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-rw-r--r--noetic-llama/src/ollamawrapper/CMakeLists.txt2
-rw-r--r--noetic-llama/src/ollamawrapper/setup.py9
-rw-r--r--noetic-llama/src/ollamawrapper/src/capabilities/__init__.py3
-rw-r--r--noetic-llama/src/ollamawrapper/src/capabilities/basicmaths.py47
-rw-r--r--noetic-llama/src/ollamawrapper/src/capabilities/gestures.py82
-rw-r--r--noetic-llama/src/ollamawrapper/src/ollamawrapper.py98
m---------noetic-llama/src/pal_msgs0
-rw-r--r--noetic-llama/src/whisperwrapper/src/whisperwrapper.py2
8 files changed, 192 insertions, 51 deletions
diff --git a/noetic-llama/src/ollamawrapper/CMakeLists.txt b/noetic-llama/src/ollamawrapper/CMakeLists.txt
index 4533887..82b4be4 100644
--- a/noetic-llama/src/ollamawrapper/CMakeLists.txt
+++ b/noetic-llama/src/ollamawrapper/CMakeLists.txt
@@ -21,7 +21,7 @@ find_package(catkin REQUIRED COMPONENTS
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
+catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
diff --git a/noetic-llama/src/ollamawrapper/setup.py b/noetic-llama/src/ollamawrapper/setup.py
new file mode 100644
index 0000000..221ba55
--- /dev/null
+++ b/noetic-llama/src/ollamawrapper/setup.py
@@ -0,0 +1,9 @@
+from setuptools import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+setup_args = generate_distutils_setup(
+ packages = ["capabilities"],
+ package_dir = {"": "src"}
+)
+
+setup(**setup_args) \ No newline at end of file
diff --git a/noetic-llama/src/ollamawrapper/src/capabilities/__init__.py b/noetic-llama/src/ollamawrapper/src/capabilities/__init__.py
index 7c07dce..daf617c 100644
--- a/noetic-llama/src/ollamawrapper/src/capabilities/__init__.py
+++ b/noetic-llama/src/ollamawrapper/src/capabilities/__init__.py
@@ -1,2 +1,3 @@
from .weather import *
-from .basicmaths import * \ No newline at end of file
+from .basicmaths import *
+# from .gestures import * \ No newline at end of file
diff --git a/noetic-llama/src/ollamawrapper/src/capabilities/basicmaths.py b/noetic-llama/src/ollamawrapper/src/capabilities/basicmaths.py
index e2491e0..ebad59c 100644
--- a/noetic-llama/src/ollamawrapper/src/capabilities/basicmaths.py
+++ b/noetic-llama/src/ollamawrapper/src/capabilities/basicmaths.py
@@ -1,5 +1,7 @@
+import rospy
-def add(num1=1, num2=2):
+
+def add(num1, num2):
"""Returns the output of two numbers added together
Args:
@@ -9,4 +11,45 @@ def add(num1=1, num2=2):
Returns:
int: The sum of the two numbers
"""
- print("%f + %f = %f" % (num1, num2, num1 + num2)) \ No newline at end of file
+ print("%f + %f = %f" % (num1, num2, num1 + num2))
+ return num1 + num2
+
+def sub(num1, num2):
+ """Returns the output of two numbers subtracted from each other
+
+ Args:
+ num1 (int): The first number
+ num2 (int): A number to subtract the first number from
+ """
+ print("%f - %f = %f" % (num1, num2, num1 - num2))
+ return num1 - num2
+
+
+def mult(num1, num2):
+ """Returns the output of two numbers multiplied with each other
+
+ Args:
+ num1 (int): The first number to multiply together
+ num2 (int): The second number to multiply together
+ """
+ print("%f × %f = %f" % (num1, num2, num1 * num2))
+ return num1 * num2
+
+def div(num1, num2):
+ """Returns the output of two numbers divided with each other
+
+ Args:
+ num1 (int): The enumerator
+ num2 (int): The denominator
+ """
+ print("%f ÷ %f = %f" % (num1, num2, num1 / num2))
+ return num1 / num2
+
+"""class A:
+ def funct():
+
+
+a = A()
+
+def func():
+ a.funct()"""
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
diff --git a/noetic-llama/src/ollamawrapper/src/ollamawrapper.py b/noetic-llama/src/ollamawrapper/src/ollamawrapper.py
index 66843f8..400816e 100644
--- a/noetic-llama/src/ollamawrapper/src/ollamawrapper.py
+++ b/noetic-llama/src/ollamawrapper/src/ollamawrapper.py
@@ -7,31 +7,33 @@ import typing
import jinja2
import ollama
import rospy
+import time
import sys
import os
-import capabilities
-# yes we need both
-from capabilities import *
-
-ollama_api_url = rospy.get_param("/stt/ollama_api_url", "192.168.122.1:11434")
+ollama_api_url = rospy.get_param("/stt/ollama_api_url", "127.0.0.1:11434")
base_ollama_model = rospy.get_param("/stt/ollama_base_model", "nexusraven:13b-v2-q2_K")
-@dataclass
-class FunctionCapability:
- modulename: str
- module: None
- functioname: str
- function: None
- docstring: str
- argnames: list
+def handle_ollama_call(req):
+ print("Recieved ollama request '%s'" % req.input)
+ o = main(req.input)
+ # print(o.keys())
+ return OllamaCallResponse(
+ o["total_duration"],
+ o["load_duration"],
+ o["prompt_eval_duration"],
+ o["eval_count"],
+ o["eval_duration"]
+ )
-class FunctionCapablilites(list):
- def to_modelfile(self, model):
- environment = jinja2.Environment(loader = jinja2.FileSystemLoader(os.path.dirname(__file__)))
- template = environment.get_template("Modelfile.jinja2")
+rospy.init_node("ollama_wrapper_server")
- return template.render(functioncapabilities = self, model = model)
+print("hello?")
