whack_a_mole.swing module

Integrate the hammer actuation with the MotionPlanner.

class whack_a_mole.swing.Swing

Bases: Node

Node for swinging the hammer.

async pick_callback(request: PickPose, response)

Service callback to execute picking operations.

Handles robot arm movement to a target pose and actuates the hammer.

Parameters:

• request (PickPose.Request) – Service request containing the pick point.

• response (PickPose.Response) – Service response to be sent back to the caller.

Returns:

The response to the service caller.

Return type:

PickPose.Response

Steps: 1. Plan and execute trajectory to move the arm to the target pose. 2. Actuate the hammer to “hit” the target.

whack_a_mole.swing.main(args=None)

Run the Swing node.