From 1a7b7726bd9240d7b461ad439f588faad17170cd Mon Sep 17 00:00:00 2001
From: Antonio Andriella <aandriella@iri.upc.edu>
Date: Mon, 23 Nov 2020 21:14:53 +0100
Subject: [PATCH] add head noddling
---
src/robot_behaviour/gesture_reproducer.py | 26 ++++++-----------------
1 file changed, 7 insertions(+), 19 deletions(-)
diff --git a/src/robot_behaviour/gesture_reproducer.py b/src/robot_behaviour/gesture_reproducer.py
index 9abd551..c4ef59c 100644
--- a/src/robot_behaviour/gesture_reproducer.py
+++ b/src/robot_behaviour/gesture_reproducer.py
@@ -224,11 +224,11 @@ class Gesture:
'''
rospy.loginfo("Starting run_motion_python application...")
self.wait_for_valid_time(10.0)
- rospy.loginfo("Waiting for Action Server...")
- self.client.wait_for_server()
+ # rospy.loginfo("Waiting for Action Server...")
+ # self.client.wait_for_server()
goal = PlayMotionGoal()
- goal.motion_name = "head_yes"
+ goal.motion_name = "noddling_yes"
goal.skip_planning = False
goal.priority = 0 # Optional
@@ -243,11 +243,11 @@ class Gesture:
'''
rospy.loginfo("Starting run_motion_python application...")
self.wait_for_valid_time(10.0)
- rospy.loginfo("Waiting for Action Server...")
- self.client.wait_for_server()
+ # rospy.loginfo("Waiting for Action Server...")
+ # self.client.wait_for_server()
goal = PlayMotionGoal()
- goal.motion_name = "head_no"
+ goal.motion_name = "noddling_no"
goal.skip_planning = False
goal.priority = 0 # Optional
@@ -588,19 +588,7 @@ class Gesture:
def main():
robot_gesture = Gesture()
robot_gesture.calibration([20,16,5,1])
- #tiago.wave()
- # robot_gesture.pick_and_place(20,20)
- # rospy.sleep(2)
- # robot_gesture.pick(15, 15)
- # rospy.sleep(2)
- # robot_gesture.pick(5, 15)
- # rospy.sleep(2)
- # robot_gesture.pick(1, 1)
- # rospy.sleep(2)
- # robot_gesture.pick_and_place(15, 3)
- # rospy.sleep(2)
- # robot_gesture.pick_and_place(3, 15)
- # rospy.sleep(2)
+
if __name__ == '__main__':
--
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