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Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>

Author: sivral

aegis_grpc/include/aegis_grpc/robot_control_service.hpp

@@ -44,7 +44,6 @@ class RobotControlServiceImpl final
         const proto_aegis_grpc::v1::Twist* request,
         google::protobuf::Empty* response) override;
 
-    // TODO(issue#83) add MoveIt2 actions to plan&execute trajectories to targets in Joints and Poses.
     grpc::Status GotoPose(
         grpc::ServerContext* context,
         const proto_aegis_grpc::v1::Pose* request,

aegis_grpc/python_client/aegis_grpc_client/grpc_client.py

@@ -281,7 +281,7 @@ async def servo_tcp(
     # TODO(issue#83) add MoveIt2 actions to plan&execute trajectories to targets in Joints and Poses.
     async def goto_pose(
         self,
-        position: Union[tuple[float, float, float], np.ndarray],  # np.array([vx,vy,vz])
+        position: Union[tuple[float, float, float], np.ndarray],
         orientation: Union[tuple[float, float, float, float], np.ndarray],
     ) -> tuple[bool, str]:
         """
@@ -296,9 +296,9 @@ async def goto_pose(
         self._check_connected()
 
         if isinstance(position, np.ndarray):
-            position = tuple(position.tolist())
+            position = tuple(position)
         if isinstance(orientation, np.ndarray):
-            orientation = tuple(orientation.tolist())
+            orientation = tuple(orientation)
 
         pose = geometry_msgs_pb2.Pose(
             position=geometry_msgs_pb2.Point(
@@ -321,7 +321,6 @@ async def goto_pose(
             self.logger.error(f"Failed to send robot motion command: {e}")
             raise
 
-    # TODO(issue#83) add MoveIt2 actions to plan&execute trajectories to targets in Joints and Poses.
     async def goto_joints(
         self,
         names: list[str],
@@ -339,7 +338,7 @@ async def goto_joints(
         self._check_connected()
 
         if isinstance(positions, np.ndarray):
-            positions = positions.tolist()
+            positions = tuple(positions)
 
         joint_state = sensor_msgs_pb2.JointState(
             name=names,