Avi/Samantha motion primitives

Our two robots are tied together, so the obvious way for them to interact is to pull. We created poses for one or both of the robots pulling on each other.

Poses:

reset,0,0,0,0
pull_r,-800,-200,0,0
pull_l,0,0,200,1000
pull_b,-800,-200,200,1000

def sequence(self):
         """Demonstration sequence.  This could be decomposed further into subroutines."""    
    self.write("Script starting.")
    self.send_cue('gains', 0.8, 1.0)        
    self.send_pose('reset')
    self.sleep_unless_stop(1)

    self.send_pose('pull_r')
    self.sleep_unless_stop(2)

    self.send_pose('reset')
    self.sleep_unless_stop(2)

    self.send_pose('pull_l')
    self.sleep_unless_stop(2)

    self.send_pose('reset')
    self.sleep_unless_stop(2)

    self.send_pose('pull_b')
    self.sleep_unless_stop(2)

    self.send_pose('reset')
    self.sleep_unless_stop(1)

    self.write("Script done.")
    return