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()