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fluidMotions.py
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fluidMotions.py
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from Tkinter import *
import sys
from naoqi import ALProxy
from naoqi import motion
import time
import almath
import random
import threading
from threading import Thread
root = Tk()
content = Frame(root)
frame = Frame(content, borderwidth=5, width=200, height=100)
def main(robotIP):
PORT = 9559
try:
motionProxy = ALProxy("ALMotion", robotIP, PORT)
except Exception,e:
print "Could not create proxy to ALMotion"
print "Error was: ",e
sys.exit(1)
try:
postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)
except Exception, e:
print "Could not create proxy to ALRobotPosture"
print "Error was: ", e
try:
tts = ALProxy("ALTextToSpeech", robotIP, PORT)
except Exception,e:
print "Could not create proxy to ALTextToSpeech"
print "Error was: ",e
sys.exit(1)
##________________________________MENU FUNCTIONS_______________________________________##
menubar = Menu(root)
def donothing():
print "dummy button"
def stand():
postureProxy.goToPosture("Stand", 0.5)
def standInit():
postureProxy.goToPosture("StandInit", 0.5)
def standZero():
postureProxy.goToPosture("StandZero", 0.5)
def sitRelax():
postureProxy.goToPosture("SitRelax", 0.5)
def sit():
postureProxy.goToPosture("Sit", 0.5)
def crouch():
postureProxy.goToPosture("Crouch", 0.5)
def lyingBelly():
postureProxy.goToPosture("LyingBelly", 0.5)
def lyingBack():
postureProxy.goToPosture("LyingBack", 0.5)
##_________________________________STIFFNESS______________________________________##
def stiffnessOff():
pNames = "Body"
pStiffnessLists = 0.0
pTimeLists = 1.0
motionProxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)
stiffnessOff = Button(content, text ="OFF", command = stiffnessOff)
def stiffnessOn():
pNames = "Body"
pStiffnessLists = 1.0
pTimeLists = 1.0
motionProxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)
stiffnessOn = Button(content, text ="ON", command = stiffnessOn)
##_________________________________HEAD STUFF______________________________________##
def moveHead():
pitch = enHpitch.get()
yaw = enHyaw.get()
motionProxy.setStiffnesses("Head", 1.0)
names = ["HeadYaw", "HeadPitch"]
angles = [float(yaw)*almath.TO_RAD, float(pitch)*almath.TO_RAD]
fractionMaxSpeed = 0.2
motionProxy.setAngles(names, angles, fractionMaxSpeed)
time.sleep(3.0)
motionProxy.setStiffnesses("Head", 0.0)
def moveHead2(pitch, yaw):
motionProxy.setStiffnesses("Head", 1.0)
names = ["HeadYaw", "HeadPitch"]
angles = [float(yaw)*almath.TO_RAD, float(pitch)*almath.TO_RAD]
fractionMaxSpeed = 0.2
motionProxy.setAngles(names, angles, fractionMaxSpeed)
time.sleep(3.0)
motionProxy.setStiffnesses("Head", 0.0)
# HEAD
Hpitch = Label(content, text="Head pitch:")
enHpitch = Entry(content)
Hyaw = Label(content, text="Head yaw:")
enHyaw = Entry(content)
apply1 = Button(content, text="APPLY", width=10, command=moveHead)
## # head diagram
## def saveAsH():
## menuPlace = 559
## pitchSave = enHpitch.get()
## yawSave = enHyaw.get()
## name = ensaveAs1.get()
##
## f = open("allTogetherNAO.py", "r")
## contents = f.readlines()
## f.close()
##
## contents.insert(menuPlace, "\n headmenu.add_separator() \n headmenu.add_command(label='" + name + "', command=lambda: moveHead2(" + pitchSave + ", " + yawSave + "))")
##
## f = open("allTogetherNAO.py", "w")
## contents = "".join(contents)
## f.write(contents)
## f.close()
##
##
##
## # SAVE AS (HEAD)
## saveAs1 = Label(content, text="Save as:")
## ensaveAs1 = Entry(content)
## bSave1 = Button(content, text="Save", width=10, command=saveAsH)
##_________________________________LEFT ARM STUFF______________________________________##
