def set_right_arm_current(self,
target_current,
interpolation=None,
accuracy=0.01):
"""
:param target_current: Set left arm current.
:param interpolation: None and 0 -> no interpolation; >=1 -> interpolate target current.
:param accuracy: Target current accuracy, 0.008 is roughly about 1 degree/sec^2.
:return:
"""
assert type(target_current) is list, 'Velocity input is list'
right_arm = JointState()
right_arm.name = self._right_arm_name
while not self.rospy.is_shutdown():
right_arm.current = target_current
self._ginger_pub.publish(right_arm)
error_cur = [
np.abs(s - g)
for (s, g) in zip(target_current, self.get_right_arm_current())
]
if np.all([e < accuracy for e in error_cur]):
print('Target current achieved')
break
