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naowalk/gestures/4_gangnam_style/GangnamStyle/behavior.xar
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<?xml version="1.0" encoding="UTF-8" ?>
<ChoregrapheProject xmlns="http://www.ald.softbankrobotics.com/schema/choregraphe/project.xsd" xar_version="3">
<Box name="root" id="-1" localization="8" tooltip="Root box of Choregraphe&apos;s project. Highest level possible." x="0" y="0">
<bitmap>media/images/box/root.png</bitmap>
<script language="4">
<content>
<![CDATA[]]>
</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" />
<Timeline enable="0">
<BehaviorLayer name="behavior_layer1">
<BehaviorKeyframe name="keyframe1" index="1">
<Diagram>
<Box name="GangnamStyle" id="5" localization="8" tooltip="This box is empty and should be used to create any box diagram you would like.&#x0A;&#x0A;To edit its diagram, double-click on it." x="253" y="62">
<bitmap>media/images/box/box-diagram.png</bitmap>
<script language="4">
<content>
<![CDATA[]]>
</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" />
<Timeline enable="0">
<BehaviorLayer name="behavior_layer1">
<BehaviorKeyframe name="keyframe1" index="1">
<Diagram>
<Box name="Danse" id="1" localization="8" tooltip="This box is empty (contains a single motion layer with no motor position&#x0A;defined in it) and should be used to create any animation you would like." x="525" y="101">
<bitmap>media/images/box/movement/move.png</bitmap>
<script language="4">
<content>
<![CDATA[]]>
</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" />
<Timeline enable="1" fps="25" start_frame="1" end_frame="426" size="426">
<BehaviorLayer name="Gangnam Staïle">
<BehaviorKeyframe name="keyframe9" index="9">
<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&#x0A;wav, mp3, or ogg.&#x0A;&#x0A;Note: There can be some delay to play mp3 files. We advise you to use wav if&#x0A;you want a fast play of the file." x="75" y="22">
<bitmap>media/images/box/interaction/play_music.png</bitmap>
<script language="4">
<content>
<![CDATA[class MyClass(GeneratedClass):
def __init__(self):
try: # disable autoBind
GeneratedClass.__init__(self, False)
except TypeError: # if NAOqi < 1.14
GeneratedClass.__init__( self )
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="/court-boom.wav" default_value="" tooltip="Name of the file you want to play.&#x0A;&#x0A;Note: You can click on the folder icon to browse the project content or import&#x0A;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&apos;s left or right.&#x0A;You can particularly set it to:&#x0A;- -1 to play only on the left loudspeaker.&#x0A;- 0 to play on both loudspeakers.&#x0A;- 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&#x0A;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):
try: # disable autoBind
GeneratedClass.__init__(self, False)
except TypeError: # if NAOqi < 1.14
GeneratedClass.__init__( self )
self.player = ALProxy('ALAudioPlayer')
self.playerStop = ALProxy('ALAudioPlayer', True) #Create another proxy as wait is blocking if audioout is remote
def onLoad(self):
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.post.playFileInLoop(p,self.getParameter("Volume (%)")/100.,self.getParameter("Balance L/R"))
else :
id = self.player.post.playFileFromPosition(p,self.getParameter("Begin position (s)"),self.getParameter("Volume (%)")/100.,self.getParameter("Balance L/R"))
self.ids.append(id)
self.player.wait(id, 0)
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&apos;s left or right.&#x0A;You can particularly set it to:&#x0A;- -1 to play only on the left loudspeaker.&#x0A;- 0 to play on both loudspeakers.&#x0A;- 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&#x0A;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&#x0A;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):
try: # disable autoBind
GeneratedClass.__init__(self, False)
except TypeError: # if NAOqi < 1.14
GeneratedClass.__init__( self )
def onLoad(self):
self.framemanager = ALProxy("ALFrameManager")
def onInput_onStart(self):
self.onStopped(self.framemanager.getBehaviorPath(self.behaviorId) + 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.&#x0A;&#x0A;Note: You can click on the folder icon to browse the project content or import&#x0A;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>
</Box>
<Link inputowner="1" indexofinput="2" outputowner="0" indexofoutput="1" />
</Diagram>
</BehaviorKeyframe>
</BehaviorLayer>
<ActuatorList model="nao">
<ActuatorCurve name="value" actuator="HeadYaw" mute="0" unit="-1">
<Key frame="24" value="0.261268" />
<Key frame="33" value="0.261268" />
<Key frame="44" value="0.261268" />
<Key frame="50" value="-0.0902951" />
<Key frame="56" value="0.261268" />
<Key frame="62" value="-0.0902951" />
<Key frame="68" value="0.261268" />
<Key frame="74" value="-0.0902951" />
<Key frame="80" value="0.261268" />