def moveLeftArm():
shoulderPitch = enLSpitch.get()
shoulderRoll = enLSroll.get()
elbowYaw = enLEyaw.get()
elbowRoll = enLEroll.get()
wristYaw = enLWyaw.get()
motionProxy.setStiffnesses("LArm", 1.0)
names = ["LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll", "LWristYaw"]
angles = [float(shoulderPitch)*almath.TO_RAD, float(shoulderRoll)*almath.TO_RAD, float(elbowYaw)*almath.TO_RAD, float(elbowRoll)*almath.TO_RAD, float(wristYaw)*almath.TO_RAD]
fractionMaxSpeed = 0.2
motionProxy.setAngles(names, angles, fractionMaxSpeed)
def moveLeftArm2(shoulderPitch, shoulderRoll, elbowYaw, elbowRoll, wristYaw):
motionProxy.setStiffnesses("LArm", 1.0)
names = ["LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll", "LWristYaw"]
angles = [float(shoulderPitch)*almath.TO_RAD, float(shoulderRoll)*almath.TO_RAD, float(elbowYaw)*almath.TO_RAD, float(elbowRoll)*almath.TO_RAD, float(wristYaw)*almath.TO_RAD]
fractionMaxSpeed = 0.2
motionProxy.setAngles(names, angles, fractionMaxSpeed)
# LEFT ARM
LSpitch = Label(content, text="Left Shoulder pitch: ")
enLSpitch = Entry(content)
LSroll = Label(content, text="Left Shoulder roll: ")
enLSroll = Entry(content)
LEyaw = Label(content, text="Left Elbow yaw: ")
enLEyaw = Entry(content)
LEroll = Label(content, text="Left Elbow roll: ")
enLEroll = Entry(content)
LWyaw = Label(content, text="Left Wrist yaw: ")
enLWyaw = Entry(content)
apply2 = Button(content, text="APPLY", width=10, command=moveLeftArm)
## def saveAsLA():
## menuPlace = 584
## shoulderPitchSave = enLSpitch.get()
## shoulderRollSave = enLSroll.get()
## elbowYawSave = enLEyaw.get()
## elbowRollSave = enLEroll.get()
## wristYawSave = enLWyaw.get()
## name = ensaveAs2.get()
##
## f = open("allTogetherNAO.py", "r")
## contents = f.readlines()
## f.close()
## contents.insert(menuPlace, "\n leftarmmenu.add_separator() \n leftarmmenu.add_command(label='" + name + "', command=lambda: moveLeftArm2(" + shoulderPitchSave + ", " + shoulderRollSave + ", " + elbowYawSave + ", " + elbowRollSave + ", " + wristYawSave + "))")
##
## f = open("allTogetherNAO.py", "w")
## contents = "".join(contents)
## f.write(contents)
## f.close()
##
##
##
## # SAVE AS (RIGHT ARM)
## saveAs2 = Label(content, text="Save as:")
## ensaveAs2 = Entry(content)
## bSave2 = Button(content, text="Save", width=10, command=saveAsLA)
##_________________________________RIGHT ARM STUFF______________________________________##
def moveRightArm():
shoulderPitch = enRSpitch.get()
shoulderRoll = enRSroll.get()
elbowYaw = enREyaw.get()
elbowRoll = enREroll.get()
wristYaw = enRWyaw.get()
motionProxy.setStiffnesses("RArm", 1.0)
names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw"]
angles = [float(shoulderPitch)*almath.TO_RAD, float(shoulderRoll)*almath.TO_RAD, float(elbowYaw)*almath.TO_RAD, float(elbowRoll)*almath.TO_RAD, float(wristYaw)*almath.TO_RAD]
fractionMaxSpeed = 0.2
motionProxy.setAngles(names, angles, fractionMaxSpeed)
#time.sleep(3.0)
#motionProxy.setStiffnesses("LArm", 0.0)
def moveRightArm2(shoulderPitch, shoulderRoll, elbowYaw, elbowRoll, wristYaw):
motionProxy.setStiffnesses("RArm", 1.0)
names = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw"]
angles = [float(shoulderPitch)*almath.TO_RAD, float(shoulderRoll)*almath.TO_RAD, float(elbowYaw)*almath.TO_RAD, float(elbowRoll)*almath.TO_RAD, float(wristYaw)*almath.TO_RAD]
fractionMaxSpeed = 0.2
motionProxy.setAngles(names, angles, fractionMaxSpeed)
#time.sleep(3.0)
