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