<Key frame="86" value="-0.0902951" />
<Key frame="92" value="0.261268" />
<Key frame="98" value="-0.0902951" />
<Key frame="104" value="0.261268" />
<Key frame="110" value="-0.0902951" />
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<Key frame="200" value="-0.261268" />
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<Key frame="225" value="-0.261268" />
<Key frame="237" value="-0.261268" />
<Key frame="249" value="-0.261268" />
<Key frame="261" value="-0.261268" />
<Key frame="273" value="-0.261268" />
<Key frame="285" value="-0.261268" />
<Key frame="297" value="-0.261268" />
<Key frame="309" value="-0.261268" />
<Key frame="332" value="36.5749" />
<Key frame="356" value="36.5749" />
<Key frame="368" value="-36.6445" />
<Key frame="392" value="-36.6445" />
<Key frame="406" value="-3.39664" />
<Key frame="416" value="-0.881327" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="HeadPitch" mute="0" unit="-1">
<Key frame="24" value="-22.5027" />
<Key frame="33" value="-22.5027" />
<Key frame="44" value="-22.5027" />
<Key frame="50" value="-6.06" />
<Key frame="56" value="-22.5027" />
<Key frame="62" value="-6.06" />
<Key frame="68" value="-22.5027" />
<Key frame="74" value="-6.06056" />
<Key frame="80" value="-22.5027" />
<Key frame="86" value="-6.06056" />
<Key frame="92" value="-22.5027" />
<Key frame="98" value="-6.06056" />
<Key frame="104" value="-22.5027" />
<Key frame="110" value="-6.06056" />
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<Key frame="200" value="-22.5027" />
<Key frame="213" value="-22.5027" />
<Key frame="219" value="-8.9" />
<Key frame="225" value="-22.5027" />
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<Key frame="237" value="-22.5027" />
<Key frame="243" value="-8.9" />
<Key frame="249" value="-22.5027" />
<Key frame="255" value="-8.9" />
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<Key frame="267" value="-8.9" />
<Key frame="273" value="-22.5027" />
<Key frame="279" value="-8.9" />
<Key frame="285" value="-22.5027" />
<Key frame="291" value="-8.9" />
<Key frame="297" value="-22.5027" />
<Key frame="303" value="-8.9" />
<Key frame="309" value="-22.5027" />
<Key frame="318" value="-4.62979" />
<Key frame="326" value="-0.8" />
<Key frame="332" value="-22.5027" />
<Key frame="338" value="-0.8" />
<Key frame="344" value="-22.5027" />
<Key frame="350" value="-0.8" />
<Key frame="356" value="-22.5027" />
<Key frame="362" value="-0.8" />
<Key frame="368" value="-22.5027" />
<Key frame="374" value="-0.8" />
<Key frame="380" value="-22.5027" />
<Key frame="386" value="-0.8" />
<Key frame="392" value="-22.5027" />
<Key frame="398" value="-0.8" />
<Key frame="406" value="-21.5268" />
<Key frame="416" value="-24.9" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LShoulderPitch" mute="0" unit="-1">
<Key frame="24" value="13.0056" />
<Key frame="33" value="13.0056" />
<Key frame="41" value="13.0056" />
<Key frame="47" value="25.1346" />
<Key frame="53" value="13.0056" />
<Key frame="59" value="25.1346" />
<Key frame="65" value="13.0056" />
<Key frame="71" value="25.1346" />
<Key frame="77" value="13.0056" />
<Key frame="83" value="25.1346" />
<Key frame="89" value="13.0056" />
<Key frame="95" value="25.1346" />
<Key frame="101" value="13.0056" />
<Key frame="107" value="25.1346" />
<Key frame="119" value="-41.8779" />
<Key frame="125" value="-82.7037" />
<Key frame="131" value="-59.0179" />
<Key frame="137" value="-82.7037" />
<Key frame="143" value="-59.0179" />
<Key frame="149" value="-82.7037" />
<Key frame="155" value="-59.0179" />
<Key frame="161" value="-82.7037" />
<Key frame="167" value="-59.0179" />
<Key frame="173" value="-82.7037" />
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<Key frame="185" value="-82.7037" />
<Key frame="191" value="-59.0179" />
<Key frame="197" value="-82.7037" />
<Key frame="210" value="-19" />
<Key frame="216" value="0.503058" />
<Key frame="222" value="-19" />
<Key frame="228" value="0.50306" />
<Key frame="234" value="-19" />
<Key frame="240" value="0.50306" />
<Key frame="246" value="-19" />
<Key frame="252" value="0.50306" />
<Key frame="258" value="-19" />
<Key frame="264" value="0.503057" />
<Key frame="270" value="-19" />
<Key frame="276" value="0.503057" />
<Key frame="282" value="-19" />
<Key frame="288" value="0.503057" />
<Key frame="294" value="-19" />
<Key frame="300" value="0.503057" />
<Key frame="306" value="-19" />
<Key frame="325" value="88.158" />
<Key frame="331" value="88.2" />
<Key frame="337" value="88.158" />
<Key frame="343" value="88.2" />
<Key frame="349" value="88.158" />
<Key frame="355" value="88.2" />
<Key frame="361" value="88.158" />
<Key frame="367" value="88.2" />
<Key frame="373" value="88.158" />
<Key frame="379" value="88.2" />
<Key frame="385" value="88.158" />
<Key frame="391" value="88.2" />
<Key frame="397" value="88.158" />
