Added a gesture interface

[rachelholladay]

Adding the gesture interface for the demo. This involves:

• some pre-computed trajectories for waving, stored in config/
• a slightly simplified version of gestures in the action lib
• the generic tsrs for gestures in tsr lib
• a script file for a text interface to control the gestures

[mkoval]

This type inference is un-Pythonic and makes me nervous. For example, the "pointing at a point in space" logic will break if the user passes a list, tuple, or any other type of collection that is not an ndarray. This violates Python's affinity for duck typing.

I would prefer if you restructured this slightly:

1. Make a Point action that takes focus_trans and (maybe, see above) a goal_name.
2. Add PointAtKinBody and PointAtPoint functions for, respectively points and KinBody's
3. If you think it is necessary, write a generic PointAt function that infers which PointAtX function to call.

Also, you should always use instanceof, not type equality checks to compare types.

[mkoval]

Overall, this looks pretty good. I left a number of relatively minor comments, mostly about missing locks and RobotStateSavers.

[mkoval]

You should propagate the return value; i.e.

return Point(robot, pointing_coord, manip, render)

[mkoval]

This applies to all of the wrapper functions.

[mkoval]

I don't think you need to set the manipulator as active here.

[mkoval]

import * is evil. Could you explicitly list the functions you wish to import here?

[mkoval]

All of the major issues seem to be resolved. I just left a few comments on code cleanup.

@rachelholladay Could you also add (at least) one test to each of these functions that calls it on a very simple environment? It's fine if it's something as simple as just running each function on a Fuze bottle. We have a tutorial for doing this on the website and there are some simple examples in or_urdf.

@jeking04, @Shushman, or myself can help if you run into trouble.

[rachelholladay]

@mkoval I made a PR on prpy for the util function, so I think that should be resolved first. I've also made most of the changes you asked for on this.

[mkoval]

Thanks. The only comment I have left is that the default should always be GetActiveManipulator(), not right_arm. I'd much rather keep the Actions consistent than save a few characters of typing. Also, the current behavior will break if/when these functions support the left arm.

[rachelholladay]

Alright @mkoval. Last comment addressed.

[mkoval]

This should occur in setUp, not in the file-level scope.

[rachelholladay]

Testing addressed. Can we get it merged before class? :)