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main
| Author | SHA1 | Date | |
|---|---|---|---|
 Lucca Pirovano
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17a469b921 |
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#!/bin/bash
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pactl set-source-volume alsa_input.pci-0000_00_1b.0.analog-stereo 32%
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#python3.11 naowalk.py --ip spike.local --port 9561 --mic-gain 9 --video-scale 3.0
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python3.11 naowalk.py --ip 127.0.0.1 --port 9561 --mic-gain 9 --video-scale 3.0 --nao-ssh-port 2222 --media-relay 127.0.0.1:8000
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# Loaded by naowalk.py's gesture loader (_load_gestures). The filename's
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# leading digit ("1") is which number key triggers this. Every gesture
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# file just needs a run(motion, tts) function - motion is the connected
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# ALMotion proxy, tts is ALTextToSpeech. Optionally set NAME below to
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# control the display name shown in the on-screen controls hint.
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NAME = "Wave"
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def run(motion, tts):
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motion.setStiffnesses("RArm", 1.0)
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names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
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angles = [[-1.5]*5, [-0.4,-0.7,-0.4,-0.7,-0.4], [0.6,1.1,0.6,1.1,0.6],
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[0.8,0.3,0.8,0.3,0.8], [0.0,1.5,0.0,-1.5,0.0], [1.0]*5]
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times = [[0.5,1.0,1.5,2.0,2.5]] * 6
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motion.angleInterpolation(names, angles, times, True)
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neutral = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0]
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motion.angleInterpolationWithSpeed(names, neutral, 0.3)
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# Relaxed stiffness after completion
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motion.setStiffnesses("RArm", 0.3)
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NAME = "Cena"
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def run(motion, tts):
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tts.say("You can't see me")
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motion.setStiffnesses("RArm", 1.0)
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names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
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# Setup for tight, face-level sweep
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tight_setup = [-0.4, -0.2, 0.0, 1.2, 1.5, 1.0]
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motion.angleInterpolation(names, tight_setup, [0.5]*6, True)
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# The horizontal "backhand" sweep
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motion.angleInterpolation(["RElbowYaw"], [0.8], 0.4, True)
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motion.angleInterpolation(["RElbowYaw"], [-0.8], 0.6, True)
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motion.angleInterpolation(["RElbowYaw"], [0.0], 0.4, True)
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# Return to neutral
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neutral = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0]
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motion.angleInterpolationWithSpeed(names, neutral, 0.3)
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# Relaxed stiffness after completion
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motion.setStiffnesses("RArm", 0.3)
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import threading
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NAME = "6-7"
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def run(motion, tts):
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# Threaded so the TTS call doesn't block the arm motion below.
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threading.Thread(target=tts.say, args=("six seven",), daemon=True).start()
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motion.setStiffnesses(["RArm", "LArm"], 1.0)
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# Lock both arms up in front of the body, hands held out like a scale.
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# ElbowYaw is rotated ~90° off zero here - that's what points the elbow's
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# bend axis so flexing tips the forearm forward/down instead of curling
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# it in across the chest. These joints don't move again until the return.
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hold_names = [
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"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RWristYaw", "RHand",
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"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LWristYaw", "LHand"
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]
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hold_angles = [
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0.2, -0.2, 1.4, 1.57, 0.6,
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0.2, 0.2, -1.4, -1.57, 0.6
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]
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motion.angleInterpolationWithSpeed(hold_names, hold_angles, 0.25)
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# Only the elbows seesaw now - a small tip back and forth, one arm
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# rising while the other falls, like weighing something in each hand
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# ("six... seven..."). Small amplitude so it stays a wobble, not a fold.
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elbow_names = ["RElbowRoll", "LElbowRoll"]
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r_low, r_high = 0.6, 1.0
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l_low, l_high = -0.6, -1.0
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elbow_angles = [
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[r_low, r_high, r_low, r_high, r_low, r_high],
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[l_high, l_low, l_high, l_low, l_high, l_low],
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]
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times = [[0.35, 0.7, 1.05, 1.4, 1.75, 2.1]] * 2
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motion.angleInterpolation(elbow_names, elbow_angles, times, True)
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# Return everything to neutral
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neutral_names = hold_names + elbow_names
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neutral = [1.5, -0.15, 1.2, 0.0, 0.0,
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1.5, 0.15, -1.2, 0.0, 0.0,
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0.5, -0.5]
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motion.angleInterpolationWithSpeed(neutral_names, neutral, 0.3)
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# Relaxed stiffness after completion
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motion.setStiffnesses(["RArm", "LArm"], 0.3)
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import os
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NAME = "Gangnam Style"
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# The Choregraphe project lives in a sibling folder with the same name
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# as this file (minus the .py) - e.g. gestures/4_gangnam_style/ next
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# to gestures/4_gangnam_style.py - containing manifest.xml and a
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# GangnamStyle/behavior.xar subfolder, exactly what Choregraphe's
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# "Export as package" produces.
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PACKAGE_DIR = os.path.splitext(os.path.abspath(__file__))[0]
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BEHAVIOR_SUBDIR = "GangnamStyle"
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def run(motion, tts, teleop):
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# Deploys (first run only, cached after) + runs the actual
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# Choregraphe behavior on the robot - this blocks until it
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# finishes, same as the old hand-coded version did.
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teleop.behavior_runner.ensure_running(PACKAGE_DIR, BEHAVIOR_SUBDIR)
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# The .xar moves legs/hips, unlike the old arms-only version, so
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# bring him back to a known walk-ready stance afterward.
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teleop.idle_crouch()
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File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -0,0 +1,16 @@
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<?xml version='1.0' encoding='UTF-8'?>
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<package uuid=".lastUploadedChoregrapheBehavior" version="0.0.0" installOnlyAtStartup="false">
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<names>
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<name lang="en_US">.lastUploadedChoregrapheBehavior</name>
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<name lang="en_US-x-scrald">.lastUploadedChoregrapheBehavior</name>
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</names>
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<descriptionLanguages>
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<language>en_US</language>
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</descriptionLanguages>
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<contents>
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<behaviorContent path="GangnamStyle">
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<nature>interactive</nature>
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<permissions/>
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</behaviorContent>
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</contents>
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</package>
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@@ -0,0 +1,22 @@
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import os
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NAME = "Tai Chi"
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# The Choregraphe project lives in a sibling folder with the same name
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# as this file (minus the .py) - e.g. gestures/5_tai_chi/ next to
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# gestures/5_tai_chi.py - containing manifest.xml and a
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# behavior_1/behavior.xar subfolder, exactly what Choregraphe's
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# "Export as package" produces.
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PACKAGE_DIR = os.path.splitext(os.path.abspath(__file__))[0]
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BEHAVIOR_SUBDIR = "behavior_1"
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def run(motion, tts, teleop):
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# Deploys (first run only, cached after) + runs the actual
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# Choregraphe behavior on the robot - this blocks until it
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# finishes, same pattern as the Gangnam Style gesture.
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teleop.behavior_runner.ensure_running(PACKAGE_DIR, BEHAVIOR_SUBDIR)
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# Tai chi moves legs/hips through slow stances, so bring him back
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# to a known walk-ready stance afterward.