<Key frame="406" value="99.596" />
<Key frame="416" value="101.249" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LShoulderRoll" mute="0" unit="-1">
<Key frame="24" value="6.94104" />
<Key frame="33" value="6.94104" />
<Key frame="41" value="6.94104" />
<Key frame="47" value="7.29261" />
<Key frame="53" value="6.94104" />
<Key frame="59" value="7.29261" />
<Key frame="65" value="6.94104" />
<Key frame="71" value="7.29261" />
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<Key frame="89" value="6.94104" />
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<Key frame="101" value="6.94104" />
<Key frame="107" value="7.29261" />
<Key frame="119" value="14.2409" />
<Key frame="125" value="18.987" />
<Key frame="131" value="14.2409" />
<Key frame="137" value="18.987" />
<Key frame="143" value="14.2409" />
<Key frame="149" value="18.987" />
<Key frame="155" value="14.2409" />
<Key frame="161" value="18.987" />
<Key frame="167" value="14.2409" />
<Key frame="173" value="18.987" />
<Key frame="179" value="14.2409" />
<Key frame="185" value="18.987" />
<Key frame="191" value="14.2409" />
<Key frame="197" value="18.987" />
<Key frame="210" value="-18" />
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<Key frame="288" value="-18" />
<Key frame="294" value="-18" />
<Key frame="300" value="-18" />
<Key frame="306" value="-18" />
<Key frame="325" value="45.189" />
<Key frame="331" value="52.1" />
<Key frame="337" value="45.189" />
<Key frame="343" value="52.1" />
<Key frame="349" value="45.189" />
<Key frame="355" value="52.1" />
<Key frame="361" value="45.189" />
<Key frame="367" value="52.1" />
<Key frame="373" value="45.189" />
<Key frame="379" value="52.1" />
<Key frame="385" value="45.189" />
<Key frame="391" value="52.1" />
<Key frame="397" value="45.189" />
<Key frame="406" value="30.38" />
<Key frame="416" value="29.0019" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LElbowYaw" mute="0" unit="-1">
<Key frame="24" value="-13.5377" />
<Key frame="33" value="-13.5377" />
<Key frame="43" value="-13.5377" />
<Key frame="49" value="-8.35212" />
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<Key frame="103" value="-13.5377" />
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<Key frame="121" value="21.7996" />
<Key frame="127" value="-60.9066" />
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<Key frame="199" value="-60.9066" />
<Key frame="212" value="-36.9" />
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</ActuatorCurve>
<ActuatorCurve name="value" actuator="RHipPitch" mute="0" unit="-1">
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<Key frame="281" value="6.3" />
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</ActuatorCurve>
<ActuatorCurve name="value" actuator="RKneePitch" mute="0" unit="-1">
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</ActuatorCurve>
<ActuatorCurve name="value" actuator="RAnklePitch" mute="0" unit="-1">
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<Key frame="167" value="-19.9584" />
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</ActuatorCurve>
<ActuatorCurve name="value" actuator="RAnkleRoll" mute="0" unit="-1">
<Key frame="24" value="4.3091" />
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<Key frame="41" value="4.3091" />
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<Key frame="281" value="6.76526" />
<Key frame="287" value="6.67737" />
<Key frame="293" value="6.76526" />
<Key frame="299" value="6.67737" />
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<Key frame="329" value="6.76526" />
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<Key frame="341" value="6.76526" />
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<Key frame="359" value="6.67737" />
<Key frame="365" value="6.76526" />
<Key frame="371" value="6.67737" />
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<Key frame="389" value="6.76526" />
<Key frame="395" value="6.67737" />
<Key frame="406" value="4.44868" />
<Key frame="416" value="4.22121" />
</ActuatorCurve>
<ActuatorCurve name="RHipYawPitch (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch)" actuator="RHipYawPitch" mute="0" unit="-1">
<Key frame="24" value="-9.92936" />
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<Key frame="221" value="-9.92936" />
<Key frame="227" value="-9.92936" />
<Key frame="233" value="-9.92936" />
<Key frame="239" value="-9.92936" />
<Key frame="245" value="-9.92936" />
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<Key frame="263" value="-9.92936" />
<Key frame="269" value="-9.92936" />
<Key frame="275" value="-9.92936" />
<Key frame="281" value="-9.92936" />
<Key frame="287" value="-9.92936" />
<Key frame="293" value="-9.92936" />
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<Key frame="305" value="-9.92936" />
<Key frame="311" value="-9.92936" />
