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wiki:tutorials:python-interface-joint-goals [2019/09/20 14:02]
simon
wiki:tutorials:python-interface-joint-goals [2019/09/20 14:04] (current)
simon
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 =====Sending a joint goal===== =====Sending a joint goal=====
-It takes a dictionary of the form //{joint_name : joint_state}// as input so all you have to to is to create a dictionary with the desired joint states and call the set_joint_goal() function with it as parameter. This sets the joint goal in the GiskardWapper but does not execute it yet. In order to actually execute ​the goal you have to call //plan_and_execute()// on the Giskwardwrapper. Below is a piece of code that demonstrates the described steps.+It takes a dictionary of the form ''​{joint_name : goal_position}'' ​as input. So all you have to do is to create a dictionary with the desired joint states and call the ''​set_joint_goal()'' ​function with it as parameter. This sets the joint goal in the GiskardWapper but does not execute it yet. In order to trigger ​the execution, ​call ''​plan_and_execute()'' ​on the Giskwardwrapper. Below is a piece of code that demonstrates the described steps.
 <code python> <code python>
 import rospy import rospy