move_torso.py

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#! /usr/bin/python
import roslib
roslib.load_manifest('pr2_gazebo_benchmarks')

import sys
import rospy
import actionlib
from actionlib_msgs.msg import *
from pr2_controllers_msgs.msg import *

rospy.init_node('single_joint_position', anonymous=True)

client = actionlib.SimpleActionClient('torso_controller/position_joint_action',
                                      SingleJointPositionAction)
client.wait_for_server()

client.send_goal(SingleJointPositionGoal(position = float(sys.argv[1])))
client.wait_for_result()
if client.get_state() == GoalStatus.SUCCEEDED:
    print "Success"