Lucca Pirovano
21 lines
956 B
Python
21 lines
956 B
Python
# 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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