#motionProxy.setStiffnesses("LArm", 0.0)
# RIGHT ARM
RSpitch = Label(content, text="Right Shoulder pitch: ")
enRSpitch = Entry(content)
RSroll = Label(content, text="Right Shoulder roll: ")
enRSroll = Entry(content)
REyaw = Label(content, text="Right Elbow yaw: ")
enREyaw = Entry(content)
REroll = Label(content, text="Right Elbow roll: ")
enREroll = Entry(content)
RWyaw = Label(content, text="Right Wrist yaw: ")
enRWyaw = Entry(content)
apply3 = Button(content, text="APPLY", width=10, command=moveRightArm)
## def saveAsRA():
## menuPlace = 609
## shoulderPitchSave = enRSpitch.get()
## shoulderRollSave = enRSroll.get()
## elbowYawSave = enREyaw.get()
## elbowRollSave = enREroll.get()
## wristYawSave = enRWyaw.get()
## name = ensaveAs3.get()
##
##
## f = open("allTogetherNAO.py", "r")
## contents = f.readlines()
## f.close()
##
## contents.insert(menuPlace, "\n rightarmmenu.add_separator() \n rightarmmenu.add_command(label='" + name + "', command=lambda: moveRightArm2(" + shoulderPitchSave
## + ", " + shoulderRollSave + ", " + elbowYawSave + ", " + elbowRollSave + ", " + wristYawSave + "))")
##
## f = open("allTogetherNAO.py", "w")
## contents = "".join(content)
## f.write(content)
## f.close()
##
##
## # SAVE AS (RIGHT ARM)
## saveAs3 = Label(content, text="Save as:")
## ensaveAs3 = Entry(content)
## bSave3 = Button(content, text="Save", width=10, command=saveAsRA)
##_________________________________FULL BODY STUFF______________________________________##
def moveBody():
pitch = enHpitch.get()
yaw = enHyaw.get()
lshoulderPitch = enLSpitch.get()
lshoulderRoll = enLSroll.get()
lelbowYaw = enLEyaw.get()
lelbowRoll = enLEroll.get()
lwristYaw = enLWyaw.get()
rshoulderPitch = enRSpitch.get()
rshoulderRoll = enRSroll.get()
relbowYaw = enREyaw.get()
relbowRoll = enREroll.get()
rwristYaw = enRWyaw.get()
motionProxy.setStiffnesses("Body", 1.0)
names = ["HeadYaw", "HeadPitch", "LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll",
"LWristYaw", "RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw"]
angles = [float(yaw)*almath.TO_RAD, float(pitch)*almath.TO_RAD,
float(lshoulderPitch)*almath.TO_RAD, float(lshoulderRoll)*almath.TO_RAD, float(lelbowYaw)*almath.TO_RAD, float(lelbowRoll)*almath.TO_RAD, float(lwristYaw)*almath.TO_RAD,
float(rshoulderPitch)*almath.TO_RAD, float(rshoulderRoll)*almath.TO_RAD, float(relbowYaw)*almath.TO_RAD, float(relbowRoll)*almath.TO_RAD, float(rwristYaw)*almath.TO_RAD]
fractionMaxSpeed = 0.2
motionProxy.setAngles(names, angles, fractionMaxSpeed)
def moveBody2(yaw, pitch, lshoulderPitch, lshoulderRoll, lelbowYaw, lelbowRoll, lwristYaw,rshoulderPitch, rshoulderRoll, relbowYaw, relbowRoll, rwristYaw):
motionProxy.setStiffnesses("Body", 1.0)
names = ["HeadYaw", "HeadPitch", "LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll",
"LWristYaw", "RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw"]
angles = [float(yaw)*almath.TO_RAD, float(pitch)*almath.TO_RAD,
float(lshoulderPitch)*almath.TO_RAD, float(lshoulderRoll)*almath.TO_RAD, float(lelbowYaw)*almath.TO_RAD, float(lelbowRoll)*almath.TO_RAD, float(lwristYaw)*almath.TO_RAD,
float(rshoulderPitch)*almath.TO_RAD, float(rshoulderRoll)*almath.TO_RAD, float(relbowYaw)*almath.TO_RAD, float(relbowRoll)*almath.TO_RAD, float(rwristYaw)*almath.TO_RAD]
fractionMaxSpeed = 0.2
motionProxy.setAngles(names, angles, fractionMaxSpeed)
applyAll = Button(content, text="APPLY ALL", width=10, command=moveBody)
##________________________________HANDS______________________________________##
def openRHand():
motionProxy.openHand('RHand')
def closeRHand():
