def execute(self, userdata):
global limb_interface
global mode_no_state_trainsition_report
if not mode_no_state_trainsition_report:
hmm_state_switch_client(self.state)
write_exec_hist(self, "Go_back_to_start_position", userdata, False)
current_angles = [
limb_interface.joint_angle(joint)
for joint in limb_interface.joint_names()
]
baxter_r_arm_dmp.main(
config.recorded_go_back_to_start_position_path,
config.generalized_go_back_to_start_position_path, current_angles)
dmp4_traj = dmp_r_joint_trajectory_client.Trajectory()
dmp4_traj.parse_file(config.generalized_go_back_to_start_position_path)
dmp4_traj.start()
dmp4_traj.wait()
return 'Succeed'
def execute(self, userdata):
global limb_interface
global mode_no_state_trainsition_report
if not mode_no_state_trainsition_report:
hmm_state_switch_client(self.state)
write_exec_hist(self, "Go_forward", userdata, True)
current_angles = [
limb_interface.joint_angle(joint)
for joint in limb_interface.joint_names()
]
baxter_r_arm_dmp.main(config.recorded_go_forward_path,
config.generalized_go_forward_path,
current_angles)
dmp3_traj = dmp_r_joint_trajectory_client.Trajectory()
dmp3_traj.parse_file(config.generalized_go_forward_path)
dmp3_traj.start()
if wait_for_motion_and_detect_anomaly(dmp3_traj):
return 'NeedRecovery'
return 'Succeed'