pr2_simple_interface: sample.py Source File

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00001 
00002 # Pose 0:
00003 head.look(0,40,2.80)
00004 torso.set(0.12, 2.80)
00005 arm.move_to([55,25,64,-63,-11,-67,0],LEFT,2.80)
00006 gripper.pose(LEFT,3.9)
00007 arm.move_to([-55,25,-64,-63,11,-67,0],RIGHT,2.80)
00008 gripper.pose(RIGHT,3.9)
00009 arm.wait_for(BOTH)
00010 gripper.wait_for(BOTH)
00011 
00012 # Pose 1:
00013 head.look(0,22,2.80)
00014 torso.set(0.12, 2.80)
00015 arm.move_to([44,22,179,-73,-43,-67,0],LEFT,2.80)
00016 gripper.pose(LEFT,3.9)
00017 arm.move_to([-44,22,-179,-73,43,-67,0],RIGHT,2.80)
00018 gripper.pose(RIGHT,3.9)
00019 arm.wait_for(BOTH)
00020 gripper.wait_for(BOTH)
00021 
00022 # Pose 2:
00023 head.look(0,14,2.80)
00024 torso.set(0.12, 2.80)
00025 arm.move_to([58,3,109,-94,9,-67,0],LEFT,2.80)
00026 gripper.pose(LEFT,3.9)
00027 arm.move_to([-44,22,-179,-73,43,-67,0],RIGHT,2.80)
00028 gripper.pose(RIGHT,3.9)
00029 arm.wait_for(BOTH)
00030 gripper.wait_for(BOTH)
00031 
00032 # Pose 3:
00033 head.look_at_face()
00034 
00035 # Pose 4:
00036 # Puppet function playMusic could not be translated to Python.
00037 
00038 # Pose 5:
00039 # Puppet function playSound could not be translated to Python.
00040 
00041 # Pose 6:
00042 sound.say('Hello World')
00043