DefaultAction.HRI.py
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00001 from actions.Pr2MoveHeadAction import Pr2MoveHeadAction
00002 from actions.Pr2MoveLeftArmAction import Pr2MoveLeftArmAction
00003 from actions.Pr2MoveLeftGripperAction import Pr2MoveLeftGripperAction
00004 from actions.Pr2MoveRightArmAction import Pr2MoveRightArmAction
00005 from actions.Pr2MoveRightGripperAction import Pr2MoveRightGripperAction
00006 from actions.Pr2MoveTorsoAction import Pr2MoveTorsoAction
00007 from ActionSet import ActionSet
00008 
00009 class DefaultAction(ActionSet):
00010 
00011     def __init__(self):
00012         super(DefaultAction, self).__init__()
00013 
00014         head = Pr2MoveHeadAction()
00015         valuesh = head.values()
00016         valuesh[0] = 0
00017         valuesh[1] = -2
00018         head.set_values(valuesh)
00019         self.add_action(head)
00020 
00021         torso = Pr2MoveTorsoAction()
00022         valuest = torso.values()
00023         valuest[0] = 0
00024         torso.set_values(valuest)
00025         self.add_action(torso)
00026 
00027         lgrip = Pr2MoveLeftGripperAction()
00028         #valuesg = lgrip._values
00029         valuesg = [0.04]
00030         lgrip.set_values(valuesg)
00031         self.add_action(lgrip)
00032 
00033         rgrip = Pr2MoveRightGripperAction()
00034         #valuesg = rgrip.values
00035         valuesg = [0.04]
00036         rgrip.set_values(valuesg)
00037         self.add_action(rgrip)
00038 
00039         larm = Pr2MoveLeftArmAction()
00040         lvalues = larm.values()
00041         lvalues[0] = 35
00042         lvalues[1] = 63
00043         lvalues[2] = 122
00044         lvalues[3] = -106
00045         lvalues[4] = -60
00046         lvalues[5] = 0
00047         lvalues[6] = 0
00048         larm.set_values(lvalues)
00049         self.add_action(larm)
00050 
00051         rarm = Pr2MoveRightArmAction()
00052         rvalues = rarm.values()
00053         rvalues[0] = -72
00054         rvalues[1] = 74
00055         rvalues[2] = -62
00056         rvalues[3] = -60
00057         rvalues[4] = -3
00058         rvalues[5] = 0
00059         rvalues[6] = 0
00060         rarm.set_values(rvalues)
00061         self.add_action(rarm)


slider_gui
Author(s): Dirk Thomas
autogenerated on Wed Aug 26 2015 15:37:50