def test_moveToHome():
rospy.init_node('gripper_control',anonymous=True)
listener = tf.TransformListener()
gripperControl = GripperControlClass(arm, listener)
imageDetector = ARImageDetectionClass()
rospy.sleep(4)
desPose = imageDetector.getHomePose()
gripperControl.start()
rospy.loginfo('Press enter')
raw_input()
duration = 6
gripperControl.goToGripperPose(gripperControl.getGripperPose(MyConstants.Frames.Link0), desPose, duration=duration)
rospy.sleep(duration)
raw_input()
