def sequence3(animation): #a distance robot will notice someone. rospy.loginfo('Starting sequence 3') pr2.tiltHead(-8,1) pr2.rotateHead(humanAngle, 1.5) #pr2.setTorso(.01, 4) rospy.loginfo('End of sequence 3')
def defaultPose(animation): rospy.loginfo('Starting Default Pose') pr2.closeGripper(LEFT) rospy.loginfo('close 1') pr2.closeGripper(RIGHT) rospy.loginfo('close 2') pr2.moveBase(rotation=0, duration=0.5) rospy.loginfo('moved base') pr2.tiltHead(20,2, wait=False) rospy.loginfo('tilted') pr2.rotateHead(-25, 2, wait=False) joints = ['l_shoulder_pan_joint','l_elbow_flex_joint', 'l_shoulder_lift_joint', 'l_forearm_roll_joint','l_wrist_flex_joint','l_upper_arm_roll_joint', 'l_wrist_roll_joint'] values = [10,-125,70,90,-70,15, 0] pr2.moveArmJoint(joints,values, duration=2.0, wait=False) joints = ['r_shoulder_pan_joint','r_elbow_flex_joint', 'r_shoulder_lift_joint', 'r_forearm_roll_joint','r_wrist_flex_joint','r_upper_arm_roll_joint', 'r_wrist_roll_joint'] values = [-10,-125,70,-90,-70,-15, 0] pr2.moveArmJoint(joints,values, duration=2.0) pr2.setTorso(.02, 2.0) animation.sleep_while_running(5) rospy.loginfo('End of Default Pose')
def sequence2(animation): #Robot's reaction to someone entering his personal space to interact with him. rospy.loginfo('Starting sequence 2') pr2.rotateHead(humanAngle, 2,wait=False) pr2.setTorso(.04 + pr2.getSensorReading("torso_lift_joint"), 1.0, wait=False) #pr2.moveBase(rotation=new_PS_Angle, duration=7.0) joints = ['r_forearm_roll_joint', 'r_shoulder_lift_joint','r_wrist_roll_joint', 'r_wrist_flex_joint', 'r_upper_arm_roll_joint','r_shoulder_pan_joint' ] value = [60, 40, 90, 0, 0, 0] pr2.moveArmJoint(joints, value, duration=2.0, wait=False) joints = ['l_forearm_roll_joint', 'l_shoulder_lift_joint','l_wrist_roll_joint', 'l_wrist_flex_joint', 'l_upper_arm_roll_joint','l_shoulder_pan_joint' ] value = [60, 70, 0, -80, 0, 15] pr2.moveArmJoint(joints, value, duration=2.0) pr2.moveArmJoint(['r_upper_arm_roll_joint'], [3], duration=1) pr2.moveArmJoint(['r_upper_arm_roll_joint'], [-3], duration=1) pr2.moveArmJoint(['r_upper_arm_roll_joint'], [3], duration=1) pr2.moveArmJoint(['r_upper_arm_roll_joint'], [-3], duration=1.25) pr2.moveArmJoint(['r_upper_arm_roll_joint'], [0], duration=1.5) animation.sleep_while_running(7) pr2.rotateHead(2, .5) animation.sleep_while_running(2) pr2.tiltHead(-5, .5) animation.sleep_while_running(6) pr2.rotateHead(0, .5) animation.sleep_while_running(14) pr2.setTorso(-.01 + pr2.getSensorReading("torso_lift_joint"), 4.0) joints = ['l_shoulder_pan_joint','l_elbow_flex_joint', 'l_shoulder_lift_joint', 'l_forearm_roll_joint','l_wrist_flex_joint','l_upper_arm_roll_joint', 'l_wrist_roll_joint'] values = [10,-125,70,90,-70,15, 0] pr2.moveArmJoint(joints,values, duration=3.0, wait=False) joints = ['r_shoulder_pan_joint', 'r_shoulder_lift_joint','l_upper_arm_roll_joint'] values = [humanAngle *.2 , 70, 0] pr2.moveArmJoint(joints,values, duration=3.0) rospy.loginfo('End of sequence 2')
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: 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)