test_swings.py

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#!/usr/bin/env python

import roslib; roslib.load_manifest('pr2_sith')
import rospy
from pr2_precise_trajectory.full_controller import FullPr2Controller
import sys
import yaml

if __name__ == '__main__':
    rospy.init_node('sith')

    scripts = []
    scripts.append(yaml.load( open("scripts/start%s.yaml"% sys.argv[1], 'r')))
    scripts.append(yaml.load( open("scripts/attack%s.yaml"%sys.argv[2], 'r')))
    scripts.append( scripts[0] ) 

    controller = FullPr2Controller(['r'])
    controller.do_action(scripts)