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teleop.idle_crouch()
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<?xml version="1.0" encoding="UTF-8" ?>
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<Package name="5_tai_chi" format_version="5">
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<Manifest src="manifest.xml" />
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<BehaviorDescriptions>
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<BehaviorDescription name="behavior" src="tai_chi" xar="behavior.xar" />
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</BehaviorDescriptions>
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<Dialogs />
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<Resources />
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<Topics />
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<IgnoredPaths />
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<Translations auto-fill="en_US">
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<Translation name="translation_en_US" src="translations/translation_en_US.ts" language="en_US" />
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</Translations>
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</Package>
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<?xml version='1.0' encoding='UTF-8'?>
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<package version="0.0.0" uuid="5_tai_chi-0cc7f3" installOnlyAtStartup="false">
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<names>
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<name lang="en_US">Untitled</name>
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</names>
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<supportedLanguages>
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<language>en_US</language>
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</supportedLanguages>
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<descriptionLanguages>
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<language>en_US</language>
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</descriptionLanguages>
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<contents>
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<behaviorContent path="tai_chi">
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<nature>interactive</nature>
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<permissions/>
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</behaviorContent>
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</contents>
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</package>
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<?xml version="1.0" encoding="UTF-8" ?>
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<ChoregrapheProject xmlns="http://www.ald.softbankrobotics.com/schema/choregraphe/project.xsd" xar_version="3">
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<Box name="root" id="-1" localization="8" tooltip="Root box of Choregraphe's behavior. Highest level possible." x="0" y="0">
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<bitmap>media/images/box/root.png</bitmap>
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<script language="4">
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<content>
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<![CDATA[]]>
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</content>
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</script>
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<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
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<Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
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<Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this input." id="3" />
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<Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="4" />
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<Timeline enable="0">
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<BehaviorLayer name="behavior_layer1">
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<BehaviorKeyframe name="keyframe1" index="1">
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<Diagram>
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<Box name="Tai Chi Chuan" id="11" localization="8" tooltip="Arms part of Tai Chi Chuan dance." x="198" y="164">
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<bitmap>media/images/box/movement/dance.png</bitmap>
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<script language="4">
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<content>
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<![CDATA[]]>
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</content>
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</script>
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<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
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<Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
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<Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this input." id="3" />
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<Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="4" />
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<Timeline enable="1" fps="5" start_frame="1" end_frame="-1" size="250">
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<BehaviorLayer name="LED">
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<BehaviorKeyframe name="keyframe15" index="15">
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<Diagram>
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<Box name="Light_ConcentratedEyes" id="1" localization="8" tooltip="Set an animated gaze which expresses concentration." x="231" y="105">
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<bitmap>media/images/box/interaction/LED.png</bitmap>
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<script language="4">
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<content>
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<![CDATA[class MyClass(GeneratedClass):
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def __init__(self):
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try: # disable autoBind;
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GeneratedClass.__init__(self, False);
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except TypeError: # if NAOqi < 1.14;
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GeneratedClass.__init__( self );
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def onLoad(self):
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self.bIsRunning = False;
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self.leds = self.session().service("ALLeds")
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def onUnload(self):
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self.onInput_onStop(); # will stop current loop execution
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def onInput_onStart(self):
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#self.log( self.getName() + ": start - begin" );
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if( self.bIsRunning ):
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#print( self.getName() + ": already started => nothing" );
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return;
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self.bIsRunning = True;
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self.bMustStop = False;
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rDuration = 1.0;
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self.leds.fadeRGB( "FaceLedsTop", 0x0000ff, rDuration, _async=True );
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self.leds.fadeRGB( "FaceLedsInternal", 0x00ff00, rDuration, _async=True );
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self.leds.fadeRGB( "FaceLedsBottom", 0x0000ff, rDuration, _async=True );
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self.leds.fadeRGB( "FaceLedsExternal", 0x0000ff, rDuration );
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while( not self.bMustStop ):
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rTime=1.0
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self.leds.fadeRGB( "FaceLedsInternal", 0x000000, rTime );
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if( self.bMustStop ):
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break;
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self.leds.fadeRGB( "FaceLedsInternal", 0x00ff00, rDuration );
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# end while
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self.bIsRunning = False;
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self.onStopped();
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def onInput_onStop(self):
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self.bMustStop = True; # will stop current loop execution]]>
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</content>
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</script>
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<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
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<Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
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<Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this input." id="3" />
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<Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="4" />
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</Box>
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<Box name="Tocolor" id="2" localization="8" tooltip="tags:
LED" x="490" y="183">
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<bitmap>media/images/box/interaction/LED.png</bitmap>
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<script language="4">
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<content>
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<![CDATA[class MyClass(GeneratedClass):
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def __init__(self):
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GeneratedClass.__init__(self)
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def onLoad(self):
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#~ puts code for box initialization here
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self.leds = self.session().service("ALLeds")
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def onUnload(self):
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#~ puts code for box cleanup here
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self.leds.reset("EarLeds")
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pass
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def onInput_onStart(self):
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rDuration = 0.2
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self.leds.fadeRGB( "BrainLeds", 0xffffff, rDuration)
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self.onStopped()
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def onInput_onStop(self):
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self.onUnload() #~ it is usually a good idea to call onUnload of this box in a onStop method, as the code written in onUnload is used to finish the working of the box as well
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pass]]>
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</content>
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</script>
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<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
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<Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
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<Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this input." id="3" />
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||||||
|
<Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="4" />
|
||||||
|
<Resource name="Left eye leds" type="Lock" timeout="1" />
|
||||||
|
<Resource name="Right eye leds" type="Lock" timeout="1" />
|
||||||
|
</Box>
|
||||||
|
<Link inputowner="1" indexofinput="2" outputowner="0" indexofoutput="1" />
|
||||||
|
</Diagram>
|
||||||
|
</BehaviorKeyframe>
|
||||||
|
<BehaviorKeyframe name="Eye48" index="247">
|
||||||
|
<Diagram>
|
||||||
|
<Box name="Blink" id="3" localization="8" tooltip="tags:
LED" x="339" y="161">
|
||||||
|
<bitmap>media/images/box/interaction/LED.png</bitmap>
|
||||||
|
<script language="4">
|
||||||
|
<content>
|
||||||
|
<![CDATA[class MyClass(GeneratedClass):
|
||||||
|
def __init__(self):
|
||||||
|
GeneratedClass.__init__(self)
|
||||||
|
|
||||||
|
def onLoad(self):
|
||||||
|
#~ puts code for box initialization here
|
||||||
|
self.leds = self.session().service("ALLeds")
|
||||||
|
|
||||||
|
def onUnload(self):
|
||||||
|
#~ puts code for box cleanup here
|
||||||
|
pass
|
||||||
|
|
||||||
|
def onInput_onStart(self):
|
||||||
|
rDuration = 0.05;
|
||||||
|
self.leds.fadeRGB( "FaceLed0", 0x000000, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLed1", 0x000000, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLed2", 0xffffff, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLed3", 0x000000, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLed4", 0x000000, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLed5", 0x000000, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLed6", 0xffffff, rDuration, _async=True );
|
||||||
|
self.leds.fadeRGB( "FaceLed7", 0x000000, rDuration );
|
||||||
|
|
||||||
|
time.sleep( 0.1 );
|
||||||
|
|
||||||
|
rDuration = 0.05;
|
||||||
|
self.leds.fadeRGB( "FaceLeds", 0xffffff, rDuration );
|
||||||
|
|
||||||
|
self.onStopped()
|
||||||
|
|
||||||
|
|
||||||
|
def onInput_onStop(self):
|
||||||
|
self.onUnload() #~ it is usually a good idea to call onUnload of this box in a onStop method, as the code written in onUnload is used to finish the working of the box as well
|
||||||
|
pass]]>
|
||||||
|
</content>
|
||||||
|
</script>
|
||||||
|
<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
|
||||||
|
<Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" />
|
||||||
|
<Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this input." id="3" />
|
||||||
|
<Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="4" />
|
||||||
|
<Resource name="Left eye leds" type="Lock" timeout="1" />
|
||||||
|
<Resource name="Right eye leds" type="Lock" timeout="1" />
|
||||||
|
</Box>
|
||||||
|
<Link inputowner="3" indexofinput="2" outputowner="0" indexofoutput="1" />
|
||||||
|
</Diagram>
|
||||||
|
</BehaviorKeyframe>
|
||||||
|
</BehaviorLayer>
|
||||||
|
<BehaviorLayer name="music">
|
||||||
|
<BehaviorKeyframe name="keyframe12" index="12">
|
||||||
|
<Diagram>
|
||||||
|
<Box name="Play Sound" id="1" localization="8" tooltip="Play a sound file. Select the file in parameters. The format of the file can be wav or ogg (on virtual robot) and also mp3 (on a real robot).

Note: There can be some delay to play ogg or mp3 (on a robot) files. We advise you to use wav if
you want a fast play of the file." x="193" y="90">
|
||||||
|
<bitmap>media/images/box/interaction/play_music.png</bitmap>
|
||||||
|
<script language="4">
|
||||||
|
<content>
|
||||||
|
<![CDATA[class MyClass(GeneratedClass):
|
||||||
|
def __init__(self):
|
||||||
|
GeneratedClass.__init__(self, False)
|
||||||
|
|
||||||
|
def onLoad(self):
|
||||||
|
self.bIsRunning = False
|
||||||
|
|
||||||
|
def onUnload(self):
|
||||||
|
self.bIsRunning = False
|
||||||
|
|
||||||
|
def onInput_onStart(self):
|
||||||
|
self.bIsRunning = True
|
||||||
|
|
||||||
|
def onInput_onStop(self):
|
||||||
|
if( self.bIsRunning ):
|
||||||
|
self.onUnload()
|
||||||
|
self.onStopped()]]>
|
||||||
|
</content>
|
||||||
|
</script>
|
||||||
|
<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when Diagram is loaded." id="1" />
|
||||||
|
<Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Starts the music." id="2" />
|
||||||
|
<Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Stops the music." id="3" />
|
||||||
|
<Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished or stopped." id="4" />
|
||||||
|
<Parameter name="File name" inherits_from_parent="0" content_type="4" value="/sounds/mikhael-landscape-paisaje.ogg" default_value="" tooltip="Name of the file you want to play.

Note: You can click on the folder icon to browse the project content or import
new files to the project." id="5" />
|
||||||
|
<Parameter name="Begin position (s)" inherits_from_parent="0" content_type="2" value="0" default_value="0" min="0" max="600" tooltip="Position in seconds where the playing must start." id="6" />
|
||||||
|
<Parameter name="Volume (%)" inherits_from_parent="0" content_type="1" value="100" default_value="100" min="0" max="100" tooltip="Volume the file is played with." id="7" />
|
||||||
|
<Parameter name="Balance L/R" inherits_from_parent="0" content_type="2" value="0" default_value="0" min="-1" max="1" tooltip="Value which determines if the sound is played more on the robot's left or right.
You can particularly set it to:
- -1 to play only on the left loudspeaker.
- 0 to play on both loudspeakers.
- 1 to play only on the right loudspeaker." id="8" />
|
||||||
|
<Parameter name="Play in loop" inherits_from_parent="0" content_type="0" value="0" default_value="0" tooltip="This parameter allows to play the file in loop. The playing will start each time at
the beginning of the file." id="9" />
|
||||||
|
<Timeline enable="0">
|
||||||
|
<BehaviorLayer name="behavior_layer1">
|
||||||
|
<BehaviorKeyframe name="keyframe1" index="1">
|
||||||
|
<Diagram>
|
||||||
|
<Box name="Play Sound File" id="2" localization="8" tooltip="Play the sound." x="442" y="70">
|
||||||
|
<bitmap>media/images/box/interaction/play_music.png</bitmap>
|
||||||
|
<script language="4">
|
||||||
|
<content>
|
||||||
|
<![CDATA[import time
|
||||||
|
|
||||||
|
class MyClass(GeneratedClass):
|
||||||
|
def __init__(self):
|
||||||
|
GeneratedClass.__init__(self, False)
|
||||||
|
|
||||||
|
def onLoad(self):
|
||||||
|
self.player = self.session().service('ALAudioPlayer')
|
||||||
|
self.playerStop = self.session().service('ALAudioPlayer') #Create another service as wait is blocking if audioout is remote
|
||||||
|
self.bIsRunning = False
|
||||||
|
self.ids = []
|
||||||
|
|
||||||
|
def onUnload(self):
|
||||||
|
for id in self.ids:
|
||||||
|
try:
|
||||||
|
self.playerStop.stop(id)
|
||||||
|
except:
|
||||||
|
pass
|
||||||
|
while( self.bIsRunning ):
|
||||||
|
time.sleep( 0.2 )
|
||||||
|
|
||||||
|
def onInput_onStart(self, p):
|
||||||
|
self.bIsRunning = True
|
||||||
|
try:
|
||||||
|
if (self.getParameter("Play in loop")) :
|
||||||
|
id = self.player.pCall("playFileInLoop",p,self.getParameter("Volume (%)")/100.,self.getParameter("Balance L/R"))
|
||||||
|
else :
|
||||||
|
id = self.player.pCall("playFileFromPosition",p,self.getParameter("Begin position (s)"),self.getParameter("Volume (%)")/100.,self.getParameter("Balance L/R"))
|
||||||
|
self.ids.append(id)
|
||||||
|
self.player.wait(id)
|
||||||
|
finally:
|
||||||
|
try:
|
||||||
|
self.ids.remove(id)
|
||||||
|
except:
|
||||||
|
pass
|
||||||
|
if( self.ids == [] ):
|
||||||
|
self.onStopped() # activate output of the box
|
||||||
|
self.bIsRunning = False
|
||||||
|
|
||||||
|
def onInput_onStop(self):
|
||||||
|
self.onUnload()]]>
|
||||||
|
</content>
|
||||||
|
</script>
|
||||||
|
<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when Diagram is loaded." id="1" />
|
||||||
|
<Input name="onStart" type="3" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this Input." id="2" />
|
||||||
|
<Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this Input." id="3" />
|
||||||
|
<Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when Box behavior is finished." id="4" />
|
||||||
|
<Parameter name="Begin position (s)" inherits_from_parent="1" content_type="2" value="0" default_value="0" min="0" max="600" tooltip="Position in seconds where the playing must start." id="5" />
|
||||||
|
<Parameter name="Volume (%)" inherits_from_parent="1" content_type="1" value="100" default_value="100" min="0" max="100" tooltip="Volume the file is played with." id="6" />
|
||||||
|
<Parameter name="Balance L/R" inherits_from_parent="1" content_type="2" value="0" default_value="0" min="-1" max="1" tooltip="Value which determines if the sound is played more on the robot's left or right.
