使机械臂在关节空间运动。 ```python #!/usr/bin/env python import roslib # roslib.load_manifest('actionlib_test') import rospy import actionlib from gauss_msgs.msg import RobotMoveAction from gauss_msgs.msg import RobotMoveGoal from gauss_msgs.msg import RobotMoveResult from gauss_commander.command_type import CommandType as MoveCommandType if __name__ == '__main__': rospy.init_node('robot_action_client') client = actionlib.SimpleActionClient('/gauss/commander/robot_action', RobotMoveAction) if not client.wait_for_server(rospy.Duration(5.0)): exit goal = RobotMoveGoal() goal.cmd.cmd_type = MoveCommandType.JOINTS goal.cmd.joints = [0,0,0,0,0,0] client.send_goal(goal) client.wait_for_result(rospy.Duration.from_sec(10.0)) result = client.get_result() ```