def __init__(self):
self.dreamerInterface = DreamerInterface.DreamerInterface(ENABLE_USER_PROMPTS)
self.handWaveDemo = Demo4_HandWave.Demo4_HandWave(self.dreamerInterface)
self.handShakeDemo = Demo5_HandShake.Demo5_HandShake(self.dreamerInterface)
self.hookemHornsDemo = Demo7_HookemHorns.Demo7_HookemHorns(self.dreamerInterface)
self.runDemo = False
self.demoNumber = DEMO_NONE
self.demoCmdSubscriber = rospy.Subscriber("/demo8/cmd", Int32, self.demoCmdCallback)
self.demoDonePublisher = rospy.Publisher("/demo8/done", Int32, queue_size=1)
self.doneMessage = Int32()
self.doneMessage.data = 1
return
# print "Trajectory Wave:\n {0}".format(self.trajShake)
if enablePrompts:
response = raw_input("Start demo? Y/n\n")
if response == "N" or response == "n":
return
self.dreamerInterface.closeRightHand(includePinky = False, includeMiddle = True, includeIndex = False)
#=============================================================================
if not self.dreamerInterface.followTrajectory(self.trajHookEmHorns):
return
print "Opening right hand."
self.dreamerInterface.openRightHand()
# Main method
if __name__ == "__main__":
rospy.init_node('Demo7_HookemHorns')
dreamerInterface = DreamerInterface.DreamerInterface(ENABLE_USER_PROMPTS)
demo = Demo7_HookemHorns()
demo.run()
print "Demo 7 done, waiting until ctrl+c is hit..."
rospy.spin() # just to prevent this node from exiting
def __init__(self):
self.dreamerInterface = DreamerInterface.DreamerInterface(
enableUserPrompts=ENABLE_USER_PROMPTS, useQuaternionControl=True)
def __init__(self):
self.dreamerInterface = DreamerInterface.DreamerInterface(
ENABLE_USER_PROMPTS)