Lucca Pirovano
24 lines
805 B
Python
24 lines
805 B
Python
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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