Lucca Pirovano
23 lines
841 B
Python
23 lines
841 B
Python
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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