00001 from Pr2JointTrajectoryAction import Pr2JointTrajectoryAction 00002 00003 class Pr2MoveTorsoAction(Pr2JointTrajectoryAction): 00004 00005 def __init__(self): 00006 super(Pr2MoveTorsoAction, self).__init__('torso_controller/joint_trajectory_action', False) 00007 self._add_joint('torso_lift_joint', 0, 0.3, 0.01) 00008 00009 def to_string(self): 00010 return 'torso(%.0f)' % (100 * self._values[0])