motionProxy.closeHand('RHand')
def openLHand():
motionProxy.openHand('LHand')
def closeLHand():
motionProxy.openHand('LHand')
def openHands():
openRHand()
openLHand()
def closeHands():
closeRHand()
closeLHand()
##_________________________________REALISTIC GESTURES______________________________________##
def yawnAndStretch():
names = ["HeadYaw", "HeadPitch",
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll","LWristYaw", "LHand",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
angleLists = [[0.0*almath.TO_RAD, 15.5*almath.TO_RAD, 0.0*almath.TO_RAD],
[-11.5*almath.TO_RAD, 18.3*almath.TO_RAD, -30.5*almath.TO_RAD],
[-41.9*almath.TO_RAD, -119.5*almath.TO_RAD, -89.8*almath.TO_RAD],
[29.9*almath.TO_RAD, 18.4*almath.TO_RAD, 61.4*almath.TO_RAD],
[-52.4*almath.TO_RAD, -19.4*almath.TO_RAD, -45.3*almath.TO_RAD],
[-88.5*almath.TO_RAD, -84.4*almath.TO_RAD, -2.0*almath.TO_RAD],
[-51.1*almath.TO_RAD, -44.5*almath.TO_RAD, 4.2*almath.TO_RAD],
[0],
[-55.7*almath.TO_RAD, -110.1*almath.TO_RAD, -62.4*almath.TO_RAD],
[-35.2*almath.TO_RAD, -23.7*almath.TO_RAD, -61.8*almath.TO_RAD],
[33.8*almath.TO_RAD, 23.6*almath.TO_RAD, 59.6*almath.TO_RAD],
[88.5*almath.TO_RAD, 88.2*almath.TO_RAD, 2.4*almath.TO_RAD],
[61.7*almath.TO_RAD, 58.9*almath.TO_RAD, 18.6*almath.TO_RAD],
[0]]
timeLists = [[1.5, 3.5, 5.5],
[1.5, 3.5, 5.5],
[1.5, 3.5, 5.5],
[1.5, 3.5, 5.5],
[1.5, 3.5, 5.5],
[1.5, 3.5, 5.5],
[1.5, 3.5, 5.5],
[1.5],
[1.5, 3.5, 5.5],
[1.5, 3.5, 5.5],
[1.5, 3.5, 5.5],
[1.5, 3.5, 5.5],
[1.5, 3.5, 5.5],
[1.5]]
isAbsolute = True
# the post is so it happens at the same time as the speech
motionProxy.post.angleInterpolation(names, angleLists, timeLists, isAbsolute)
## tts.say("eawyn")
time.sleep(1.0)
crouch()
def lookAtNailsLeft():
names = ["HeadYaw", "HeadPitch",
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll","LWristYaw", "LHand",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
angleLists = [[0.0*almath.TO_RAD, 15.7*almath.TO_RAD],
[0.0*almath.TO_RAD, -17.4*almath.TO_RAD],
[81.0*almath.TO_RAD, -8.9*almath.TO_RAD],
[8.0*almath.TO_RAD, 2.9*almath.TO_RAD],
[-45.0*almath.TO_RAD, -60.2*almath.TO_RAD],
[-60.0*almath.TO_RAD, -88.7*almath.TO_RAD],
[8.7*almath.TO_RAD, -56.6*almath.TO_RAD, 84.6*almath.TO_RAD],
[0, 1],
[81.0*almath.TO_RAD],
[-7.0*almath.TO_RAD],
[45.0*almath.TO_RAD],
[60.0*almath.TO_RAD],
[-10.6*almath.TO_RAD],
[0]]
timeLists = [[0.5, 2.0],
[0.5, 2.0],
[0.5, 2.0],
[0.5, 2.0],
[0.5, 2.0],
[0.5, 2.0],
[0.5, 2.0, 3.0],
[0.5, 2.0],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5]]
isAbsolute = True
# the post is so it happens at the same time as the speech
motionProxy.post.angleInterpolation(names, angleLists, timeLists, isAbsolute)
## tts.say("hum")
time.sleep(1.0)
crouch()
def lookAtNailsRight():
names = ["HeadYaw", "HeadPitch",
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll","LWristYaw", "LHand",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
angleLists = [[0.0*almath.TO_RAD, -5.7*almath.TO_RAD],
[0.0*almath.TO_RAD, 17.4*almath.TO_RAD],
[79.0*almath.TO_RAD],
[10.0*almath.TO_RAD],
[-47.0*almath.TO_RAD],
[-60.0*almath.TO_RAD],
[8.0*almath.TO_RAD],
[0],
[81.0*almath.TO_RAD, 48.9*almath.TO_RAD],
[-7.0*almath.TO_RAD, -2.9*almath.TO_RAD],
[45.0*almath.TO_RAD, 60.2*almath.TO_RAD],
[60.0*almath.TO_RAD, 88.7*almath.TO_RAD],
[1.0*almath.TO_RAD, 56.6*almath.TO_RAD, -104.6*almath.TO_RAD],
[0, 1]]
timeLists = [[0.5, 2.0],
[0.5, 2.0],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5, 2.0],
[0.5, 2.0],
[0.5, 2.0],
[0.5, 2.0],
[0.5, 2.0, 3.0],
[0.5, 3.0]]
isAbsolute = True
