Catch RTDE exceptions in URrtde constructor

[Victorlouisdg]

Sometimes connecting the to robot fails with weird errors. This often happens after protective stops or emergency stops. Restarting your script usually solves this. However it would be nice if airo-mono tries a few times itself, e.g:

max_attempts = 3
for i in range(max_attempts):
    try:
        gripper_left = Robotiq2F85(ip_address_left)
        robot_left = URrtde(ip_address_left, URrtde.UR3E_CONFIG, gripper_left)

        gripper_right = Robotiq2F85(ip_address_right)
        robot_right = URrtde(ip_address_right, URrtde.UR3E_CONFIG, gripper_right)

        dual_arm = DualArmPositionManipulator(robot_left, X_W_LCB, robot_right, X_W_RCB)
        return dual_arm
    except RuntimeError as e:
        print(f"Failed to connect to UR5e robots. Attempt {i+1}/{max_attempts}. Error:\n {e}")
        if i == max_attempts - 1:
            raise e
        time.sleep(2)

This works for me for the cloth competition, example of it saving me a little time:

[tlpss]

I think we should only add this to the 'real' hardware classes? not to the Bimanual interfaces on top of them?

[Victorlouisdg]

Agreed.