sensedCartesianPosition or commandedCartesianPosition required by RobotInterfaceCompleter for RIL

[alexanderdsmith]

The docs suggest that these commands are not required for the RobotInterfaceCompleter to work here: http://motion.cs.illinois.edu/software/klampt/latest/pyklampt_docs/Manual-Control.html

However, there is a cartesian position error:

Traceback (most recent call last):
File "/home/eye-exam-system/.local/lib/python3.10/site-packages/klampt/control/robotinterfaceutils.py", line 5172, in cartesianPosition
c = self.cartesianInterfaces[tuple(indices)]
KeyError: (0, 1, 2, 3, 4, 5)

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/home/eye-exam-system/.local/lib/python3.10/site-packages/klampt/apps/klampt_control.py", line 567, in updateActiveController
Tsns = active.sensedCartesianPosition()
File "/home/eye-exam-system/.local/lib/python3.10/site-packages/klampt/control/robotinterfaceutils.py", line 2994, in sensedCartesianPosition
return self._try('sensedCartesianPosition',[frame],lambda frame: RobotInterfaceBase.sensedCartesianPosition(self,frame))
File "/home/eye-exam-system/.local/lib/python3.10/site-packages/klampt/control/robotinterfaceutils.py", line 2559, in _try
return _try_methods(self._base,fn,args,fallback,self._has)
File "/home/eye-exam-system/.local/lib/python3.10/site-packages/klampt/control/robotinterfaceutils.py", line 926, in _try_methods
return fallback(*args)
File "/home/eye-exam-system/.local/lib/python3.10/site-packages/klampt/control/robotinterfaceutils.py", line 2994, in
return self._try('sensedCartesianPosition',[frame],lambda frame: RobotInterfaceBase.sensedCartesianPosition(self,frame))
File "/home/eye-exam-system/.local/lib/python3.10/site-packages/klampt/control/robotinterface.py", line 543, in sensedCartesianPosition
return self.cartesianPosition(self.sensedPosition(),frame)
File "/home/eye-exam-system/.local/lib/python3.10/site-packages/klampt/control/robotinterfaceutils.py", line 2975, in cartesianPosition
return self._try('cartesianPosition',[q,frame],lambda q,frame: self._emulator.cartesianPosition(self._indices,q,frame))
File "/home/eye-exam-system/.local/lib/python3.10/site-packages/klampt/control/robotinterfaceutils.py", line 2559, in _try
return _try_methods(self._base,fn,args,fallback,self._has)
File "/home/eye-exam-system/.local/lib/python3.10/site-packages/klampt/control/robotinterfaceutils.py", line 926, in _try_methods
return fallback(*args)
File "/home/eye-exam-system/.local/lib/python3.10/site-packages/klampt/control/robotinterfaceutils.py", line 2975, in
return self._try('cartesianPosition',[q,frame],lambda q,frame: self._emulator.cartesianPosition(self._indices,q,frame))
File "/home/eye-exam-system/.local/lib/python3.10/site-packages/klampt/control/robotinterfaceutils.py", line 5175, in cartesianPosition
raise ValueError("Invalid Cartesian index set for emulator: no command currently set")
ValueError: Invalid Cartesian index set for emulator: no command currently set
addError Exception on sensedCartesianPosition: Invalid Cartesian index set for emulator: no command currently set