text: #!/usr/bin/env python
  # -*- coding: utf-8 -*-
  # Copyright (c) 2022 Hibikino-Musashi@Home
  # All rights reserved.
  
  # Redistribution and use in source and binary forms, with or without
  # modification, are permitted provided that the following conditions are met:
  
  #  * Redistributions of source code must retain the above copyright notice,
  #  this list of conditions and the following disclaimer.
  #  * Redistributions in binary form must reproduce the above copyright
  #  notice, this list of conditions and the following disclaimer in the
  #  documentation and/or other materials provided with the distribution.
  #  * Neither the name of Hibikino-Musashi@Home nor the names of its
  #  contributors may be used to endorse or promote products derived from
  #  this software without specific prior written permission.
  
  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
  # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  # POSSIBILITY OF SUCH DAMAGE.
  
  import sys
  import roslib
  
  sys.path.append(roslib.packages.get_pkg_dir("hma_ii_pkg") + "/script/import")
  from common_import import *
  from ros_import import *
  
  from hma_hsr_msgs.msg import Effort
  from tmc_control_msgs.msg import GripperApplyEffortAction, GripperApplyEffortActionGoal, GripperApplyEffortGoal, GripperApplyEffortActionFeedback, GripperApplyEffortActionResult
  
  
  class LibHSRAction:
      """HSR ROS Action library for WRS simlator."""
  
      def __init__(self):
          self.lock = threading.Lock()
  
          self.init_ros_time = rospy.Time.now()
          self.update_ros_time = {}
          self.prev_ros_time = self.init_ros_time
  
          self.lib = {}
  
          # ROS I/F
          self.ac_gripper_apply_force = actionlib.SimpleActionClient(
              "/hsrb/gripper_controller/apply_force", GripperApplyEffortAction)
          self.ac_gripper_apply_force.wait_for_server()
  
          return
      
      def delete(self):
          return
  
      def gripper_apply_force(self, force, is_sync=True):
          """Drive the gripper by force specification.
  
          Args:
              force (float): Grasping force.
                  The value must be between 0.0 and 1.0.
              is_sync (bool, optional): Whether to wait for the end. Defaults to True.
  
          Returns:
              bool: If is_sync is True, returns the result of the action.
                  Otherwise, it returns the SimpleActionClient.
          """
          goal = Effort()
          goal.effort = float(force)
  
          self.ac_gripper_apply_force.send_goal(goal)
  
          if is_sync:
              self.ac_gripper_apply_force.wait_for_result()
              return self.ac_gripper_apply_force.get_result()
  
          return self.ac_gripper_apply_force