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00001 #!/usr/bin/env python 00002 00003 # dummy functions, 00004 # for maintaining package stability if srs_assisted_arm_navigation is not working or failed to compile 00005 00006 00007 import roslib; roslib.load_manifest('srs_states') 00008 import rospy 00009 import smach 00010 00011 # estimate the best grasp position 00012 class assisted_arm_navigation_prepare(smach.State): 00013 00014 def __init__(self): 00015 smach.State.__init__( 00016 self, 00017 outcomes=['succeeded', 'failed', 'preempted'], 00018 input_keys=['object'], 00019 output_keys=['pose_of_the_target_object','bb_of_the_target_object']) 00020 00021 def execute(self, userdata): 00022 userdata.pose_of_the_target_object='' 00023 userdata.bb_of_the_target_object='' 00024 return 'failed' 00025 00026 00027 class move_arm_to_given_positions_assisted(smach.State): 00028 def __init__(self): 00029 smach.State.__init__(self,outcomes=['succeeded','not_completed','failed','preempted'], 00030 input_keys=['list_of_target_positions','list_of_id_for_target_positions','name_of_the_target_object','pose_of_the_target_object','bb_of_the_target_object'], 00031 output_keys=['id_of_the_reached_position']) 00032 def execute(self,userdata): 00033 userdata.id_of_the_reached_position ='' 00034 return 'failed' 00035 00036 00037 class move_arm_from_a_given_position_assisted(smach.State): 00038 def __init__(self): 00039 smach.State.__init__(self,outcomes=['succeeded','not_completed','failed','preempted']) 00040 00041 def execute(self,userdata): 00042 return 'failed'