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',
)
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)
def setUp(self):
self.reachy = Reachy(
left_arm=parts.LeftArm(io='', hand='force_gripper'),
right_arm=parts.RightArm(io='', hand='force_gripper'),
)