7.13.7. robot_control.MoveToJointPositions

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

Bases: State

Smach state that will move the robots joints to the defined position.

Returns:

‘succeeded’: The state only returns succeeded.

Return type:

smach-result

__init__(joint_positions_dict)

Initializes the MoveToJointPositions state. Sets the joint positions dictionary.

Parameters:

joint_positions_dict (dict) – Dictionary with joint names as keys and joint positions as values. Possible keys are: ‘arm_flex_joint’, ‘arm_lift_joint’, ‘arm_roll_joint’, ‘head_pan_joint’, ‘head_tilt_joint’, ‘wrist_flex_joint’, ‘wrist_roll_joint’. The angles are in radians.

Methods

__init__(joint_positions_dict)	Initializes the MoveToJointPositions state.
execute(userdata)