You can particularly set it to:
- -1 to play only on the left loudspeaker.
- 0 to play on both loudspeakers.
- 1 to play only on the right loudspeaker." id="7" />
|
||||||
|
<Parameter name="Play in loop" inherits_from_parent="1" content_type="0" value="0" default_value="0" tooltip="This parameter allows to play the file in loop. The playing will start each time at
the beginning of the file." id="8" />
|
||||||
|
</Box>
|
||||||
|
<Box name="Get Attached File" id="1" localization="8" tooltip="Use this box to choose an attached file in its parameters. The filename will be sent on
the output when the input is stimulated." x="216" y="71">
|
||||||
|
<bitmap>media/images/box/folder.png</bitmap>
|
||||||
|
<script language="4">
|
||||||
|
<content>
|
||||||
|
<![CDATA[class MyClass(GeneratedClass):
|
||||||
|
def __init__(self):
|
||||||
|
GeneratedClass.__init__(self, False)
|
||||||
|
|
||||||
|
def onLoad(self):
|
||||||
|
pass
|
||||||
|
|
||||||
|
def onInput_onStart(self):
|
||||||
|
self.onStopped(self.behaviorAbsolutePath() + self.getParameter("File name"))]]>
|
||||||
|
</content>
|
||||||
|
</script>
|
||||||
|
<Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" />
|
||||||
|
<Input name="onStart" type="1" type_size="1" nature="1" inner="0" tooltip="To send the filepath on the output." id="2" />
|
||||||
|
<Output name="onStopped" type="3" type_size="1" nature="2" inner="0" tooltip="The filepath of the selected resource file." id="3" />
|
||||||
|
<Parameter name="File name" inherits_from_parent="1" content_type="4" value="" default_value="" tooltip="Name of the file which is going to be sent on the box output.

Note: You can click on the folder icon to browse the project content or import
new files to the project." id="4" />
|
||||||
|
</Box>
|
||||||
|
<Link inputowner="0" indexofinput="4" outputowner="2" indexofoutput="4" />
|
||||||
|
<Link inputowner="1" indexofinput="2" outputowner="0" indexofoutput="2" />
|
||||||
|
<Link inputowner="2" indexofinput="2" outputowner="1" indexofoutput="3" />
|
||||||
|
</Diagram>
|
||||||
|
</BehaviorKeyframe>
|
||||||
|
</BehaviorLayer>
|
||||||
|
</Timeline>
|
||||||
|
<Resource name="Audio player" type="Lock" timeout="0" />
|
||||||
|
</Box>
|
||||||
|
<Link inputowner="1" indexofinput="2" outputowner="0" indexofoutput="1" />
|
||||||
|
</Diagram>
|
||||||
|
</BehaviorKeyframe>
|
||||||
|
</BehaviorLayer>
|
||||||
|
<ActuatorList model="nao">
|
||||||
|
<ActuatorCurve name="value" actuator="HeadYaw" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="25" value="4.82967e-06" />
|
||||||
|
<Key frame="35" value="4.82968e-06" />
|
||||||
|
<Key frame="45" value="4.82968e-06" />
|
||||||
|
<Key frame="55" value="-2.73208e-05" />
|
||||||
|
<Key frame="65" value="18" />
|
||||||
|
<Key frame="75" value="-17" />
|
||||||
|
<Key frame="85" value="-68" />
|
||||||
|
<Key frame="95" value="-16" />
|
||||||
|
<Key frame="105" value="12" />
|
||||||
|
<Key frame="118" value="90" />
|
||||||
|
<Key frame="131" value="12" />
|
||||||
|
<Key frame="142" value="8" />
|
||||||
|
<Key frame="152" value="0" />
|
||||||
|
<Key frame="162" value="-8" />
|
||||||
|
<Key frame="172" value="16" />
|
||||||
|
<Key frame="185" value="-12" />
|
||||||
|
<Key frame="198" value="-90" />
|
||||||
|
<Key frame="211" value="-12" />
|
||||||
|
<Key frame="222" value="-8" />
|
||||||
|
<Key frame="231" value="0" />
|
||||||
|
<Key frame="250" value="0" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="HeadPitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="25" value="5.12931e-06" />
|
||||||
|
<Key frame="35" value="-2.73208e-05" />
|
||||||
|
<Key frame="45" value="5.0962e-06" />
|
||||||
|
<Key frame="55" value="6.01466e-06" />
|
||||||
|
<Key frame="65" value="19" />
|
||||||
|
<Key frame="75" value="18" />
|
||||||
|
<Key frame="85" value="5.26559e-06" />
|
||||||
|
<Key frame="95" value="-19" />
|
||||||
|
<Key frame="105" value="8" />
|
||||||
|
<Key frame="118" value="-5" />
|
||||||
|
<Key frame="131" value="8" />
|
||||||
|
<Key frame="142" value="22" />
|
||||||
|
<Key frame="152" value="32" />
|
||||||
|
<Key frame="162" value="22" />
|
||||||
|
<Key frame="172" value="-19" />
|
||||||
|
<Key frame="185" value="8" />
|
||||||
|
<Key frame="198" value="-5" />
|
||||||
|
<Key frame="211" value="8" />
|
||||||
|
<Key frame="222" value="22" />
|
||||||
|
<Key frame="231" value="0" />
|
||||||
|
<Key frame="250" value="-10.0411" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LShoulderPitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="90" />
|
||||||
|
<Key frame="25" value="110" />
|
||||||
|
<Key frame="35" value="120" />
|
||||||
|
<Key frame="45" value="90" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="21" />
|
||||||
|
<Key frame="75" value="20" />
|
||||||
|
<Key frame="85" value="11" />
|
||||||
|
<Key frame="95" value="-46" />
|
||||||
|
<Key frame="105" value="-10" />
|
||||||
|
<Key frame="118" value="-17" />
|
||||||
|
<Key frame="131" value="-10" />
|
||||||
|
<Key frame="142" value="30" />
|
||||||
|
<Key frame="152" value="27" />
|
||||||
|
<Key frame="162" value="19" />
|
||||||
|
<Key frame="172" value="-27" />
|
||||||
|
<Key frame="185" value="4" />
|
||||||
|
<Key frame="198" value="-4" />
|
||||||
|
<Key frame="211" value="4" />
|
||||||
|
<Key frame="222" value="19" />
|
||||||
|
<Key frame="231" value="97" />
|
||||||
|
<Key frame="250" value="83.0164" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LShoulderRoll" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="10" />
|
||||||
|
<Key frame="25" value="20" />
|
||||||
|
<Key frame="35" value="10" />
|
||||||
|
<Key frame="45" value="10" />
|
||||||
|
<Key frame="55" value="10" />
|
||||||
|
<Key frame="65" value="40" />
|
||||||
|
<Key frame="75" value="0" />
|
||||||
|
<Key frame="85" value="5" />
|
||||||
|
<Key frame="95" value="10" />
|
||||||
|
<Key frame="105" value="23" />
|
||||||
|
<Key frame="118" value="66" />
|
||||||
|
<Key frame="131" value="23" />
|
||||||
|
<Key frame="142" value="23" />
|
||||||
|
<Key frame="152" value="10" />
|
||||||
|
<Key frame="162" value="0" />
|
||||||
|
<Key frame="172" value="23" />
|
||||||
|
<Key frame="185" value="0" />
|
||||||
|
<Key frame="198" value="0" />
|
||||||
|
<Key frame="211" value="0" />
|
||||||
|
<Key frame="222" value="12" />
|
||||||
|
<Key frame="231" value="54" />
|
||||||
|
<Key frame="250" value="12.7723" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LElbowYaw" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="-90" />
|
||||||
|
<Key frame="25" value="-90" />
|
||||||
|
<Key frame="35" value="-90" />
|
||||||
|
<Key frame="45" value="-90" />
|
||||||
|
<Key frame="55" value="-90" />
|
||||||
|
<Key frame="65" value="-22" />
|
||||||
|
<Key frame="75" value="0" />
|
||||||
|
<Key frame="85" value="0" />
|
||||||
|
<Key frame="95" value="0" />
|
||||||
|
<Key frame="105" value="0" />
|
||||||
|
<Key frame="118" value="0" />
|
||||||
|
<Key frame="131" value="0" />
|
||||||
|
<Key frame="142" value="0" />
|
||||||
|
<Key frame="152" value="12" />
|
||||||
|
<Key frame="162" value="11" />
|
||||||
|
<Key frame="172" value="-24" />
|
||||||
|
<Key frame="185" value="-24" />
|
||||||
|
<Key frame="198" value="-5" />
|
||||||
|
<Key frame="211" value="-24" />
|
||||||
|
<Key frame="222" value="11" />
|
||||||
|
<Key frame="227" value="-21.7" />
|
||||||
|
<Key frame="231" value="-14" />
|
||||||
|
<Key frame="250" value="-68.8135" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LElbowRoll" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="25" value="-40" />
|
||||||
|
<Key frame="35" value="-60" />
|
||||||
|
<Key frame="45" value="0" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="-95" />
|
||||||
|
<Key frame="75" value="-55" />
|
||||||
|
<Key frame="85" value="-85" />
|
||||||
|
<Key frame="95" value="-58" />
|
||||||
|
<Key frame="105" value="-58" />
|
||||||
