- arm.to_angle(0, self.speed, -point.positions[goal.trajectory.joint_names.index(lJointNames[0])])
- arm.to_angle(1, self.speed, point.positions[goal.trajectory.joint_names.index(lJointNames[1])])
- arm.to_angle(2, self.speed, -point.positions[goal.trajectory.joint_names.index(lJointNames[2])])
- arm.to_angle(3, self.speed, -point.positions[goal.trajectory.joint_names.index(lJointNames[3])])
- arm.to_angle(4, self.speed, point.positions[goal.trajectory.joint_names.index(lJointNames[4])])
+ lGoalPosOrdered = [
+ point.positions[goal.trajectory.joint_names.index(lJointNames[0])],
+ point.positions[goal.trajectory.joint_names.index(lJointNames[1])],
+ point.positions[goal.trajectory.joint_names.index(lJointNames[2])],
+ point.positions[goal.trajectory.joint_names.index(lJointNames[3])],
+ point.positions[goal.trajectory.joint_names.index(lJointNames[4])],
+ ]
+ arm.to_angle(0, self.speed, -lGoalPosOrdered[0])
+ arm.to_angle(1, self.speed, lGoalPosOrdered[1])
+ arm.to_angle(2, self.speed, -lGoalPosOrdered[2])
+ arm.to_angle(3, self.speed, -lGoalPosOrdered[3])
+ arm.to_angle(4, self.speed, lGoalPosOrdered[4])
+
+ error = 0
+ while True:
+ error = np.array(lGoalPosOrdered) - np.array(self.lAngles[:-1])
+ if np.linalg.norm(error) < 0.01:
+ break
+
+ if self._as.is_preempt_requested():
+ self._as.set_preempted()
+ break
+ sleep(0.001)
+