diff options
Diffstat (limited to 'noetic-llama/src/ollamawrapper/src/capabilities/gestures.py')
| -rw-r--r-- | noetic-llama/src/ollamawrapper/src/capabilities/gestures.py | 82 |
1 files changed, 82 insertions, 0 deletions
diff --git a/noetic-llama/src/ollamawrapper/src/capabilities/gestures.py b/noetic-llama/src/ollamawrapper/src/capabilities/gestures.py new file mode 100644 index 0000000..683a7a3 --- /dev/null +++ b/noetic-llama/src/ollamawrapper/src/capabilities/gestures.py @@ -0,0 +1,82 @@ +#!/usr/bin/env python +import sys +import rospy +from move_base_msgs.msg import MoveBaseAction , MoveBaseGoal +import moveit_commander +import actionlib +from pal_interaction_msgs.msg import TtsActionGoal, TtsAction, TtsGoal +from geometry_msgs.msg import PoseStamped + +class arm_move: + def __init__(self): + moveit_commander.roscpp_initialize(sys.argv) + self.ac = actionlib.SimpleActionClient('/tts' , TtsAction) + self.ac.wait_for_server() + self.tts_goal = TtsActionGoal() + self.tts_goal.goal.rawtext.text = 'Hi,_I_am_up' + self.tts_goal.goal.rawtext.lang_id = 'en_GB' + self.ac.send_goal(self.tts_goal.goal) + self.scene = moveit_commander.PlanningSceneInterface() + self.arm = moveit_commander.MoveGroupCommander('arm') + self.reference_frame = 'arm_1_link' + self.arm.set_pose_reference_frame(self.reference_frame) + self.arm.allow_replanning(True) + self.target_pose = PoseStamped() + self.target_pose.header.frame_id = self.reference_frame + self.object1_move_1 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94] + self.object1_move_2 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94] + self.object1_move_3 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94] + self.object2_move_1 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94] + self.object2_move_2 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94] + self.object2_move_3 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94] + self.object3_move_1 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94] + self.object3_move_2 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94] + self.object3_move_3 = [0.27 , 0.30 , -1.47 , 1.63 , -0.70 , -0.11 , 0.94] + + def goto_obj1(self): + """ + A Function for reaching to object 1 # change the name of the object here + """ + self.arm.go(self.object1_move_1 , wait=True) + rospy.sleep(5) + self.arm.go(self.object1_move_2 , wait=True) + rospy.sleep(5) + self.arm.go(self.object1_move_3 , wait=True) + + def goto_obj2(self): + """ + A Function for reaching to object 1 # change the name of the object here + """ + self.arm.go(self.object2_move_1 , wait=True) + rospy.sleep(5) + self.arm.go(self.object2_move_2 , wait=True) + rospy.sleep(5) + self.arm.go(self.object2_move_3 , wait=True) + + def goto_obj3(self): + """ + A Function for reaching to object 1 # change the name of the object here + """ + self.arm.go(self.object3_move_1 , wait=True) + rospy.sleep(5) + self.arm.go(self.object3_move_2 , wait=True) + rospy.sleep(5) + self.arm.go(self.object3_move_3 , wait=True) + + def speak(self, params): + """ + A function to speaking + + """ + self.goal.goal.rawtext.text = params # 'Please_take_the_bottle_from_my_hand' + self.ac.send_goal(self.goal.goal ) + +arm = arm_move() + +def speak(tosay): + """Function to make the tiago speak arbitrary words + + Args: + tosay (string): A string to say using the speaker + """ + arm.speak(tosay)
\ No newline at end of file |