|
<Key frame="118" value="0" />
|
||||||
|
<Key frame="131" value="-58" />
|
||||||
|
<Key frame="142" value="-58" />
|
||||||
|
<Key frame="152" value="-51" />
|
||||||
|
<Key frame="162" value="-49" />
|
||||||
|
<Key frame="172" value="-64" />
|
||||||
|
<Key frame="185" value="-49" />
|
||||||
|
<Key frame="198" value="-72" />
|
||||||
|
<Key frame="211" value="-49" />
|
||||||
|
<Key frame="222" value="-49" />
|
||||||
|
<Key frame="227" value="-57" />
|
||||||
|
<Key frame="231" value="-81.4" />
|
||||||
|
<Key frame="250" value="-23.6757" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LWristYaw" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="-88" />
|
||||||
|
<Key frame="250" value="5.78932" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LHand" mute="0" unit="1">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="250" value="0.291787" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RShoulderPitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="90" />
|
||||||
|
<Key frame="25" value="110" />
|
||||||
|
<Key frame="35" value="120" />
|
||||||
|
<Key frame="45" value="90" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="10" />
|
||||||
|
<Key frame="75" value="35" />
|
||||||
|
<Key frame="85" value="60" />
|
||||||
|
<Key frame="95" value="-27" />
|
||||||
|
<Key frame="105" value="4" />
|
||||||
|
<Key frame="118" value="-4" />
|
||||||
|
<Key frame="131" value="4" />
|
||||||
|
<Key frame="142" value="19" />
|
||||||
|
<Key frame="152" value="27" />
|
||||||
|
<Key frame="162" value="30" />
|
||||||
|
<Key frame="172" value="-46" />
|
||||||
|
<Key frame="185" value="-10" />
|
||||||
|
<Key frame="198" value="-17" />
|
||||||
|
<Key frame="211" value="-10" />
|
||||||
|
<Key frame="222" value="30" />
|
||||||
|
<Key frame="231" value="97" />
|
||||||
|
<Key frame="250" value="82.7438" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RShoulderRoll" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="-10" />
|
||||||
|
<Key frame="25" value="-10" />
|
||||||
|
<Key frame="35" value="-20" />
|
||||||
|
<Key frame="45" value="-10" />
|
||||||
|
<Key frame="55" value="-9.99896" />
|
||||||
|
<Key frame="65" value="-4" />
|
||||||
|
<Key frame="75" value="-48" />
|
||||||
|
<Key frame="85" value="-87" />
|
||||||
|
<Key frame="95" value="-23" />
|
||||||
|
<Key frame="105" value="0" />
|
||||||
|
<Key frame="118" value="0" />
|
||||||
|
<Key frame="131" value="0" />
|
||||||
|
<Key frame="142" value="0" />
|
||||||
|
<Key frame="152" value="-10" />
|
||||||
|
<Key frame="162" value="-23" />
|
||||||
|
<Key frame="172" value="-10" />
|
||||||
|
<Key frame="185" value="-23" />
|
||||||
|
<Key frame="198" value="-66" />
|
||||||
|
<Key frame="211" value="-23" />
|
||||||
|
<Key frame="222" value="-32" />
|
||||||
|
<Key frame="231" value="-54" />
|
||||||
|
<Key frame="250" value="-12.6315" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RElbowYaw" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="90" />
|
||||||
|
<Key frame="25" value="90" />
|
||||||
|
<Key frame="35" value="90" />
|
||||||
|
<Key frame="45" value="90" />
|
||||||
|
<Key frame="55" value="90" />
|
||||||
|
<Key frame="65" value="11" />
|
||||||
|
<Key frame="75" value="20" />
|
||||||
|
<Key frame="85" value="90" />
|
||||||
|
<Key frame="95" value="24" />
|
||||||
|
<Key frame="105" value="24" />
|
||||||
|
<Key frame="118" value="5" />
|
||||||
|
<Key frame="131" value="24" />
|
||||||
|
<Key frame="142" value="-11" />
|
||||||
|
<Key frame="152" value="-12" />
|
||||||
|
<Key frame="162" value="0" />
|
||||||
|
<Key frame="172" value="0" />
|
||||||
|
<Key frame="185" value="0" />
|
||||||
|
<Key frame="198" value="0" />
|
||||||
|
<Key frame="211" value="0" />
|
||||||
|
<Key frame="222" value="0" />
|
||||||
|
<Key frame="227" value="19.6" />
|
||||||
|
<Key frame="231" value="14" />
|
||||||
|
<Key frame="250" value="68.8565" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RElbowRoll" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="25" value="40" />
|
||||||
|
<Key frame="35" value="60" />
|
||||||
|
<Key frame="45" value="1.47493e-05" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="71" />
|
||||||
|
<Key frame="75" value="94" />
|
||||||
|
<Key frame="85" value="4" />
|
||||||
|
<Key frame="95" value="64" />
|
||||||
|
<Key frame="105" value="49" />
|
||||||
|
<Key frame="118" value="72" />
|
||||||
|
<Key frame="131" value="49" />
|
||||||
|
<Key frame="142" value="49" />
|
||||||
|
<Key frame="152" value="51" />
|
||||||
|
<Key frame="162" value="58" />
|
||||||
|
<Key frame="172" value="58" />
|
||||||
|
<Key frame="185" value="58" />
|
||||||
|
<Key frame="198" value="2" />
|
||||||
|
<Key frame="211" value="58" />
|
||||||
|
<Key frame="222" value="58" />
|
||||||
|
<Key frame="227" value="64.9" />
|
||||||
|
<Key frame="231" value="78.3" />
|
||||||
|
<Key frame="250" value="23.387" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RWristYaw" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="88" />
|
||||||
|
<Key frame="250" value="6.23278" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RHand" mute="0" unit="1">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="250" value="0.301984" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LHipYawPitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="-6.2" />
|
||||||
|
<Key frame="25" value="-6.9" />
|
||||||
|
<Key frame="35" value="-6.94104" />
|
||||||
|
<Key frame="45" value="-7.04938" />
|
||||||
|
<Key frame="55" value="-8.2" />
|
||||||
|
<Key frame="65" value="-9.6" />
|
||||||
|
<Key frame="75" value="-5.7" />
|
||||||
|
<Key frame="85" value="0" />
|
||||||
|
<Key frame="95" value="0" />
|
||||||
|
<Key frame="105" value="0" />
|
||||||
|
<Key frame="118" value="0" />
|
||||||
|
<Key frame="131" value="0" />
|
||||||
|
<Key frame="142" value="-0.566539" />
|
||||||
|
<Key frame="152" value="0" />
|
||||||
|
<Key frame="162" value="0" />
|
||||||
|
<Key frame="172" value="0" />
|
||||||
|
<Key frame="185" value="0" />
|
||||||
|
<Key frame="198" value="0" />
|
||||||
|
<Key frame="211" value="0" />
|
||||||
|
<Key frame="222" value="-3.9" />
|
||||||
|
<Key frame="231" value="0" />
|
||||||
|
<Key frame="250" value="-9.74084" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LHipRoll" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="-3" />
|
||||||
|
<Key frame="25" value="-7" />
|
||||||
|
<Key frame="35" value="-11.4235" />
|
||||||
|
<Key frame="45" value="5.96288" />
|
||||||
|
<Key frame="55" value="6" />
|
||||||
|
<Key frame="65" value="-10" />
|
||||||
|
<Key frame="75" value="10" />
|
||||||
|
<Key frame="85" value="24.1" />
|
||||||
|
<Key frame="95" value="30.3" />
|
||||||
|
<Key frame="105" value="28.7" />
|
||||||
|
<Key frame="118" value="32.4" />
|
||||||
|
<Key frame="131" value="28.7" />
|
||||||
|
<Key frame="142" value="19.9829" />
|
||||||
|
<Key frame="152" value="0" />
|
||||||
|
<Key frame="162" value="-15" />
|
||||||
|
<Key frame="167" value="14.4" />
|
||||||
|
<Key frame="172" value="15" />
|
||||||
|
<Key frame="185" value="8" />
|
||||||
|
<Key frame="198" value="40" />
|
||||||
|
<Key frame="211" value="8" />
|
||||||
|
<Key frame="222" value="-15" />
|
||||||
|
<Key frame="231" value="0" />
|
||||||
|
<Key frame="250" value="6.82441" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LHipPitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="25" value="0" />
|
||||||
|
<Key frame="35" value="-19.8395" />
|
||||||
|
<Key frame="45" value="-0.0382666" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="-40" />
|
||||||
|
<Key frame="75" value="-35" />
|
||||||
|
<Key frame="85" value="-60" />
|
||||||
|
<Key frame="95" value="-60" />
|
||||||
|
<Key frame="105" value="-60" />
|
||||||
|
<Key frame="118" value="-60" />
|
||||||
|
<Key frame="131" value="-60" />
|
||||||
|
<Key frame="142" value="-59.6787" />
|
||||||
|