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<Key frame="353" value="-9.92936" />
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<Key frame="371" value="-9.92936" />
<Key frame="377" value="-9.92936" />
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<Key frame="395" value="-9.92936" />
<Key frame="406" value="-9.92936" />
<Key frame="416" value="-9.92936" />
</ActuatorCurve>
</ActuatorList>
</Timeline>
</Box>
<Box name="GoToPose" id="2" localization="8" tooltip="This box is empty (contains a single motion layer with no motor position&#x0A;defined in it) and should be used to create any animation you would like." x="362" y="99">
<bitmap>media/images/box/movement/move.png</bitmap>
<script language="4">
<content>
<![CDATA[]]>
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</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" />
<Timeline enable="1" fps="25" start_frame="1" end_frame="-1" size="25">
<ActuatorList model="nao">
<ActuatorCurve name="value" actuator="HeadYaw" mute="0" unit="-1">
<Key frame="25" value="0.261268" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="HeadPitch" mute="0" unit="-1">
<Key frame="25" value="-22.5027" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LShoulderPitch" mute="0" unit="-1">
<Key frame="25" value="13.0056" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LShoulderRoll" mute="0" unit="-1">
<Key frame="25" value="6.94104" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LElbowYaw" mute="0" unit="-1">
<Key frame="25" value="-13.5377" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LElbowRoll" mute="0" unit="-1">
<Key frame="25" value="-87.5378" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LWristYaw" mute="0" unit="-1">
<Key frame="25" value="6.06212" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LHand" mute="0" unit="-1">
<Key frame="25" value="0.00440001" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RShoulderPitch" mute="0" unit="-1">
<Key frame="25" value="-82.7037" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RShoulderRoll" mute="0" unit="-1">
<Key frame="25" value="-18.987" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RElbowYaw" mute="0" unit="-1">
<Key frame="25" value="60.9066" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RElbowRoll" mute="0" unit="-1">
<Key frame="25" value="20.0417" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RWristYaw" mute="0" unit="-1">
<Key frame="25" value="6.58948" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RHand" mute="0" unit="-1">
<Key frame="25" value="0.00479996" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LHipYawPitch" mute="0" unit="-1">
<Key frame="25" value="-9.92936" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LHipRoll" mute="0" unit="-1">
<Key frame="25" value="6.41851" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LHipPitch" mute="0" unit="-1">
<Key frame="25" value="0.705531" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LKneePitch" mute="0" unit="-1">
<Key frame="25" value="-5.18802" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LAnklePitch" mute="0" unit="-1">
<Key frame="25" value="5.2711" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LAnkleRoll" mute="0" unit="-1">
<Key frame="25" value="-6.76526" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RHipRoll" mute="0" unit="-1">
<Key frame="25" value="-3.51326" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RHipPitch" mute="0" unit="-1">
<Key frame="25" value="0.612832" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RKneePitch" mute="0" unit="-1">
<Key frame="25" value="-5.29" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RAnklePitch" mute="0" unit="-1">
<Key frame="25" value="5.80326" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RAnkleRoll" mute="0" unit="-1">
<Key frame="25" value="4.3091" />
</ActuatorCurve>
<ActuatorCurve name="RHipYawPitch (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch)" actuator="RHipYawPitch" mute="0" unit="-1">
<Key frame="25" value="-9.92936" />
</ActuatorCurve>
</ActuatorList>
</Timeline>
</Box>
<Box name="stand" id="3" localization="8" tooltip="This box is empty (contains a single motion layer with no motor position&#x0A;defined in it) and should be used to create any animation you would like." x="671" y="100">
<bitmap>media/images/box/movement/move.png</bitmap>
<script language="4">
<content>
<![CDATA[]]>
</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" />
<Timeline enable="1" fps="25" start_frame="1" end_frame="-1" size="25">
<BehaviorLayer name="behavior_layer1">
<BehaviorKeyframe name="keyframe1" index="1">
<Diagram />
</BehaviorKeyframe>
</BehaviorLayer>
<ActuatorList model="nao">
<ActuatorCurve name="value" actuator="HeadYaw" mute="0" unit="-1">
<Key frame="25" value="-1.05711" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="HeadPitch" mute="0" unit="-1">