# the post is so it happens at the same time as the speech
motionProxy.post.angleInterpolation(names, angleLists, timeLists, isAbsolute)
## tts.say("hum")
time.sleep(1.0)
crouch()
def handOutLeft():
names = ["HeadYaw", "HeadPitch",
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll","LWristYaw", "LHand",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
angleLists = [[0.0*almath.TO_RAD],
[0.0*almath.TO_RAD],
[62.1*almath.TO_RAD],
[-1.2*almath.TO_RAD],
[-110.7*almath.TO_RAD],
[-49.2*almath.TO_RAD],
[-69.8*almath.TO_RAD],
[1],
[80.7*almath.TO_RAD],
[0.2*almath.TO_RAD],
[54.8*almath.TO_RAD],
[49.6*almath.TO_RAD],
[4.3*almath.TO_RAD],
[0]]
timeLists = [[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[1.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5]]
isAbsolute = True
# the post is so it happens at the same time as the speech
motionProxy.post.angleInterpolation(names, angleLists, timeLists, isAbsolute)
## tts.say("She ran three kilometers")
time.sleep(1.0)
crouch()
def handOutRight():
names = ["HeadYaw", "HeadPitch",
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll","LWristYaw", "LHand",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
angleLists = [[0.0*almath.TO_RAD],
[0.0*almath.TO_RAD],
[79.8*almath.TO_RAD],
[5.1*almath.TO_RAD],
[-52.5*almath.TO_RAD],
[-46.8*almath.TO_RAD],
[-26.6*almath.TO_RAD],
[0],
[66.5*almath.TO_RAD],
[4.5*almath.TO_RAD],
[109.5*almath.TO_RAD],
[66.1*almath.TO_RAD],
[71.8*almath.TO_RAD],
[1]]
#*almath.TO_RAD
timeLists = [[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[1.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5]]
isAbsolute = True
# the post is so it happens at the same time as the speech
motionProxy.post.angleInterpolation(names, angleLists, timeLists, isAbsolute)
## tts.say("So in 18 minutes she will be 6 kilometers away.")
time.sleep(1.0)
crouch()
def largeShrug():
names = ["HeadYaw", "HeadPitch",
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll","LWristYaw", "LHand",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
angleLists = [[0.0*almath.TO_RAD],
[0.0*almath.TO_RAD],
[65.0*almath.TO_RAD, 65.0*almath.TO_RAD],
[-4.0*almath.TO_RAD, -4.0*almath.TO_RAD],
[-119.8*almath.TO_RAD, -119.8*almath.TO_RAD],
[-79.8*almath.TO_RAD, -79.8*almath.TO_RAD],
[-49.6*almath.TO_RAD, -49.6*almath.TO_RAD],
[1],
[65.0*almath.TO_RAD, 65.0*almath.TO_RAD],
[4.0*almath.TO_RAD, 4.0*almath.TO_RAD],
[119.8*almath.TO_RAD, 119.8*almath.TO_RAD],
[79.8*almath.TO_RAD, 79.8*almath.TO_RAD],
[49.6*almath.TO_RAD, 49.6*almath.TO_RAD],
[1]]
#*almath.TO_RAD
timeLists = [[0.5],
[0.5],
[0.5, 1.5],
[0.5, 1.5],
[0.5, 1.5],
[0.5, 1.5],
[0.5, 1.5],
[0.5],
[0.5, 1.5],
[0.5, 1.5],
[0.5, 1.5],
[0.5, 1.5],
[0.5, 1.5],
[0.5]]
isAbsolute = True
# the post is so it happens at the same time as the speech
motionProxy.post.angleInterpolation(names, angleLists, timeLists, isAbsolute)
## tts.say("I don't know how to solve it")
time.sleep(1.0)
crouch()
def handsOnHips():
names = ["HeadYaw", "HeadPitch",
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll","LWristYaw", "LHand",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
angleLists = [[0.0*almath.TO_RAD],
[0.0*almath.TO_RAD],
[75.0*almath.TO_RAD],
[27.0*almath.TO_RAD],
[-5.8*almath.TO_RAD],
[-86.8*almath.TO_RAD],
[0.6*almath.TO_RAD],
[0],
[84.0*almath.TO_RAD],
[-29.9*almath.TO_RAD],
[18.5*almath.TO_RAD],
[79.2*almath.TO_RAD],
[1.8*almath.TO_RAD],
[0]]
#*almath.TO_RAD
timeLists = [[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5]]
isAbsolute = True
# the post is so it happens at the same time as the speech
motionProxy.post.angleInterpolation(names, angleLists, timeLists, isAbsolute)