<Key frame="152" value="-50" />
|
||||||
|
<Key frame="162" value="-42.5" />
|
||||||
|
<Key frame="172" value="-7" />
|
||||||
|
<Key frame="185" value="-50" />
|
||||||
|
<Key frame="198" value="0" />
|
||||||
|
<Key frame="211" value="-50" />
|
||||||
|
<Key frame="222" value="-37.5" />
|
||||||
|
<Key frame="231" value="-60" />
|
||||||
|
<Key frame="250" value="7.30057" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LKneePitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="25" value="0" />
|
||||||
|
<Key frame="35" value="42.8009" />
|
||||||
|
<Key frame="45" value="0.0951225" />
|
||||||
|
<Key frame="55" value="-5.69182e-06" />
|
||||||
|
<Key frame="65" value="80" />
|
||||||
|
<Key frame="75" value="70" />
|
||||||
|
<Key frame="85" value="120" />
|
||||||
|
<Key frame="95" value="120" />
|
||||||
|
<Key frame="105" value="120" />
|
||||||
|
<Key frame="118" value="120" />
|
||||||
|
<Key frame="131" value="120" />
|
||||||
|
<Key frame="142" value="120.887" />
|
||||||
|
<Key frame="152" value="100" />
|
||||||
|
<Key frame="162" value="85" />
|
||||||
|
<Key frame="172" value="7" />
|
||||||
|
<Key frame="185" value="100" />
|
||||||
|
<Key frame="198" value="0" />
|
||||||
|
<Key frame="211" value="100" />
|
||||||
|
<Key frame="222" value="75" />
|
||||||
|
<Key frame="231" value="120" />
|
||||||
|
<Key frame="250" value="-5.09006" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LAnklePitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="5.75265e-06" />
|
||||||
|
<Key frame="25" value="0" />
|
||||||
|
<Key frame="35" value="-22.1511" />
|
||||||
|
<Key frame="45" value="-0.569877" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="-37.1" />
|
||||||
|
<Key frame="75" value="-35" />
|
||||||
|
<Key frame="85" value="-60" />
|
||||||
|
<Key frame="95" value="-60" />
|
||||||
|
<Key frame="105" value="-60" />
|
||||||
|
<Key frame="118" value="-60" />
|
||||||
|
<Key frame="131" value="-60" />
|
||||||
|
<Key frame="142" value="-59.6787" />
|
||||||
|
<Key frame="152" value="-50" />
|
||||||
|
<Key frame="162" value="-42.5" />
|
||||||
|
<Key frame="172" value="0" />
|
||||||
|
<Key frame="185" value="5.75265e-06" />
|
||||||
|
<Key frame="198" value="30" />
|
||||||
|
<Key frame="211" value="5.75265e-06" />
|
||||||
|
<Key frame="217" value="-31.8" />
|
||||||
|
<Key frame="222" value="-37.5" />
|
||||||
|
<Key frame="231" value="-60" />
|
||||||
|
<Key frame="250" value="5.00876" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="LAnkleRoll" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="3" />
|
||||||
|
<Key frame="25" value="7" />
|
||||||
|
<Key frame="35" value="9.83048" />
|
||||||
|
<Key frame="45" value="-6.94104" />
|
||||||
|
<Key frame="55" value="-6" />
|
||||||
|
<Key frame="65" value="10" />
|
||||||
|
<Key frame="75" value="-15" />
|
||||||
|
<Key frame="85" value="3.6" />
|
||||||
|
<Key frame="95" value="4.2" />
|
||||||
|
<Key frame="105" value="0.5" />
|
||||||
|
<Key frame="118" value="1.8" />
|
||||||
|
<Key frame="131" value="0.5" />
|
||||||
|
<Key frame="142" value="6.97225" />
|
||||||
|
<Key frame="152" value="0" />
|
||||||
|
<Key frame="162" value="-13.8" />
|
||||||
|
<Key frame="167" value="-31.9" />
|
||||||
|
<Key frame="172" value="-24.3" />
|
||||||
|
<Key frame="185" value="-20" />
|
||||||
|
<Key frame="198" value="0" />
|
||||||
|
<Key frame="211" value="-20" />
|
||||||
|
<Key frame="222" value="-17.9" />
|
||||||
|
<Key frame="231" value="0" />
|
||||||
|
<Key frame="250" value="-6.34798" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RHipRoll" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="3" />
|
||||||
|
<Key frame="25" value="-7" />
|
||||||
|
<Key frame="35" value="-24.8982" />
|
||||||
|
<Key frame="45" value="-6.04821" />
|
||||||
|
<Key frame="55" value="-6" />
|
||||||
|
<Key frame="65" value="-20" />
|
||||||
|
<Key frame="75" value="-45" />
|
||||||
|
<Key frame="85" value="-31" />
|
||||||
|
<Key frame="95" value="-12.7" />
|
||||||
|
<Key frame="105" value="-25.6" />
|
||||||
|
<Key frame="118" value="-40" />
|
||||||
|
<Key frame="131" value="-25.6" />
|
||||||
|
<Key frame="142" value="15.2077" />
|
||||||
|
<Key frame="152" value="0" />
|
||||||
|
<Key frame="162" value="-20" />
|
||||||
|
<Key frame="172" value="-30.9" />
|
||||||
|
<Key frame="185" value="-29.3" />
|
||||||
|
<Key frame="198" value="-34.2" />
|
||||||
|
<Key frame="211" value="-35" />
|
||||||
|
<Key frame="222" value="-30.5" />
|
||||||
|
<Key frame="231" value="0" />
|
||||||
|
<Key frame="250" value="-6.82407" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RHipPitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="25" value="0" />
|
||||||
|
<Key frame="35" value="0.134711" />
|
||||||
|
<Key frame="45" value="0.21464" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="-40" />
|
||||||
|
<Key frame="75" value="-10" />
|
||||||
|
<Key frame="85" value="-6" />
|
||||||
|
<Key frame="95" value="-7" />
|
||||||
|
<Key frame="105" value="-50" />
|
||||||
|
<Key frame="118" value="0" />
|
||||||
|
<Key frame="131" value="-50" />
|
||||||
|
<Key frame="142" value="-45.3545" />
|
||||||
|
<Key frame="152" value="-50" />
|
||||||
|
<Key frame="162" value="-60" />
|
||||||
|
<Key frame="172" value="-60" />
|
||||||
|
<Key frame="185" value="-60" />
|
||||||
|
<Key frame="198" value="-60" />
|
||||||
|
<Key frame="211" value="-60" />
|
||||||
|
<Key frame="222" value="-60" />
|
||||||
|
<Key frame="231" value="-60" />
|
||||||
|
<Key frame="250" value="7.30058" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RKneePitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="0" />
|
||||||
|
<Key frame="25" value="0" />
|
||||||
|
<Key frame="35" value="0.178188" />
|
||||||
|
<Key frame="45" value="-0.410883" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="80" />
|
||||||
|
<Key frame="75" value="20" />
|
||||||
|
<Key frame="85" value="7" />
|
||||||
|
<Key frame="95" value="7" />
|
||||||
|
<Key frame="105" value="100" />
|
||||||
|
<Key frame="118" value="0" />
|
||||||
|
<Key frame="131" value="100" />
|
||||||
|
<Key frame="142" value="90.0035" />
|
||||||
|
<Key frame="152" value="100" />
|
||||||
|
<Key frame="162" value="120" />
|
||||||
|
<Key frame="172" value="120" />
|
||||||
|
<Key frame="185" value="120" />
|
||||||
|
<Key frame="198" value="120" />
|
||||||
|
<Key frame="211" value="120" />
|
||||||
|
<Key frame="222" value="120" />
|
||||||
|
<Key frame="231" value="120" />
|
||||||
|
<Key frame="250" value="-5.26102" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RAnklePitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="5.75266e-06" />
|
||||||
|
<Key frame="25" value="0" />
|
||||||
|
<Key frame="35" value="0.266079" />
|
||||||
|
<Key frame="45" value="-0.349163" />
|
||||||
|
<Key frame="55" value="0" />
|
||||||
|
<Key frame="65" value="-40" />
|
||||||
|
<Key frame="75" value="-10" />
|
||||||
|
<Key frame="85" value="0" />
|
||||||
|
<Key frame="95" value="0" />
|
||||||
|
<Key frame="105" value="5.75266e-06" />
|
||||||
|
<Key frame="118" value="30" />
|
||||||
|
<Key frame="131" value="5.75266e-06" />
|
||||||
|
<Key frame="142" value="-45.8771" />
|
||||||
|
<Key frame="152" value="-50" />
|
||||||
|
<Key frame="162" value="-60" />
|
||||||
|
<Key frame="172" value="-60" />
|
||||||
|
<Key frame="185" value="-60" />
|
||||||
|
<Key frame="198" value="-60" />
|
||||||
|
<Key frame="211" value="-60" />
|
||||||
|
<Key frame="222" value="-60" />
|
||||||
|
<Key frame="231" value="-60" />
|
||||||
|
<Key frame="250" value="5.00876" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="value" actuator="RAnkleRoll" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="-3" />
|
||||||
|
<Key frame="25" value="7.5" />
|
||||||
|
<Key frame="35" value="22.6325" />
|
||||||
|
<Key frame="45" value="6.68218" />
|
||||||
|
<Key frame="55" value="6" />
|
||||||
|
