test_script.py

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#!/usr/bin/python

import roslib
roslib.load_manifest('cob_script_server')
import rospy

from simple_script_server import script

class TestScript(script):
                
        def Initialize(self):
                self.sss.init("tray")
                #self.sss.init("torso")
                #self.sss.init("arm")
                #self.sss.init("sdh")
                self.sss.set_light("red")
                
        def Run(self): 
                #self.sss.SpeakStr("Hallo","FEST_EN")
                #self.sss.sleep(1)

                # init poses
                handle01 = self.sss.move("arm","folded",False)
                self.sss.move("torso","home",False)
                self.sss.move("sdh","home",False)
                self.sss.move("tray","down")
                handle01.wait()
                self.sss.move("base","home")

                #test
                #self.sss.move("torso",[[0.1,0,0.15,0]])
                #self.sss.move("torso","home")
#               self.sss.moveCartRel("arm", [0.0, 0.0, 0.0], [0.0, 0.0, 90.0/180.0*3.1415926])
#               self.sss.Speak("sentence1","WAV_DE")
#               self.sss.Speak("sentence1","FEST_EN")

                #grasp
                self.sss.move("base","kitchen")
                handle01 = self.sss.move("arm","pregrasp",False)
                self.sss.move("sdh","cylopen")
                handle01.wait()
                self.sss.move("arm","grasp")
                #self.sss.moveCartRel("arm", [-0.2, 0.0, 0.0], [0.0, 0.0, 0.0])
                self.sss.move("sdh","cylclosed")

                #place on tablet
                handle01 = self.sss.move("arm","grasp-to-tablet",False)
                self.sss.move("tray","up",False)
                handle01.wait()
                #print handle01.get_error_code()
                self.sss.move("sdh","cylopen")
                
                #move back to save poses
                handle03 = self.sss.move("arm","tablet-to-folded",False)
                self.sss.sleep(3)
                self.sss.move("sdh","home",False)
                handle03.wait()
                
                #deliver
                self.sss.move("base","order")
                self.sss.move("torso","nod")
                self.sss.wait_for_input()
                self.sss.sleep(3)
                
                #drive back to home
                self.sss.move("tray","down",False)
                self.sss.move("base","home")
                
if __name__ == "__main__":
        SCRIPT = TestScript()
        SCRIPT.Start()

import roslib
roslib.load_manifest('cob_script_server')
import rospy

from simple_script_server import script

class TestScript(script):
                
        def Initialize(self):
                self.sss.init("tray")
                #self.sss.init("torso")
                #self.sss.init("arm")
                #self.sss.init("sdh")
                self.sss.set_light("red")
                
        def Run(self): 
                
                # init poses
                handle_arm = self.sss.move_cart_rel("arm",[[0, -0.1, 0],[0, 0, 0]])
                
if __name__ == "__main__":
        SCRIPT = TestScript()
        SCRIPT.Start()

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cob_script_server
Author(s): Florian Weisshardt
autogenerated on Fri Jan 11 09:35:33 2013