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24 lines
684 B
24 lines
684 B
#!/usr/bin/env python3
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import rospy
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import hello_helpers.hello_misc as hm
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from sensor_msgs.msg import BatteryState
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class RetractArmNode(hm.HelloNode):
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def __init__(self):
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hm.HelloNode.__init__(self)
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def main(self):
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hm.HelloNode.main(self, 'retract_arm', 'retract_arm', wait_for_first_pointcloud=False)
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self.move_to_pose({'gripper_aperture': 0.125})
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self.move_to_pose({'joint_lift': 0.8})
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self.move_to_pose({'joint_arm': 0.0})
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self.move_to_pose({'joint_wrist_yaw': 0.0, 'joint_wrist_roll': 0.0})
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self.move_to_pose({'joint_wrist_pitch': -1.0})
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if __name__ == "__main__":
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node = RetractArmNode()
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node.main()
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