def __init__(self):
print("Creating the playground")
self.reachy = Reachy(right_arm=parts.RightArm(
io=io_setting,
hand="force_gripper",
))
self.pawn_played = 0
def setUp(self):
self.left_arm = parts.LeftArm(
luos_port='',
hand=None,
)
self.left_arm_with_gripper = parts.LeftArm(
luos_port='',
hand='force_gripper',
)
self.right_arm = parts.RightArm(
luos_port='',
hand=None,
)
self.right_arm_with_gripper = parts.RightArm(
luos_port='',
hand='force_gripper',
)
self.right_arm_with_wrist = parts.RightArm(
luos_port='',
hand='orbita_wrist',
)
def __init__(self,
node_name="speechsynthesis",
host="127.0.0.1",
port=1883,
username=None,
password=None,
subscribe_dict={},
run_sleep=0.1,
env="dev"):
super().__init__(node_name, host, port, username, password,
subscribe_dict, run_sleep)
curr_platform = get_platform()
if env == "dev":
self.io = "ws"
elif env == "reachy":
self.io = '/dev/ttyUSB*'
parts.Head = patch_head(parts.Head)
parts.RightArm = patch_right_arm(parts.RightArm)
parts.arm.RightForceGripper = patch_force_gripper(
parts.arm.RightForceGripper)
else:
raise Exception("Invalid env: {}".format(env))
self.reachy = Reachy(
head=parts.Head(io=self.io),
right_arm=parts.RightArm(io=self.io, hand='force_gripper'),
)
self.running = True
command_input = input("press enter after connecting to Reachy>")
self.initialize()
self.add_subscribe('+/body/init', self.handle_initialize)
self.add_subscribe('+/body/shutdown', self.handle_shutdown)
self.add_subscribe('+/body/stop', self.handle_force_stop)
self.add_subscribe('+/body/right_arm/wave', self.handle_wave_arm)
self.add_subscribe('+/body/head/antenna/wiggle',
self.handle_wiggle_antennas)
self.add_subscribe('+/body/head/antenna/zero',
self.move_antennas_to_zero)
self.add_subscribe('+/body/right_arm/zero',
self.handle_wiggle_antennas)
try:
from . import (assistant_helpers, audio_helpers, browser_helpers,
device_helpers)
except (SystemError, ImportError):
import assistant_helpers
import audio_helpers
import browser_helpers
import device_helpers
from azure.cognitiveservices.speech import AudioDataStream, SpeechConfig, SpeechSynthesizer, SpeechSynthesisOutputFormat
from azure.cognitiveservices.speech.audio import AudioOutputConfig
from reachy import parts, Reachy
robot = Reachy(
right_arm=parts.RightArm(io='ws', hand='force_gripper'),
left_arm=parts.LeftArm(io='ws', hand='force_gripper'),
)
engine = pyttsx3.init()
robot.left_arm.shoulder_roll.goal_position = 0
robot.left_arm.arm_yaw.goal_position = 0
robot.left_arm.elbow_pitch.goal_position = 0
robot.left_arm.hand.forearm_yaw.goal_position = 0
speech_config = SpeechConfig(subscription="subscriptionkey",
region="westeurope")
audio_config = AudioOutputConfig(use_default_speaker=True)
synthesizer = SpeechSynthesizer(speech_config=speech_config,
audio_config=audio_config)
"right_arm.hand.wrist_pitch": -60,
"right_arm.hand.wrist_roll": 0,
}
base_pos = {
"right_arm.shoulder_pitch": 60,
"right_arm.shoulder_roll": -15,
"right_arm.arm_yaw": 0,
"right_arm.elbow_pitch": -95,
"right_arm.hand.forearm_yaw": -15,
"right_arm.hand.wrist_pitch": -50,
"right_arm.hand.wrist_roll": 0,
"right_arm.hand.gripper": -45,
}
reachy = Reachy(right_arm=parts.RightArm(io="ws", hand="force_gripper"))
input("Connect the Unity simulator, then press Enter to continue.")
while True:
selection = input("Name a move: ")
'''
if selection == 'rest_pos':
reachy.goto(
goal_positions=rest_pos,
duration=1,
wait=True,
interpolation_mode="minjerk",
starting_point="goal_position",
)
elif selection == 'base_pos':
return forceGripper
parts.arm.RightForceGripper = patch_force_gripper(parts.arm.RightForceGripper)
io_setting = None
while not io_setting:
input_answer = input("Is this a simulated Reachy? y/n? ")
if input_answer == "y" or input_answer == "Y":
io_setting = "ws"
elif input_answer == "n" or input_answer == "N":
io_setting = "/dev/ttyUSB*"
try:
reachy = Reachy(right_arm=parts.RightArm(io=io_setting, hand="force_gripper"))
except:
traceback.print_exc()
exit("Exception when initializing Reachy")
if io_setting == "ws":
input("Connect the Unity simulator, then press Enter to continue.")
for m in reachy.right_arm.motors:
print(f"Motor found: {m.name} - pos:{m.present_position}")
m.compliant = True
stop_loop = False
while not stop_loop:
print("Ready to record!")
def setUp(self):
self.reachy = Reachy(
left_arm=parts.LeftArm(io='', hand='force_gripper'),
right_arm=parts.RightArm(io='', hand='force_gripper'),
)