move_to_door.py

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#!/usr/bin/env python

import roslib; roslib.load_manifest('door_perception')
import rospy
from pr2_tasks.tasks import Tasks
from pr2_python import base

from articulation_models import track_utils
from articulation_models.track_utils import *
from door_perception import door


def main():
    #tasks = Tasks()
    #tasks.move_arms_to_side()

    model_prior_get = rospy.ServiceProxy('model_prior_get', GetModelPriorSrv)
    request = GetModelPriorSrvRequest()
  try:            
      response = model_prior_get(request)
      print "got %d prior models"%len(response.model)
      for model in response.model:
        print model.name
        for param in model.params:
          print param.name, param.value
    except rospy.ServiceException: 
          print "failed to call service"
          pass

    #base = base.Base()
    #base.move_manipulable_pose(x, y, z)

rospy.init_node('move_arms_to_side_node')
main()