def __move_arm(self, goal_type, goal):
move_arm_goal = MoveArmGoal()
move_arm_goal.goal_type = goal_type
if goal_type == MoveArmGoal.NAMED_TARGET:
move_arm_goal.named_target = goal
elif goal_type == MoveArmGoal.END_EFFECTOR_POSE:
move_arm_goal.end_effector_pose = goal
move_arm_goal.dmp_name = self.grasping_dmp
move_arm_goal.dmp_tau = self.dmp_tau
self.move_arm_client.send_goal(move_arm_goal)
self.move_arm_client.wait_for_result()
result = self.move_arm_client.get_result()
return result
def __move_arm(self, goal_type, goal):
'''Sends a request to the 'move_arm' action server and waits for the
results of the action execution.
Keyword arguments:
goal_type -- 'MoveArmGoal.NAMED_TARGET' or 'MoveArmGoal.END_EFFECTOR_POSE'
goal -- A string if 'goal_type' is 'MoveArmGoal.NAMED_TARGET';
a 'geometry_msgs/PoseStamped' if 'goal_type' is 'MoveArmGoal.END_EFFECTOR_POSE'
'''
move_arm_goal = MoveArmGoal()
move_arm_goal.goal_type = goal_type
if goal_type == MoveArmGoal.NAMED_TARGET:
move_arm_goal.named_target = goal
elif goal_type == MoveArmGoal.END_EFFECTOR_POSE:
move_arm_goal.end_effector_pose = goal
move_arm_goal.dmp_name = self.handle_open_dmp
move_arm_goal.dmp_tau = self.dmp_tau
self.move_arm_client.send_goal(move_arm_goal)
self.move_arm_client.wait_for_result()
result = self.move_arm_client.get_result()
return result