<Key frame="65" value="16.9" />
|
||||||
|
<Key frame="75" value="35.6" />
|
||||||
|
<Key frame="85" value="45" />
|
||||||
|
<Key frame="95" value="42.6" />
|
||||||
|
<Key frame="105" value="25" />
|
||||||
|
<Key frame="118" value="0" />
|
||||||
|
<Key frame="131" value="25" />
|
||||||
|
<Key frame="142" value="9.83317" />
|
||||||
|
<Key frame="152" value="0" />
|
||||||
|
<Key frame="162" value="-10" />
|
||||||
|
<Key frame="172" value="-2.41531" />
|
||||||
|
<Key frame="185" value="-3.18747" />
|
||||||
|
<Key frame="198" value="-0.718272" />
|
||||||
|
<Key frame="211" value="-0.558977" />
|
||||||
|
<Key frame="222" value="-1.55043" />
|
||||||
|
<Key frame="231" value="0" />
|
||||||
|
<Key frame="250" value="6.34774" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
<ActuatorCurve name="RHipYawPitch (RHipYawPitch)" actuator="RHipYawPitch" mute="0" unit="0">
|
||||||
|
<Key frame="15" value="-6.2" />
|
||||||
|
<Key frame="25" value="-6.9" />
|
||||||
|
<Key frame="35" value="-7.55628" />
|
||||||
|
<Key frame="45" value="-7.04938" />
|
||||||
|
<Key frame="55" value="-8.2" />
|
||||||
|
<Key frame="65" value="-9.6" />
|
||||||
|
<Key frame="142" value="0.178188" />
|
||||||
|
<Key frame="250" value="-9.74084" />
|
||||||
|
</ActuatorCurve>
|
||||||
|
</ActuatorList>
|
||||||
|
</Timeline>
|
||||||
|
<Resource name="Standing" type="Lock" timeout="1" />
|
||||||
|
<Resource name="All motors" type="Lock" timeout="1" />
|
||||||
|
</Box>
|
||||||
|
<Link inputowner="11" indexofinput="2" outputowner="0" indexofoutput="2" />
|
||||||
|
<Link inputowner="0" indexofinput="4" outputowner="11" indexofoutput="4" />
|
||||||
|
</Diagram>
|
||||||
|
</BehaviorKeyframe>
|
||||||
|
</BehaviorLayer>
|
||||||
|
</Timeline>
|
||||||
|
</Box>
|
||||||
|
</ChoregrapheProject>
|
||||||
@@ -0,0 +1,3 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<!DOCTYPE TS>
|
||||||
|
<TS version="2.1" language="en_US"/>
|
||||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
+239
-103
@@ -15,6 +15,10 @@ import os
|
|||||||
import json
|
import json
|
||||||
import struct
|
import struct
|
||||||
import socket
|
import socket
|
||||||
|
import importlib.util
|
||||||
|
import shutil
|
||||||
|
import tempfile
|
||||||
|
import inspect
|
||||||
|
|
||||||
# Import the new music module
|
# Import the new music module
|
||||||
from naomusic import NaoMusicPlayer
|
from naomusic import NaoMusicPlayer
|
||||||
@@ -456,6 +460,115 @@ class VideoServerLauncher:
|
|||||||
self.ready = False
|
self.ready = False
|
||||||
|
|
||||||
|
|
||||||
|
# ==========================================
|
||||||
|
# CHOREGRAPHE BEHAVIOR DEPLOY + RUN (for gestures)
|
||||||
|
# ==========================================
|
||||||
|
class ChoregrapheBehaviorRunner:
|
||||||
|
"""Deploys a Choregraphe-exported behavior folder (a manifest.xml
|
||||||
|
plus one or more '<BehaviorName>/behavior.xar' dirs, i.e. exactly
|
||||||
|
what "Export as package" produces before you zip it) to the robot
|
||||||
|
over SFTP, installs it via the PackageManager service, and runs it
|
||||||
|
via ALBehaviorManager - the same three steps Choregraphe's own
|
||||||
|
"Connect to robot" + Play button does, done here in code so a
|
||||||
|
gesture script can just point at a local project folder.
|
||||||
|
|
||||||
|
Caches per local folder for the lifetime of this object: once a
|
||||||
|
package has been deployed+installed this session, repeat runs
|
||||||
|
just call runBehavior() again instead of re-uploading.
|
||||||
|
|
||||||
|
NOTE: PackageManager.install() is documented as "install a package
|
||||||
|
from a path" without saying whether that path can be a raw folder
|
||||||
|
or must be a zipped .pkg - this tries the raw folder first (since
|
||||||
|
that's genuinely what Choregraphe's live "current project" push
|
||||||
|
to a connected robot does) and falls back to zipping it into a
|
||||||
|
.pkg if the robot's PackageManager rejects the folder.
|
||||||
|
"""
|
||||||
|
def __init__(self, session, nao_ip, ssh_user, ssh_password, ssh_port):
|
||||||
|
self.nao_ip = nao_ip
|
||||||
|
self.ssh_user = ssh_user
|
||||||
|
self.ssh_password = ssh_password
|
||||||
|
self.ssh_port = ssh_port
|
||||||
|
try:
|
||||||
|
self.package_mgr = session.service("PackageManager")
|
||||||
|
except Exception:
|
||||||
|
self.package_mgr = session.service("ALPackageManager")
|
||||||
|
self.behavior_mgr = session.service("ALBehaviorManager")
|
||||||
|
self._installed = {} # local_dir -> resolved "<package>/<behavior>" name
|
||||||
|
|
||||||
|
def _sftp_put_dir(self, sftp, local_dir, remote_dir):
|
||||||
|
"""Recursively mirror local_dir onto remote_dir over an
|
||||||
|
already-open SFTP session - paramiko has no built-in recursive
|
||||||
|
put, only single-file put()."""
|
||||||
|
try:
|
||||||
|
sftp.mkdir(remote_dir)
|
||||||
|
except IOError:
|
||||||
|
pass # already exists, fine
|
||||||
|
for entry in sorted(os.listdir(local_dir)):
|
||||||
|
local_path = os.path.join(local_dir, entry)
|
||||||
|
remote_path = remote_dir + "/" + entry
|
||||||
|
if os.path.isdir(local_path):
|
||||||
|
self._sftp_put_dir(sftp, local_path, remote_path)
|
||||||
|
else:
|
||||||
|
sftp.put(local_path, remote_path)
|
||||||
|
|
||||||
|
def ensure_running(self, local_dir, behavior_subdir):
|
||||||
|
"""Deploy+install local_dir (only if not already done this
|
||||||
|
session), then block until '<package>/<behavior_subdir>' has
|
||||||
|
finished running on the robot. local_dir's own folder name
|
||||||
|
becomes the package id, matching how Choregraphe names an
|
||||||
|
exported project after its folder."""
|
||||||
|
if not HAS_SSH:
|
||||||
|
raise RuntimeError("Choregraphe gesture deploy needs paramiko: pip install paramiko")
|
||||||
|
if not os.path.isdir(local_dir):
|
||||||
|
raise RuntimeError(f"No Choregraphe project folder at {local_dir}")
|
||||||
|
|
||||||
|
package_name = os.path.basename(os.path.normpath(local_dir))
|
||||||
|
behavior_name = self._installed.get(local_dir)
|
||||||
|
|
||||||
|
if behavior_name is None:
|
||||||
|
ssh = paramiko.SSHClient()
|
||||||
|
ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
|
||||||
|
ssh.connect(self.nao_ip, port=self.ssh_port, username=self.ssh_user,
|
||||||
|
password=self.ssh_password, timeout=10)
|
||||||
|
try:
|
||||||
|
sftp = ssh.open_sftp()
|
||||||
|
try:
|
||||||
|
remote_home = sftp.normalize(".")
|
||||||
|
remote_dir = f"{remote_home}/naowalk_gestures/{package_name}"
|
||||||
|
print(f"🕺 Copying {package_name} -> {self.nao_ip}:{remote_dir}")
|
||||||
|
self._sftp_put_dir(sftp, local_dir, remote_dir)
|
||||||
|
|
||||||
|
print(f"🕺 Installing package {package_name}...")
|
||||||
|
try:
|
||||||
|
self.package_mgr.install(remote_dir)
|
||||||
|
except Exception as e:
|
||||||
|
print(f"🕺 install() on the raw folder failed ({e}) - "
|
||||||
|
f"retrying as a zipped .pkg...")
|
||||||
|
local_zip = shutil.make_archive(
|
||||||
|
os.path.join(tempfile.gettempdir(), package_name), "zip", local_dir)
|
||||||
|
remote_zip = f"{remote_home}/naowalk_gestures/{package_name}.pkg"
|
||||||
|
sftp.put(local_zip, remote_zip)
|
||||||
|
os.remove(local_zip)
|
||||||
|
self.package_mgr.install(remote_zip)
|
||||||
|
finally:
|
||||||
|
sftp.close()
|
||||||
|
finally:
|
||||||
|
ssh.close()
|
||||||
|
|
||||||
|
behavior_name = f"{package_name}/{behavior_subdir}"
|
||||||
|
if not self.behavior_mgr.isBehaviorInstalled(behavior_name):
|
||||||
|
installed = self.behavior_mgr.getInstalledBehaviors()
|
||||||
|
candidates = [b for b in installed if b.endswith("/" + behavior_subdir)]
|
||||||
|
if not candidates:
|
||||||
|
raise RuntimeError(
|
||||||
|
f"'{behavior_name}' not found after install - installed behaviors: {installed}")
|
||||||
|
behavior_name = candidates[0]
|
||||||
|
self._installed[local_dir] = behavior_name
|
||||||
|
|
||||||
|
print(f"🕺 Running {behavior_name}...")
