pose2 = copy.deepcopy(pose1)
pose2.position.z -= 0.1
print pose1
print pose2
waypoints = [pose1, pose2]
(plan, fraction) = right_arm.compute_cartesian_path( waypoints, # waypoints to follow
0.01, # eef_step
0.0)
print plan
print fraction
right_arm.execute(plan, wait=True)
rospy.sleep(0.5)
raw_input("please input")
# [00000000]
print right_arm.get_joint_value_target()
print both_arms.get_joint_value_target()
# no this functions
# print right_arm.get_named_targets()
print right_arm.get_remembered_joint_values()
print both_arms.get_remembered_joint_values()
print right_arm.get_path_constraints()
print both_arms.get_path_constraints()
print right_arm.get_active_joints()
print both_arms.get_active_joints()
print right_arm.get_current_joint_values()
