class Pickup(smach.State): def __init__(self): smach.State.__init__(self, outcomes=["pickup_failed", "pickup_done"], input_keys=["object_name", "grasps"]) self.pickup = PickupHandler() def execute(self, userdata): success = self.pickup.run_pick(userdata.object_name, userdata.grasps) if success: return "pickup_done" else: return "pickup_failed"
class Pickup(smach.State): def __init__(self): smach.State.__init__(self, outcomes=['pickup_failed', 'pickup_done'], input_keys=['object_name', 'grasps']) self.pickup = PickupHandler() def execute(self, userdata): success = self.pickup.run_pick(userdata.object_name, userdata.grasps) if success: return 'pickup_done' else: return 'pickup_failed'
def __init__(self): smach.State.__init__(self, outcomes=["pickup_failed", "pickup_done"], input_keys=["object_name", "grasps"]) self.pickup = PickupHandler()
def __init__(self): smach.State.__init__(self, outcomes=['pickup_failed', 'pickup_done'], input_keys=['object_name', 'grasps']) self.pickup = PickupHandler()