|
||||||
|
self.behavior_mgr.runBehavior(behavior_name) # blocks until it finishes
|
||||||
|
|
||||||
|
|
||||||
# ==========================================
|
# ==========================================
|
||||||
# MAIN TELEOP
|
# MAIN TELEOP
|
||||||
# ==========================================
|
# ==========================================
|
||||||
@@ -464,9 +577,13 @@ class NaoTeleop:
|
|||||||
|
|
||||||
def __init__(self, session, nao_ip, audio_device_index=None, mic_gain=8.0, video_scale=2.0,
|
def __init__(self, session, nao_ip, audio_device_index=None, mic_gain=8.0, video_scale=2.0,
|
||||||
nao_ssh_user="nao", nao_ssh_password="nao", nao_ssh_port=22, relay_rate=16000,
|
nao_ssh_user="nao", nao_ssh_password="nao", nao_ssh_port=22, relay_rate=16000,
|
||||||
media_relay=None, deploy_video_server=True, video_server_path=None):
|
media_relay=None, deploy_video_server=True, video_server_path=None,
|
||||||
|
gestures_dir=None):
|
||||||
self.session = session
|
self.session = session
|
||||||
self.nao_ip = nao_ip
|
self.nao_ip = nao_ip
|
||||||
|
self.nao_ssh_user = nao_ssh_user
|
||||||
|
self.nao_ssh_password = nao_ssh_password
|
||||||
|
self.nao_ssh_port = nao_ssh_port
|
||||||
self.motion = session.service("ALMotion")
|
self.motion = session.service("ALMotion")
|
||||||
self.posture = session.service("ALRobotPosture")
|
self.posture = session.service("ALRobotPosture")
|
||||||
self.tts = session.service("ALTextToSpeech")
|
self.tts = session.service("ALTextToSpeech")
|
||||||
@@ -507,9 +624,12 @@ class NaoTeleop:
|
|||||||
self.battery_level = 100
|
self.battery_level = 100
|
||||||
self.last_batt_check = 0
|
self.last_batt_check = 0
|
||||||
self.volume = 50
|
self.volume = 50
|
||||||
self.walk_speed = 0.6
|
self.walk_speed = 1.0 # fixed, not adjustable at runtime - 0.60 was too slow
|
||||||
|
# for the walk engine to stay balanced and NAO kept
|
||||||
|
# tipping over
|
||||||
|
|
||||||
self.typing_mode = False
|
self.typing_mode = False
|
||||||
|
self.is_resting = False # tracks manual [DEL] crouch, toggled by idle_crouch()
|
||||||
self.chat_message = ""
|
self.chat_message = ""
|
||||||
self.music_search_mode = False
|
self.music_search_mode = False
|
||||||
self.music_search_text = ""
|
self.music_search_text = ""
|
||||||
@@ -546,6 +666,16 @@ class NaoTeleop:
|
|||||||
if HAS_AUDIO:
|
if HAS_AUDIO:
|
||||||
self._init_mic_stream()
|
self._init_mic_stream()
|
||||||
|
|
||||||
|
# Lets gesture scripts run full Choregraphe-authored behaviors
|
||||||
|
# (.xar, exported as a package folder) instead of hand-coding
|
||||||
|
# angleInterpolation calls - see ChoregrapheBehaviorRunner.
|
||||||
|
self.behavior_runner = ChoregrapheBehaviorRunner(
|
||||||
|
session, nao_ip, nao_ssh_user, nao_ssh_password, nao_ssh_port)
|
||||||
|
|
||||||
|
self.gestures_dir = gestures_dir or os.path.join(
|
||||||
|
os.path.dirname(os.path.abspath(__file__)), "gestures")
|
||||||
|
self._load_gestures()
|
||||||
|
|
||||||
pygame.init()
|
pygame.init()
|
||||||
self.screen = pygame.display.set_mode((self.display_width, self.display_height))
|
self.screen = pygame.display.set_mode((self.display_width, self.display_height))
|
||||||
pygame.display.set_caption("NAO Teleop + Music on Robot")
|
pygame.display.set_caption("NAO Teleop + Music on Robot")
|
||||||
@@ -693,95 +823,104 @@ class NaoTeleop:
|
|||||||
except Exception as e:
|
except Exception as e:
|
||||||
print(f"❌ Mic init failed: {e}")
|
print(f"❌ Mic init failed: {e}")
|
||||||
|
|
||||||
def wave_gesture(self):
|
def _load_gestures(self):
|
||||||
if self.typing_mode: return
|
"""Load number-key gestures from .py files in self.gestures_dir.
|
||||||
print("🤚 Waving hello...")
|
|
||||||
|
Each file is named '<digit>_<name>.py' (e.g. '4_gangnam_style.py')
|
||||||
|
and must define a module-level run(motion, tts) function - that's
|
||||||
|
the minimum contract, gets the already-connected ALMotion and
|
||||||
|
ALTextToSpeech proxies and does whatever it wants with them.
|
||||||
|
Gestures that need more - e.g. running a Choregraphe behavior via
|
||||||
|
self.behavior_runner, or resetting posture via
|
||||||
|
self.stand_for_walk() - can instead define run(motion, tts,
|
||||||
|
teleop) and get this NaoTeleop instance as a third argument; the
|
||||||
|
arity is detected here at load time so both signatures work. The
|
||||||
|
leading digit is which number key (0-9) triggers it; everything
|
||||||
|
after the underscore becomes its display name in the controls
|
||||||
|
hint, unless the file sets its own module-level NAME string.
|
||||||
|
"""
|
||||||
|
self.gestures = {} # pygame key constant -> (display_name, run_fn, n_params)
|
||||||
|
gestures_dir = self.gestures_dir
|
||||||
|
if not os.path.isdir(gestures_dir):
|
||||||
|
print(f"⚠️ No gestures folder at {gestures_dir}, skipping gesture load")
|
||||||
|
return
|
||||||
|
|
||||||
|
for fname in sorted(os.listdir(gestures_dir)):
|
||||||
|
if not fname.endswith(".py") or fname.startswith("_"):
|
||||||
|
continue
|
||||||
|
stem = fname[:-3]
|
||||||
|
digit_str, sep, rest = stem.partition("_")
|
||||||
|
if not (sep and len(digit_str) == 1 and digit_str.isdigit()):
|
||||||
|
print(f"⚠️ Skipping {fname}: name it '<digit>_name.py' (e.g. '4_gangnam_style.py')")
|
||||||
|
continue
|
||||||
|
|
||||||
|
path = os.path.join(gestures_dir, fname)
|
||||||
try:
|
try:
|
||||||
self.motion.setStiffnesses("RArm", 1.0)
|
spec = importlib.util.spec_from_file_location(f"nao_gesture_{stem}", path)
|
||||||
names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
|
module = importlib.util.module_from_spec(spec)
|
||||||
angles = [[-1.5]*5, [-0.4,-0.7,-0.4,-0.7,-0.4], [0.6,1.1,0.6,1.1,0.6],
|
spec.loader.exec_module(module)
|
||||||
[0.8,0.3,0.8,0.3,0.8], [0.0,1.5,0.0,-1.5,0.0], [1.0]*5]
|
run_fn = getattr(module, "run", None)
|
||||||
times = [[0.5,1.0,1.5,2.0,2.5]] * 6
|
if not callable(run_fn):
|
||||||
self.motion.angleInterpolation(names, angles, times, True)
|
print(f"⚠️ Skipping {fname}: no run(motion, tts) function defined")
|
||||||
neutral = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0]
|
continue
|
||||||
self.motion.angleInterpolationWithSpeed(names, neutral, 0.3)
|
|
||||||
# Relaxed stiffness after completion
|
|
||||||
self.motion.setStiffnesses("RArm", 0.3)
|
|
||||||
except Exception as e:
|
|
||||||
print(f"Wave error: {e}")
|
|
||||||
|
|
||||||
def cena_gesture(self):
|
|
||||||
if self.typing_mode: return
|
|
||||||
print("👋 YOU CAN'T SEE ME!")
|
|
||||||
try:
|
try:
|
||||||
self.tts.say("You can't see me")
|
n_params = len(inspect.signature(run_fn).parameters)
|
||||||
|
except (TypeError, ValueError):
|
||||||
self.motion.setStiffnesses("RArm", 1.0)
|
n_params = 2
|
||||||
names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
|
|
||||||
|
|
||||||
# Setup for tight, face-level sweep
|
|
||||||
tight_setup = [-0.4, -0.2, 0.0, 1.2, 1.5, 1.0]
|
|
||||||
self.motion.angleInterpolation(names, tight_setup, [0.5]*6, True)
|
|
||||||
|
|
||||||
# The horizontal "backhand" sweep
|
|
||||||
self.motion.angleInterpolation(["RElbowYaw"], [0.8], 0.4, True)
|
|
||||||
self.motion.angleInterpolation(["RElbowYaw"], [-0.8], 0.6, True)
|
|
||||||
self.motion.angleInterpolation(["RElbowYaw"], [0.0], 0.4, True)
|
|
||||||
|
|
||||||
# Return to neutral
|
|
||||||
neutral = [1.5, -0.15, 1.2, 0.5, 0.0, 0.0]
|
|
||||||
self.motion.angleInterpolationWithSpeed(names, neutral, 0.3)
|
|
||||||
# Relaxed stiffness after completion
|
|
||||||
self.motion.setStiffnesses("RArm", 0.3)
|
|
||||||
except Exception as e:
|
except Exception as e:
|
||||||
print(f"Cena gesture error: {e}")
|
print(f"⚠️ Failed to load gesture {fname}: {e}")
|
||||||
|
continue
|
||||||
|
|
||||||
def six_seven_gesture(self):
|
key = getattr(pygame, f"K_{digit_str}")
|
||||||
if self.typing_mode: return
|
name = getattr(module, "NAME", rest.replace("_", " ").title() or stem)
|
||||||
print("🖐️ SIX... SEVEN...")
|
if key in self.gestures:
|
||||||
|
print(f"⚠️ {fname} overrides number key {digit_str} (was {self.gestures[key][0]})")
|
||||||
|
self.gestures[key] = (name, run_fn, n_params)
|
||||||
|
print(f"✅ Loaded gesture: {digit_str}={name}")
|
||||||
|
|
||||||
|
def run_gesture(self, key):
|
||||||
|
if self.typing_mode or self.is_resting: return
|
||||||
|
entry = self.gestures.get(key)
|
||||||
|
if not entry: return
|
||||||
|
name, run_fn, n_params = entry
|
||||||
|
print(f"🕺 {name}...")
