def _get_sequence_request(self, robot): sequence_action_goal = MoveGroupSequenceGoal() for item in self.items: # Create and fill request curr_sequence_req = MotionSequenceItem() curr_sequence_req.blend_radius = item.blend_radius # Fill MotionPlanRequest curr_sequence_req.req = item.cmd._cmd_to_request(robot) # Add request to goal sequence_action_goal.request.items.append(curr_sequence_req) return sequence_action_goal
def _get_sequence_request(self, robot): """Constructs a sequence request from the command. BaseCmds construct a sequence request with a single item and a blend_radius 0""" sequence_action_goal = MoveGroupSequenceGoal() # Create and fill request sequence_item = MotionSequenceItem() sequence_item.blend_radius = 0.0 # Fill MotionPlanRequest sequence_item.req = self._cmd_to_request(robot) # Add request to goal sequence_action_goal.request.items.append(sequence_item) return sequence_action_goal