+import capabilities
+from capabilities import *
+s = rospy.Service("/stt/ollamacall", OllamaCall, handle_ollama_call)
+print("spin")
+rospy.spin()
def getfunctioncapabilities():
functioncapabilities = FunctionCapablilites()
@@ -53,45 +55,49 @@ def getfunctioncapabilities():
return functioncapabilities
+@dataclass
+class FunctionCapability:
+ modulename: str
+ module: None
+ functioname: str
+ function: None
+ docstring: str
+ argnames: list
+
+class FunctionCapablilites(list):
+ def to_modelfile(self, model):
+ environment = jinja2.Environment(loader = jinja2.FileSystemLoader(os.path.dirname(__file__)))
+ template = environment.get_template("Modelfile.jinja2")
+
+ return template.render(functioncapabilities = self, model = model)
+
def get_functions(ollama_output):
return [f.strip() for f in ollama_output[8:].strip().split(";") if f != ""]
-def main(prompt):
- functioncapabilities = getfunctioncapabilities()
- modelfile = functioncapabilities.to_modelfile(base_ollama_model)
+MODEL_NAME = "noeticllama:" + str(int(time.time()))
+client = ollama.Client(host = "http://%s" % ollama_api_url)
- client = ollama.Client(host = "http://%s" % ollama_api_url)
+for mn in [m["name"] for m in client.list()["models"]]:
+ if mn.startswith("noeticllama"):
+ client.delete(mn)
- client.create(model = "temp", modelfile = modelfile)
+functioncapabilities = getfunctioncapabilities()
+modelfile = functioncapabilities.to_modelfile(base_ollama_model)
+client.create(model = MODEL_NAME, modelfile = modelfile)
+def main(prompt):
# with open("Modelfile", "r") as f:
# ollama.create(model = "temp", modelfile= f.read())
- ollama_output = client.generate(model='temp', prompt = prompt, options={"stop": ["Thought:"]})
+ ollama_output = client.generate(
+ model = MODEL_NAME,
+ prompt = prompt,
+ options = {"stop": ["Thought:"]},
+ keep_alive = "30m"
+ )
#print(ollama_output)
for func_str in get_functions(ollama_output["response"]):
rospy.loginfo("Generated function: " + func_str + ":")
exec(func_str)
- client.delete("temp")
- return ollama_output
-
-def handle_ollama_call(req):
- print("Recieved ollama request '%s'" % req.input)
- o = main(req.input)
- # print(o.keys())
- return OllamaCallResponse(
- o["total_duration"],
- o["load_duration"],
- o["prompt_eval_duration"],
- o["eval_count"],
- o["eval_duration"]
- )
-
-def handle_ollama_server():
- rospy.init_node("ollama_wrapper_server")
- s = rospy.Service("/stt/ollamacall", OllamaCall, handle_ollama_call)
- rospy.spin()
-
-if __name__ == "__main__":
- handle_ollama_server() \ No newline at end of file
+ return ollama_output \ No newline at end of file
diff --git a/noetic-llama/src/pal_msgs b/noetic-llama/src/pal_msgs
new file mode 160000
+Subproject d101a28f5911e8e5d3c8d42eefdf1dc3924821a
diff --git a/noetic-llama/src/whisperwrapper/src/whisperwrapper.py b/noetic-llama/src/whisperwrapper/src/whisperwrapper.py
index 439c8de..4cd703b 100644
--- a/noetic-llama/src/whisperwrapper/src/whisperwrapper.py
+++ b/noetic-llama/src/whisperwrapper/src/whisperwrapper.py
@@ -12,7 +12,7 @@ import time
import json
import os
-whisper_api_url = rospy.get_param("/stt/whisper_api_url", "192.168.122.1:9000")
+whisper_api_url = rospy.get_param("/stt/whisper_api_url", "127.0.0.1:9000")
pause = rospy.get_param("/stt/speech_recogn_pause_time", 0.8)
energy = rospy.get_param("/stt/speech_recogn_energy", 400)
dynamic_energy = rospy.get_param("/stt/speech_recogn_dyn_energy_flag", False)
generated by cgit v1.2.3 (git 2.25.1) at 2025-10-30 07:14:25 +0000