The many 'if' statements below just ensure that the robot will do something
different each time you run this file.
'''
from robot_scripting import PR2RobotScript as pr2
from robot_scripting import aboutEq
LEFT = pr2.LEFT
RIGHT = pr2.RIGHT
BOTH = pr2.BOTH
if aboutEq("l_gripper_joint", 0):
pr2.openGripper(LEFT)
else:
pr2.closeGripper(LEFT)
if aboutEq("r_gripper_joint", 0):
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:
