add name suffix in kinesthetic teaching interface

armarx_control/robots/common.py

@@ -392,7 +392,7 @@ class Robot:
         )
         return controller_name, ctrl, ctrl_cfg
 
-    def teach(self, robot_node_set: cfg.NodeSet, side: str, filename: str):
+    def teach(self, robot_node_set: cfg.NodeSet, side: str, filename: str, name_suffix: str = ""):
         """
         Enable kinethestic teaching for the given robot node set, and filename as prefix
         Args:
@@ -405,7 +405,7 @@ class Robot:
             e.g. 'kinesthetic_teaching-2023-06-18-16-21-15', you will have four files recorded, including
             file_path-ts-forward.csv, file_path-ts-backward.csv, file_path-js-forward.csv, file_path-js-backward.csv
         """
-        return self.ctrl.kinestheticTeaching(robot_node_set.value, side, filename)
+        return self.ctrl.kinestheticTeaching(robot_node_set.value, side, filename, name_suffix)
 
     def update_controller_config(
             self,

armarx_control/run/kinesthetic_teaching.py

@@ -9,11 +9,11 @@ from armarx_control.config.type import ControllerType
 from armarx_control.config.utils import get_default_ctrl_cfg
 
 
-def teach_motion(robot, name: str, node_set: NodeSet):
+def teach_motion(robot, name: str, node_set: NodeSet, name_suffix: str = ""):
     console.log(f"[bold cyan]Kinesthetic teaching with name {name}")
     side = node_set.get_side(node_set)
     console.log(f"[bold yellow]you can press the FT sensor of {node_set.value} (on {side} side) to start")
-    traj_file_stem = robot.teach(node_set, side, name)
+    traj_file_stem = robot.teach(node_set, side, name, name_suffix)
     for motion_dir in ["backward", "forward"]:
         motion_file_ts = Path(f"{traj_file_stem}-ts-{motion_dir}.csv")
         motion_file_js = Path(f"{traj_file_stem}-js-{motion_dir}.csv")
@@ -32,11 +32,13 @@ def teach_motion(robot, name: str, node_set: NodeSet):
 @click.option("--time_sec", "-t", type=float,   default=5.0, help="time duration in seconds")
 @click.option("--left_arm", "-l", is_flag=True, help="set to use left arm, otherwise right arm")
 @click.option("--series",   "-s", type=int,     default=6, help="which robot to use")
+@click.option("--name_suffix",   "-ns", type=str,     default="", help="any name suffix to avoid name collision")
 def main(
         name: str = "",
         time_sec: float = 5.0,
         left_arm: bool = False,
-        series:         int = 6
+        series: int = 6,
+	name_suffix: str = "",
 ):
     np.set_printoptions(suppress=True, precision=3)
     robot = get_control_robot(RobotName.from_series(series), with_ctrl_creator=True)
@@ -50,7 +52,7 @@ def main(
         raise NotImplementedError(f"{robot.c.name} is not implemented yet")
     tcp = robot.arm_tcp.RightArm if right_arm else robot.arm_tcp.LeftArm
 
-    filename = teach_motion(robot, name, nodeset)
+    filename = teach_motion(robot, name, nodeset, name_suffix)
 
     control_type = ControllerType.TSMPImp
     appendix = ""