init_follow_joint_trajectory_goal not defined

[blooop]

Thank you for making this library.

I was trying to use the skip_planning option for the gripper but I run into an error when the library tries to call an internal method init_follow_joint_trajectory_goal.

[bt_executor-23]   File "/home/user/ws/install/pymoveit2/local/lib/python3.10/dist-packages/pymoveit2/gripper_interface.py", line 49, in __init__
[bt_executor-23]     MoveIt2Gripper.__init__(
[bt_executor-23]   File "/home/user/ws/install/pymoveit2/local/lib/python3.10/dist-packages/pymoveit2/moveit2_gripper.py", line 92, in __init__
[bt_executor-23]     self.__open_dummy_trajectory_goal = init_follow_joint_trajectory_goal(
[bt_executor-23] NameError: name 'init_follow_joint_trajectory_goal' is not defined

I see it is still in some peoples forks e.g:
https://github.com/hanjianwei92/RobotSDK/blob/fe9cfe60837eca3aba65e6c466dd5a8342eb9c4b/RobotControl/pymoveit2/moveit2.py#L1497

I added that function back, but then it fails on other similar functions so it seems like this feature was removed. Is this the case?

Thanks.

[AndrejOrsula]

Hello @blooop,

Thanks for pointing this out. Yes, the feature was deprecated in #40 - but we did not realize that it also affected MoveIt2Gripper(skip_planning=True).

You could either try using version 3.1.0, or revert the functionality back. Feel free to post updates if you choose the latter and encounter some issues (PR would also be welcome).