dora-rs
/
dora
Not watched
1
0
Fork 0
Code
Releases 124 Wiki evaluate Activity
Issues 0 Pull Requests 0 Datasets Model Cloudbrain HPC
You can not select more than 25 topics Topics must start with a chinese character,a letter or number, can include dashes ('-') and can be up to 35 characters long.
Tree: d12b232199
Branches Tags
${ item.name }
Create branch ${ searchTerm }
from 'd12b232199'
${ noResults }
dora/examples/reachy1/nodes/text_interpolation.py

72 lines
2.6 kB
Raw Blame History 

  1. import pyarrow as pa

  2. from dora import Node

  3. 

  4. node = Node()

  5. 

  6. 

  7. for event in node:

  8.     if event["type"] == "INPUT":

  9.         text = event["value"][0].as_py()

  10.         text = text.lower()

  11.         text = text.replace(".", "")

  12.         head_step = 5

  13.         step = 0.02

  14. 

  15.         if text == "look right":

  16.             node.send_output("head_action", pa.array([0, -head_step, 0]))

  17.         elif text == "look left":

  18.             node.send_output("head_action", pa.array([0, head_step, 0]))

  19.         elif text == "look up":

  20.             node.send_output(

  21.                 "head_action", pa.array([head_step / 2, 0, -head_step / 2]),

  22.             )

  23.         elif text == "look down":

  24.             node.send_output(

  25.                 "head_action", pa.array([-head_step / 2, 0, head_step / 2]),

  26.             )

  27.         elif text == "look up":

  28.             node.send_output(

  29.                 "head_action", pa.array([head_step / 2, 0, -head_step / 2]),

  30.             )

  31.         elif text == "look down":

  32.             node.send_output(

  33.                 "head_action", pa.array([-head_step / 2, 0, head_step / 2]),

  34.             )

  35.         elif text == "smile":

  36.             node.send_output("antenna_action", pa.array(["smile"]))

  37.         elif text == "cry":

  38.             node.send_output("antenna_action", pa.array(["cry"]))

  39.         elif text == "forward":

  40.             node.send_output("r_arm_action", pa.array([step, 0, 0]))

  41.         elif text == "backward":

  42.             node.send_output("r_arm_action", pa.array([-step, 0, 0]))

  43.         elif text == "right":

  44.             node.send_output("r_arm_action", pa.array([0, -step, 0]))

  45.         elif text == "left":

  46.             node.send_output("r_arm_action", pa.array([0, step, 0]))

  47.         elif text == "up":

  48.             node.send_output("r_arm_action", pa.array([0, 0, step]))

  49.         elif text == "down":

  50.             node.send_output("r_arm_action", pa.array([0, 0, -step]))

  51.         elif text == "open":

  52.             node.send_output(

  53.                 "question",

  54.                 pa.array(

  55.                     [

  56.                         "Respond with right, left, forward, backward, open, or close to grab the trash",

  57.                     ],

  58.                 ),

  59.             )

  60. 

  61.             node.send_output("gripper_action", pa.array([-100]))

  62.         elif text == "close":

  63.             node.send_output(

  64.                 "question",

  65.                 pa.array(

  66.                     [

  67.                         "Respond with right, left, forward, backward, open, or close to put the trash in your hand in the right bin",

  68.                     ],

  69.                 ),

  70.             )

  71.             node.send_output("gripper_action", pa.array([100]))