<Key frame="25" value="-10.0221" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LShoulderPitch" mute="0" unit="-1">
<Key frame="25" value="86.2984" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LShoulderRoll" mute="0" unit="-1">
<Key frame="25" value="6.64268" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LElbowYaw" mute="0" unit="-1">
<Key frame="25" value="-68.3739" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LElbowRoll" mute="0" unit="-1">
<Key frame="25" value="-23.3028" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LWristYaw" mute="0" unit="-1">
<Key frame="25" value="6.50159" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LHand" mute="0" unit="-1">
<Key frame="25" value="0.2992" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RShoulderPitch" mute="0" unit="-1">
<Key frame="25" value="85.833" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RShoulderRoll" mute="0" unit="-1">
<Key frame="25" value="-6.01722" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RElbowYaw" mute="0" unit="-1">
<Key frame="25" value="66.9042" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RElbowRoll" mute="0" unit="-1">
<Key frame="25" value="23.5163" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RWristYaw" mute="0" unit="-1">
<Key frame="25" value="5.53477" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RHand" mute="0" unit="-1">
<Key frame="25" value="0.3036" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LHipYawPitch" mute="0" unit="-1">
<Key frame="25" value="-9.92936" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LHipRoll" mute="0" unit="-1">
<Key frame="25" value="6.59429" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LHipPitch" mute="0" unit="-1">
<Key frame="25" value="7.73688" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LKneePitch" mute="0" unit="-1">
<Key frame="25" value="-5.18802" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LAnklePitch" mute="0" unit="-1">
<Key frame="25" value="5.53478" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="LAnkleRoll" mute="0" unit="-1">
<Key frame="25" value="-6.67737" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RHipRoll" mute="0" unit="-1">
<Key frame="25" value="-3.68905" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RHipPitch" mute="0" unit="-1">
<Key frame="25" value="7.55628" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RKneePitch" mute="0" unit="-1">
<Key frame="25" value="-5.2711" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RAnklePitch" mute="0" unit="-1">
<Key frame="25" value="5.80326" />
</ActuatorCurve>
<ActuatorCurve name="value" actuator="RAnkleRoll" mute="0" unit="-1">
<Key frame="25" value="4.22121" />
</ActuatorCurve>
<ActuatorCurve name="RHipYawPitch (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch) (RHipYawPitch)" actuator="RHipYawPitch" mute="0" unit="-1">
<Key frame="25" value="-9.92936" />
</ActuatorCurve>
</ActuatorList>
</Timeline>
</Box>
<Box name="Stand Up" id="4" localization="8" tooltip="NAO tries to stand up from any position for a number of tries.&#x0A;&#x0A;Note: The number of tries can be set in parameters." x="237" y="106">
<bitmap>media/images/box/movement/stand.png</bitmap>
<script language="4">
<content>
<![CDATA[]]>
</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="success" type="1" type_size="1" nature="1" inner="0" tooltip="Stimulated when NAO succeed in standing up." id="4" />
<Output name="failure" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when the robot failed to stand up after n tries.&#x0A;&#x0A;Note: The number of tries can be set in parameters." id="5" />
<Parameter name="Maximum of tries" inherits_from_parent="0" content_type="1" value="3" default_value="3" min="0" max="10" tooltip="The maximum number of fails of stand up before stimulating the failure output." id="6" />
<Timeline enable="0">
<BehaviorLayer name="StandUpBehavior">
<BehaviorKeyframe name="DetectRobotPose" index="1">
<Diagram>
<Box name="Goto Posture" id="2" localization="8" tooltip="The robot goes from its current postition to the asked posture." x="331" y="92">
<bitmap>media/images/box/box-diagram.png</bitmap>
<script language="4">
<content>
<![CDATA[class MyClass(GeneratedClass):
def __init__(self):
try: # disable autoBind
GeneratedClass.__init__(self, False)
except TypeError: # if NAOqi < 1.14
GeneratedClass.__init__( self )
def onLoad(self):
self.nTries = 0
self.postureProxy = ALProxy("ALRobotPosture")
pass
def onUnload(self):
self.postureProxy.stopMove()
def onInput_onStart(self):
if(self.nTries != self.getParameter("Maximum of tries")):
self.nTries = self.getParameter("Maximum of tries")
self.postureProxy.setMaxTryNumber(self.nTries)
result = self.postureProxy.goToPosture(self.getParameter("Name"), self.getParameter("Speed (%)")/100.)
