pr2.openGripper(RIGHT)
else:
    pr2.closeGripper(RIGHT)   

if aboutEq('head_tilt_joint', 30):
    pr2.tiltHead(-30, duration=0.5)
else:
    pr2.tiltHead(30, duration=0.5)
    
if aboutEq('head_pan_joint', 60):
    pr2.panHead(-60)
else:
    pr2.panHead(60)

if aboutEq('head_tilt_joint', 30):
    pr2.lookAt(-100, -20 , 5, wait=False)
else:
    pr2.lookAt(+100, +30 , 5, wait=False)

if aboutEq('l_shoulder_pan_joint', 90):
    pr2.moveArmJoint('l_shoulder_pan_joint', 0, duration=2.0)
    pr2.moveArmJoint(['l_forearm_roll_joint', 'l_elbow_flex_joint'], [30, 0], duration=2.0)
else:
    pr2.moveArmJoint('l_shoulder_pan_joint', 90, duration=2.0)
    pr2.moveArmJoint(['l_forearm_roll_joint', 'l_elbow_flex_joint'], [-30, -130], duration=2.0)    

pr2.moveBase(place=(0.3,0.0,0.0))
pr2.moveBase(place=(-0.3,0.0,0.0))
pr2.moveBase(rotation=90)
pr2.moveBase(rotation=-90)