_url":"https://api.github.com/users/rethink-imcmahon/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rethink-imcmahon/subscriptions","organizations_url":"https://api.github.com/users/rethink-imcmahon/orgs","repos_url":"https://api.github.com/users/rethink-imcmahon/repos","events_url":"https://api.github.com/users/rethink-imcmahon/events{/privacy}","received_events_url":"https://api.github.com/users/rethink-imcmahon/received_events","type":"User","site_admin":false},"body":"Trac ticket #11622\r\n\r\nA customer reported that gripper playback was\r\nnot synchronized with the arm motion when playing\r\nback a trajectory using the joint_trajectory_action_server\r\nand joint_trajectory_file_playback (client).\r\n\r\nThis fix waits until feedback is recieved from the\r\njoint trajectory action server before allowing the\r\nplayback of the grippers to begin.\r\n\r\nThis was tested with a trajectory recorded on the left\r\narm of a dev robot. This trajectory had several complex\r\nmovements as well as gripper open/close. Upon playback\r\nthe gripper movements were synchronized with the \r\njoint_trajectory_action_server movements.","created_at":"2015-04-03T18:07:27Z","updated_at":"2015-04-03T18:27:27Z","closed_at":null,"merged_at":null,"merge_commit_sha":"074259b5ff1d60b1824f10670c0d644d90706e53","assignee":null,"milestone":null,"commits_url":"https://api.github.com/repos/RethinkRobotics/baxter_examples/pulls/39/commits","review_comments_url":"https://api.github.com/repos/RethinkRobotics/baxter_examples/pulls/39/comments","review_comment_url":"https://api.github.com/repos/RethinkRobotics/baxter_examples/pulls/comments{/number}","comments_url":"https://api.github.com/repos/RethinkRobotics/baxter_examples/issues/39/comments","statuses_url":"https://api.github.com/repos/RethinkRobotics/baxter_examples/statuses/0f682c0875655c1e4e4ee9d77f1a330e0ddee307","head":{"label":"RethinkRobotics:gripper_playback_sync","ref":"gripper_playback_sync","sha":"0f682c0875655c1e4e4ee9d77f1a330e0ddee307","user":{"login":"RethinkRobotics","id":2700040,"avatar_url":"https://avatars.githubusercontent.com/u/2700040?v=3","gravatar_id":"","url":"https://api.github.com/users/RethinkRobotics","html_url":"https://github.com/RethinkRobotics","followers_url":"https://api.github.com/users/RethinkRobotics/followers","following_url":"https://api.github.com/users/RethinkRobotics/following{/other_user}","gists_url":"https://api.github.com/users/RethinkRobotics/gists{/gist_id}","starred_url":"https://api.github.com/users/RethinkRobotics/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RethinkRobotics/subscriptions","organizations_url":"https://api.github.com/users/RethinkRobotics/orgs","repos_url":"https://api.github.com/users/RethinkRobotics/repos","events_url":"https://api.github.com/users/RethinkRobotics/events{/privacy}","received_events_url":"https://api.github.com/users/RethinkRobotics/received_events","type":"Organization","site_admin":false},"repo":{"id":14217961,"name":"baxter_examples","full_name":"RethinkRobotics/baxter_examples","owner":{"login":"RethinkRobotics","id":2700040,"avatar_url":"https://avatars.githubusercontent.com/u/2700040?v=3","gravatar_id":"","url":"https://api.github.com/users/RethinkRobotics","html_url":"https://github.com/RethinkRobotics","followers_url":"https://api.github.com/users/RethinkRobotics/followers","following_url":"https://api.github.com/users/RethinkRobotics/following{/other_user}","gists_url":"https://api.github.com/users/RethinkRobotics/gists{/gist_id}","starred_url":"https://api.github.com/users/RethinkRobotics/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RethinkRobotics/subscriptions","organizations_url":"https://api.github.com/users/RethinkRobotics/orgs","repos_url":"https://api.github.com/users/RethinkRobotics/repos","events_url":"https://api.github.com/users/RethinkRobotics/events{/privacy}","received_events_url":"https://api.github.com/users/RethinkRobotics/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/RethinkRobotics/baxter_examples","description":"Example 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