if(result):
self.success()
else:
self.failure()
pass
def onInput_onStop(self):
self.onUnload() #~ it is recommanded to call onUnload of this box in a onStop method, as the code written in onUnload is used to stop 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="success" type="1" type_size="1" nature="1" inner="0" tooltip="Stimulated if the posture has been reached." id="4" />
<Output name="failure" type="1" type_size="1" nature="1" inner="0" tooltip="Stimulated if the posture could not be reached." id="5" />
<Parameter name="Name" inherits_from_parent="0" content_type="3" value="Stand" default_value="Stand" custom_choice="1" tooltip="Name of the posture to go to." id="6">
<Choice value="Crouch" />
<Choice value="LyingBack" />
<Choice value="LyingBelly" />
<Choice value="Sit" />
<Choice value="SitRelax" />
<Choice value="StandInit" />
<Choice value="Stand" />
<Choice value="StandZero" />
</Parameter>
<Parameter name="Speed (%)" inherits_from_parent="0" content_type="1" value="80" default_value="80" min="0" max="100" tooltip="Speed to go to the posture." id="7" />
<Parameter name="Maximum of tries" inherits_from_parent="1" content_type="1" value="3" default_value="3" min="0" max="10" tooltip="The maximum number of fails of go to posture before stimulating the failure output." id="8" />
<Resource name="All motors" type="Lock" timeout="0" />
<Resource name="Stiffness" type="Lock" timeout="0" />
</Box>
<Link inputowner="2" indexofinput="2" outputowner="0" indexofoutput="2" />
<Link inputowner="0" indexofinput="4" outputowner="2" indexofoutput="4" />
<Link inputowner="0" indexofinput="5" outputowner="2" indexofoutput="5" />
</Diagram>
</BehaviorKeyframe>
</BehaviorLayer>
</Timeline>
<Resource name="All motors" type="Lock" timeout="0" />
</Box>
<Link inputowner="1" indexofinput="2" outputowner="2" indexofoutput="4" />
<Link inputowner="3" indexofinput="2" outputowner="1" indexofoutput="4" />
<Link inputowner="2" indexofinput="2" outputowner="4" indexofoutput="4" />
<Link inputowner="4" indexofinput="2" outputowner="0" indexofoutput="2" />
<Link inputowner="0" indexofinput="4" outputowner="3" indexofoutput="4" />
</Diagram>
</BehaviorKeyframe>
</BehaviorLayer>
</Timeline>
</Box>
<Box name="Python Script" id="1" localization="8" tooltip="This box contains a basic python script and can be used to create any python script box you would like.&#x0A;&#x0A;To edit its script, double-click on it." x="259" y="179">
<bitmap>media/images/box/box-python-script.png</bitmap>
<script language="4">
<content>
<![CDATA[]]>
</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" />
</Box>
<Link inputowner="5" indexofinput="2" outputowner="0" indexofoutput="2" />
<Link inputowner="0" indexofinput="4" outputowner="5" indexofoutput="4" />
</Diagram>
</BehaviorKeyframe>
</BehaviorLayer>
</Timeline>
</Box>
</ChoregrapheProject>
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