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:
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)
