agent_ros.py 文件源码

def relax_arm(self, arm):
        """
        Relax one of the arms of the robot.
        Args:
            arm: Either TRIAL_ARM or AUXILIARY_ARM.
        """
        relax_command = RelaxCommand()
        relax_command.id = self._get_next_seq_id()
        relax_command.stamp = rospy.get_rostime()
        relax_command.arm = arm
        self._relax_service.publish_and_wait(relax_command)