fix(gantry): ignore [ / ] rope adjustment when gantry is disabled#6
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lgulich merged 1 commit intoNVIDIA-ISAAC-ROS:impedence-control-supportfrom Apr 28, 2026
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Pressing [ or ] while the gantry is disabled previously modified rope_length_ and logged a misleading length-change message, giving no indication that the gantry was inactive. Now the ticks are discarded and a WARN is emitted instead. Keys are still consumed so they don't fall through to the MuJoCo viewer camera handler. README updated to document the disabled-state behavior. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
lgulich
merged commit 03d0045
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NVIDIA-ISAAC-ROS:impedence-control-support
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Summary
[/]while the gantry is disabled previously silently modifiedrope_length_and logged a misleading length-change message with no indication the gantry was inactiveWARNis emitted instead:VirtualGantryPlugin: gantry disabled — rope length unchangedon_key()so they don't fall through to MuJoCo's camera handlerFollow-up to #3.
Test plan
[/]→ rope shortens/lengthens as expectedGto disable gantry; press[/]→ WARN logged, rope length unchanged, MuJoCo camera does not switchGto re-enable; press[/]→ rope adjustment resumes normally🤖 Generated with Claude Code