[Receptionist] implemented feedback

demos/pycram_receptionist_demo/receptionist_clean_code.py

@@ -6,12 +6,13 @@
 from pycram.designators.motion_designator import *
 from pycram.designators.object_designator import *
 from pycram.process_module import real_robot
-from pycram.ros_utils.robot_state_updater import RobotStateUpdater
+from pycram.ros_utils.object_state_updater import RobotStateUpdater
 from pycram.ros_utils.viz_marker_publisher import VizMarkerPublisher
 from pycram.utilities.robocup_utils import ImageSwitchPublisher
 from pycram.world_concepts.world_object import Object
 from pycram.worlds.bullet_world import BulletWorld
 import rospy
+from pycrap import Robot
 
 # Initialize the Bullet world for simulation
 world = BulletWorld()
@@ -20,17 +21,14 @@
 v = VizMarkerPublisher()
 
 # Create and configure the robot object
-robot = Object("hsrb", ObjectType.ROBOT, "../../resources/hsrb.urdf", pose=Pose([0, 0, 0]))
+robot = Object("hsrb", Robot, "../../resources/hsrb.urdf", pose=Pose([0, 0, 0]))
 RobotStateUpdater("/tf", "/giskard_joint_states")
 image_switch_publisher = ImageSwitchPublisher()
 
 # Create environmental objects
 apartment = Object("kitchen", ObjectType.ENVIRONMENT, "suturo_lab_2.urdf")
 
-# variables for communication with nlp
-response = [None, None, None]
-callback = False
-pub_nlp = rospy.Publisher('/startListener', String, queue_size=16)
+# class object for communication with nlp
 nlp = NLP_Functions()
 
 # Declare variables for humans

src/pycram/utilities/robocup_utils.py

@@ -212,21 +212,6 @@ def pub_now(self, image_id):
         rospy.loginfo("Image switch request published")
 
 
-class HSRBMoveGripperReal():
-    def __init__(self, latch=True):
-        self.pub = rospy.Publisher('/hsrb/gripper_controller/grasp/goal', GripperApplyEffortActionGoal,
-                                   queue_size=10, latch=latch)
-        self.msg = GripperApplyEffortActionGoal()
-
-    def pub_now(self, motion: str):
-        if motion == "open":
-            self.msg.goal.effort = 0.8
-            self.pub.publish(self.msg)
-        elif motion == "close":
-            self.msg.goal.effort = -0.8
-            self.pub.publish(self.msg)
-
-
 class GraspListener:
     def __init__(self):