cob_3d_mapping_pipeline: look_kitchen.py Source File

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00001 #!/usr/bin/python
00002 
00003 import roslib
00004 roslib.load_manifest('cob_script_server')
00005 roslib.load_manifest('cob_sdh')
00006 roslib.load_manifest('cob_torso')
00007 roslib.load_manifest('cob_tray')
00008 roslib.load_manifest('cob_arm')
00009 import rospy
00010 
00011 from simple_script_server import script
00012 
00013 class MyScript(script):
00014     def Initialize(self):
00015         rospy.loginfo("Initializing all components...")
00016 
00017        # self.sss.init("tray")
00018        # self.sss.init("torso")
00019        # self.sss.init("arm")
00020        # self.sss.init("sdh")
00021         
00022            #self.sss.move("arm","wavein")
00023        # self.sss.move("torso","home")
00024        # self.sss.move("tray","down")
00025        # self.sss.move("sdh","home")
00026        # self.sss.move("base","home")
00027         
00028 
00029 
00030     def Run(self):
00031         rospy.loginfo("Running script...")
00032         #self.sss.init("base")
00033         #self.sss.init("torso")
00034         #self.sss.init("head")
00035         #self.sss.move("arm","overtray")
00036         self.sss.move("torso","home")
00037         self.sss.move("head","front")
00038         self.sss.move("tray","down")
00039         self.sss.wait_for_input()
00040        # self.sss.move("torso","home")
00041         self.sss.move("base",[-1.3, -1.0, 3.14], mode="linear")
00042         self.sss.wait_for_input()
00043        # self.sss.move("torso","back")
00044        # self.sss.move("base",[-2, -1, 0])
00045       # self.sss.move("base",[-2, 0, 0])
00046           #  self.sss.move("torso","home")
00047    #     self.sss.move("base",[-2, 0, 0])
00048        # self.sss.move("base",[-2, 0, 0])
00049         self.sss.move("base",[-1.3, 1.09, 3.14],mode="linear")
00050         self.sss.move("torso",[[-0.1,0.0,-0.1]])
00051         self.sss.sleep(2)
00052         self.sss.move("torso",[[-0.2,0.0,-0.2]])
00053         self.sss.move("base",[-1.3, -0.92, 3.14], mode="linear")
00054         self.sss.sleep(2)
00055         self.sss.move("torso",[[-0.1,0.0,-0.1]])
00056         self.sss.wait_for_input()
00057         self.sss.move("base",[0, 0, 0], mode="linear")
00058         
00059 
00060         
00061 
00062 if __name__ == "__main__":
00063     SCRIPT = MyScript()
00064     SCRIPT.Start()