#$!/$usr$/$bin$/$python$3$

# license removed for brevity

import rospy

import math

from sensor$\_$msgs$.$msg import JointState

def talker$()$:

pub $=$ rospy.Publisher$(\text{'}$joint$\_$states', JointState, queue$\_$size$=10)$

rospy.init$\_$node$(\text{'}$talker$\text{'},$ anonymous$=$True$)$

rate $=$ rospy.Rate$(1)$ # $10$hz

# set initial angle

angle $=0$

while not rospy.is$\_$shutdown$()$:

#hello$\_$str $=$ "hello world $\%$s$"\%$ rospy.get$\_$time$()$

js $=$ JointState$()$

# header info

js$.$header.stamp $=$ rospy.get$\_$rostime$()$

js$.$header.frame$\_$id$=$"Torso"

# put in some joints that we'll edit

js$.$name.append$("$HeadYaw$")$

js$.$name.append$("$HeadPitch$")$

js$.$position.append$($math$.$radians$($angle$))$

js$.$position.append$(0)$

#comment this out once it gets noisy

rospy.loginfo$($js$)$

pub.publish$($js$)$

angle $=$ angle $+1$

rate.sleep$()$

if $\_\_$name$\_\_==\text{'}\_\_$main$\_\_\text{'}$:

try:

talker$()$

except rospy.ROSInterruptException:

pass

Add a complete list of joints to the joint$\_$states message

Edit the pythonscript to work as a sequence of actions, rather than a loop $**$ make sure to have delays between changes of position

Create a simple animation with a set of poses $**$ wave hi $**$ nod head $**$ shake head