DefaultAction.py

Go to the documentation of this file.

from actions.Pr2MoveHeadAction import Pr2MoveHeadAction
from actions.Pr2MoveLeftArmAction import Pr2MoveLeftArmAction
from actions.Pr2MoveLeftGripperAction import Pr2MoveLeftGripperAction
from actions.Pr2MoveRightArmAction import Pr2MoveRightArmAction
from actions.Pr2MoveRightGripperAction import Pr2MoveRightGripperAction
from actions.Pr2MoveTorsoAction import Pr2MoveTorsoAction
from ActionSet import ActionSet

class DefaultAction(ActionSet):

    def __init__(self):
        super(DefaultAction, self).__init__()

        head = Pr2MoveHeadAction()
        values = head.values()
        values[1] = 0
        head.set_values(values)
        self.add_action(head)

        torso = Pr2MoveTorsoAction()
        self.add_action(torso)

        lgrip = Pr2MoveLeftGripperAction()
        self.add_action(lgrip)

        rgrip = Pr2MoveRightGripperAction()
        self.add_action(rgrip)

        rarm = Pr2MoveRightArmAction()
        rvalues = rarm.values()
        rvalues[0] = -85
        rvalues[2] = -190
        rvalues[3] = -90
        rarm.set_values(rvalues)
        self.add_action(rarm)

        larm = Pr2MoveLeftArmAction()
        lvalues = larm.values()
        lvalues[0] = -rvalues[0]
        lvalues[2] = -rvalues[2]
        lvalues[3] = rvalues[3]
        larm.set_values(lvalues)
        self.add_action(larm)