7.13.5. robot_control.GoToNeutralMoveIt

class robot_control.GoToNeutralMoveIt(*args: Any, **kwargs: Any)

Bases: State

Smach state that tries to move the robot to a neutral position with moveit and orientation constraints, such that e.g. the water in the glass does not spill. Does not work well. GoToNeutral() should be used instead, unless it is necessary that the robot wrist is not rotated.

Returns:

‘succeeded’: The state only returns succeeded, even though the movement might fail. This is probably not the best way, but I decided to do it like this so you can easily replace it with GoToNeutral() by just changing the state name and not having to touch the transitions.

Return type:

smach-result

__init__()

Methods

__init__()
execute(userdata)