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, 0 insertions, 82 deletions
diff --git a/noetic-llama/src/ollamawrapper/src/capabilities/gestures.py b/noetic-llama/src/ollamawrapper/src/capabilities/gestures.py deleted file mode 100644 index 683a7a3..0000000 --- a/noetic-llama/src/ollamawrapper/src/capabilities/gestures.py +++ /dev/null @@ -1,82 +0,0 @@ -#!/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)
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