|
||||||
try:
|
try:
|
||||||
threading.Thread(target=self.tts.say, args=("six seven",), daemon=True).start()
|
if n_params >= 3:
|
||||||
|
run_fn(self.motion, self.tts, self)
|
||||||
self.motion.setStiffnesses(["RArm", "LArm"], 1.0)
|
else:
|
||||||
|
run_fn(self.motion, self.tts)
|
||||||
# Lock both arms up in front of the body, hands held out like a scale.
|
|
||||||
# ElbowYaw is rotated ~90° off zero here - that's what points the elbow's
|
|
||||||
# bend axis so flexing tips the forearm forward/down instead of curling
|
|
||||||
# it in across the chest. These joints don't move again until the return.
|
|
||||||
hold_names = [
|
|
||||||
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RWristYaw", "RHand",
|
|
||||||
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LWristYaw", "LHand"
|
|
||||||
]
|
|
||||||
hold_angles = [
|
|
||||||
0.2, -0.2, 1.4, 1.57, 0.6,
|
|
||||||
0.2, 0.2, -1.4, -1.57, 0.6
|
|
||||||
]
|
|
||||||
self.motion.angleInterpolationWithSpeed(hold_names, hold_angles, 0.25)
|
|
||||||
|
|
||||||
# Only the elbows seesaw now - a small tip back and forth, one arm
|
|
||||||
# rising while the other falls, like weighing something in each hand
|
|
||||||
# ("six... seven..."). Small amplitude so it stays a wobble, not a fold.
|
|
||||||
elbow_names = ["RElbowRoll", "LElbowRoll"]
|
|
||||||
r_low, r_high = 0.6, 1.0
|
|
||||||
l_low, l_high = -0.6, -1.0
|
|
||||||
|
|
||||||
elbow_angles = [
|
|
||||||
[r_low, r_high, r_low, r_high, r_low, r_high],
|
|
||||||
[l_high, l_low, l_high, l_low, l_high, l_low],
|
|
||||||
]
|
|
||||||
times = [[0.35, 0.7, 1.05, 1.4, 1.75, 2.1]] * 2
|
|
||||||
self.motion.angleInterpolation(elbow_names, elbow_angles, times, True)
|
|
||||||
|
|
||||||
# Return everything to neutral
|
|
||||||
neutral_names = hold_names + elbow_names
|
|
||||||
neutral = [1.5, -0.15, 1.2, 0.0, 0.0,
|
|
||||||
1.5, 0.15, -1.2, 0.0, 0.0,
|
|
||||||
0.5, -0.5]
|
|
||||||
self.motion.angleInterpolationWithSpeed(neutral_names, neutral, 0.3)
|
|
||||||
# Relaxed stiffness after completion
|
|
||||||
self.motion.setStiffnesses(["RArm", "LArm"], 0.3)
|
|
||||||
except Exception as e:
|
except Exception as e:
|
||||||
print(f"Six seven gesture error: {e}")
|
print(f"{name} gesture error: {e}")
|
||||||
|
|
||||||
|
def stand_for_walk(self):
|
||||||
|
"""Re-stiffen and drop straight into walk-ready posture -
|
||||||
|
mirrors the startup sequence in run() (stiffen -> walk arms ->
|
||||||
|
relax arm stiffness -> moveInit) rather than
|
||||||
|
goToPosture("Stand"), which goes through its own separate
|
||||||
|
stand-up animation instead of just being walk-ready. Shared by
|
||||||
|
the [DEL] wake-up toggle and by any gesture that needs to
|
||||||
|
reset his stance afterward (e.g. after a Choregraphe behavior
|
||||||
|
that moved the legs/hips)."""
|
||||||
|
self._safe("Restiffen", lambda: self.motion.setStiffnesses("Body", 1.0))
|
||||||
|
self._safe("Walk arms", lambda: self.motion.setMoveArmsEnabled(True, True))
|
||||||
|
self._safe("Relax arms", lambda: self.motion.setStiffnesses(["RArm", "LArm"], 0.3))
|
||||||
|
self._safe("moveInit", self.motion.moveInit)
|
||||||
|
self.is_resting = False
|
||||||
|
|
||||||
|
def idle_crouch(self):
|
||||||
|
"""The relaxed sit/crouch posture NAO settles into on shutdown -
|
||||||
|
toggled on demand with the Delete key. rest() cuts stiffness to
|
||||||
|
the whole body (that's the point of "rest"), so simply calling
|
||||||
|
it again does nothing on the second press - we have to
|
||||||
|
explicitly re-stiffen ourselves via stand_for_walk()."""
|
||||||
|
if not self.is_resting:
|
||||||
|
print("😴 Resting (idle crouch)...")
|
||||||
|
self._safe("stopMove", self.motion.stopMove)
|
||||||
|
self._safe("rest", self.motion.rest)
|
||||||
|
self.is_resting = True
|
||||||
|
else:
|
||||||
|
print("🧍 Waking up...")
|
||||||
|
self.stand_for_walk()
|
||||||
|
|
||||||
def handle_head_movement(self):
|
def handle_head_movement(self):
|
||||||
if self.typing_mode or self.music_search_mode: return
|
if self.typing_mode or self.music_search_mode: return
|
||||||
@@ -872,7 +1011,11 @@ class NaoTeleop:
|
|||||||
self._movement_thread = threading.Thread(target=self._movement_loop, daemon=True)
|
self._movement_thread = threading.Thread(target=self._movement_loop, daemon=True)
|
||||||
self._movement_thread.start()
|
self._movement_thread.start()
|
||||||
|
|
||||||
print("\n🎮 Controls: WASD/Arrows=Walk | [/]=Speed | IJKL=Head | SPACE=Reset head | 1=Wave | 2=Cena | 3=6-7 | M=Music search | X=Stop | -/==Volume | T=TTS | V=Push-to-talk (hold) | ESC=Quit")
|
gesture_hint = " | ".join(
|
||||||
|
f"{pygame.key.name(key)}={name}" for key, (name, *_rest) in sorted(self.gestures.items())
|
||||||
|
)
|
||||||
|
print(f"\n🎮 Controls: WASD/Arrows=Walk | IJKL=Head | SPACE=Reset head | {gesture_hint} | "
|
||||||
|
f"DEL=Toggle crouch/stand | M=Music search | X=Stop | -/==Volume | T=TTS | V=Push-to-talk (hold) | ESC=Quit")
|
||||||
|
|
||||||
try:
|
try:
|
||||||
while self.running:
|
while self.running:
|
||||||
@@ -948,12 +1091,10 @@ class NaoTeleop:
|
|||||||
else:
|
else:
|
||||||
if event.key == pygame.K_ESCAPE:
|
if event.key == pygame.K_ESCAPE:
|
||||||
self.running = False
|
self.running = False
|
||||||
elif event.key == pygame.K_1:
|
elif event.key == pygame.K_DELETE:
|
||||||
self.wave_gesture()
|
self.idle_crouch()
|
||||||
elif event.key == pygame.K_2:
|
elif event.key in self.gestures:
|
||||||
self.cena_gesture()
|
self.run_gesture(event.key)
|
||||||
elif event.key == pygame.K_3:
|
|
||||||
self.six_seven_gesture()
|
|
||||||
elif event.key == pygame.K_SPACE:
|
elif event.key == pygame.K_SPACE:
|
||||||
self.reset_head()
|
self.reset_head()
|
||||||
elif event.key == pygame.K_m:
|
elif event.key == pygame.K_m:
|
||||||
@@ -984,16 +1125,6 @@ class NaoTeleop:
|
|||||||
if getattr(self, "sound_receiver", None):
|
if getattr(self, "sound_receiver", None):
|
||||||
self.sound_receiver.muted = False
|
self.sound_receiver.muted = False
|
||||||
|
|
||||||
speed_changed = False
|
|
||||||
if keys[pygame.K_LEFTBRACKET]:
|
|
||||||
self.walk_speed = max(0.1, self.walk_speed - 0.01)
|
|
||||||
speed_changed = True
|
|
||||||
if keys[pygame.K_RIGHTBRACKET]:
|
|
||||||
self.walk_speed = min(1.0, self.walk_speed + 0.01)
|
|
||||||
speed_changed = True
|
|
||||||
if speed_changed:
|
|
||||||
self.update_title()
|
|
||||||
|
|
||||||
x = y = theta = 0.0
|
x = y = theta = 0.0
|
||||||
if keys[pygame.K_w] or keys[pygame.K_UP]: x = self.walk_speed
|
if keys[pygame.K_w] or keys[pygame.K_UP]: x = self.walk_speed
|
||||||
if keys[pygame.K_s] or keys[pygame.K_DOWN]: x = -self.walk_speed
|
if keys[pygame.K_s] or keys[pygame.K_DOWN]: x = -self.walk_speed
|
||||||
@@ -1161,6 +1292,10 @@ if __name__ == "__main__":
|
|||||||
parser.add_argument("--video-server-path", type=str, default=None,
|
parser.add_argument("--video-server-path", type=str, default=None,
|
||||||
help="Local path to nao_video_server.py to deploy (default: the "
|
help="Local path to nao_video_server.py to deploy (default: the "
|
||||||
"copy sitting next to naowalk.py)")
|
"copy sitting next to naowalk.py)")
|
||||||
|
parser.add_argument("--gestures-dir", type=str, default=None,
|
||||||
|
help="Folder of number-key gestures to load, each file named "
|
||||||
|
"'<digit>_name.py' with a run(motion, tts) function "
|
||||||
|
"(default: the 'gestures' folder next to naowalk.py)")
|
||||||
args = parser.parse_args()
|
args = parser.parse_args()
|
||||||
|
|
||||||
session = qi.Session()
|
session = qi.Session()
|
||||||
@@ -1181,4 +1316,5 @@ if __name__ == "__main__":
|
|||||||
nao_ssh_port=args.nao_ssh_port,
|
nao_ssh_port=args.nao_ssh_port,
|
||||||
relay_rate=args.relay_rate,
|
relay_rate=args.relay_rate,
|
||||||
deploy_video_server=not args.no_deploy_video_server,
|
deploy_video_server=not args.no_deploy_video_server,
|
||||||
video_server_path=args.video_server_path).run()
|
video_server_path=args.video_server_path,
|
||||||
|
gestures_dir=args.gestures_dir).run()
|
||||||
|
|||||||
Executable
+2
@@ -0,0 +1,2 @@
|
|||||||
|
#!/bin/bash
|
||||||
|
nmcli c up naorobotwifi\ \(WAP\) && nmcli c up BC-VR\ \(USBWIFI\)
|
||||||
Submodule
+1
Submodule other-repos/nao-dances added at 5cae0354f5
Reference in New Issue
Block a user