def alt_bow_arrow(): PyPR2.openGripper(2) PyPR2.moveHeadTo(0.0,0.15) PyPR2.moveArmWithJointPos(**left_shooting) PyPR2.openGripper(2) time.sleep(2) PyPR2.moveHeadTo(0.0,0.0) PyPR2.moveArmWithJointPos(**alt_right_intermediate) PyPR2.moveHeadTo(0.0,0.3) time.sleep(3) PyPR2.moveArmWithJointPos(**alt_right_shooting) time.sleep(3) PyPR2.closeGripper(2) time.sleep(2) PyPR2.moveHeadTo(0.0,0.18) PyPR2.moveArmWithJointPos(**best_pullback_right) time.sleep(5) PyPR2.moveHeadTo(0.0,0.1) PyPR2.openGripper(2) #PyPR2.moveHeadTo(0.0,0.0) PyPR2.moveArmWithJointPos(**alt_right_release) PyPR2.moveHeadTo(0.0,0.1)
def alt_bow_arrow(): PyPR2.openGripper(2) PyPR2.moveHeadTo(0.0, 0.15) PyPR2.moveArmWithJointPos(**left_shooting) PyPR2.openGripper(2) time.sleep(2) PyPR2.moveHeadTo(0.0, 0.0) PyPR2.moveArmWithJointPos(**alt_right_intermediate) PyPR2.moveHeadTo(0.0, 0.3) time.sleep(3) PyPR2.moveArmWithJointPos(**alt_right_shooting) time.sleep(3) PyPR2.closeGripper(2) time.sleep(2) PyPR2.moveHeadTo(0.0, 0.18) PyPR2.moveArmWithJointPos(**best_pullback_right) time.sleep(5) PyPR2.moveHeadTo(0.0, 0.1) PyPR2.openGripper(2) #PyPR2.moveHeadTo(0.0,0.0) PyPR2.moveArmWithJointPos(**alt_right_release) PyPR2.moveHeadTo(0.0, 0.1)
def close(): time.sleep(10) PyPR2.openGripper(3) time.sleep(10) PyPR2.closeGripper(3)