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')
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: pr2.panHead(60)