## tts.say("I think I know what to do!")
time.sleep(1.0)
crouch()
def waveLeft():
names = ["HeadYaw", "HeadPitch",
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll","LWristYaw", "LHand",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
angleLists = [[0.0*almath.TO_RAD],
[0.0*almath.TO_RAD],
[-2.3*almath.TO_RAD],
[18.4*almath.TO_RAD],
[-73.5*almath.TO_RAD, -112.5*almath.TO_RAD, -73.5*almath.TO_RAD, -112.5*almath.TO_RAD],
[-85.8*almath.TO_RAD],
[42.2*almath.TO_RAD],
[1],
[80.8*almath.TO_RAD],
[-8.4*almath.TO_RAD],
[45.1*almath.TO_RAD],
[60.2*almath.TO_RAD],
[-10.8*almath.TO_RAD],
[0]]
timeLists = [[0.5],
[0.5],
[0.5],
[0.5],
[0.5, 1.0, 1.5, 2.0],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5]]
isAbsolute = True
# the post is so it happens at the same time as the speech
motionProxy.post.angleInterpolation(names, angleLists, timeLists, isAbsolute)
## tts.say("Hello! Nice to meet you.")
time.sleep(1.0)
crouch()
def waveRight():
names = ["HeadYaw", "HeadPitch",
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll","LWristYaw", "LHand",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
angleLists = [[0.0*almath.TO_RAD],
[0.0*almath.TO_RAD],
[80.0*almath.TO_RAD],
[6.5*almath.TO_RAD],
[-46.8*almath.TO_RAD],
[-57.8*almath.TO_RAD],
[7.6*almath.TO_RAD],
[0],
[2.3*almath.TO_RAD],
[-18.9*almath.TO_RAD],
[73.5*almath.TO_RAD, 112.5*almath.TO_RAD, 73.5*almath.TO_RAD, 112.5*almath.TO_RAD],
[86.2*almath.TO_RAD],
[-66.8*almath.TO_RAD],
[1]]
timeLists = [[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5, 1.0, 1.5, 2.0],
[0.5],
[0.5],
[0.5]]
isAbsolute = True
# the post is so it happens at the same time as the speech
motionProxy.post.angleInterpolation(names, angleLists, timeLists, isAbsolute)
## tts.say("Hello! Nice to meet you.")
time.sleep(1.0)
crouch()
def nodYes():
names = ["HeadYaw", "HeadPitch",
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll","LWristYaw", "LHand",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
angleLists = [[0.0*almath.TO_RAD],
[11.3*almath.TO_RAD, -11.3*almath.TO_RAD, 11.3*almath.TO_RAD, -11.3*almath.TO_RAD, 0.0*almath.TO_RAD],
[80.9*almath.TO_RAD],
[8.3*almath.TO_RAD],
[-45.3*almath.TO_RAD],
[-60.4*almath.TO_RAD],
[8.7*almath.TO_RAD],
[0],
[80.8*almath.TO_RAD],
[-8.4*almath.TO_RAD],
[45.1*almath.TO_RAD],
[60.1*almath.TO_RAD],
[-10.6*almath.TO_RAD],
[0]]
#*almath.TO_RAD
timeLists = [[0.5],
[0.5, 1.0, 1.5, 2.0, 2.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[1.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5]]
isAbsolute = True
# the post is so it happens at the same time as the speech
motionProxy.post.angleInterpolation(names, angleLists, timeLists, isAbsolute)
## tts.say("Yes, I agree")
time.sleep(1.0)
def shakeNo():
names = ["HeadYaw", "HeadPitch",
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll","LWristYaw", "LHand",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
angleLists = [[18.3*almath.TO_RAD, -18.3*almath.TO_RAD, 18.3*almath.TO_RAD, -18.3*almath.TO_RAD, 0.0*almath.TO_RAD],
[0.0*almath.TO_RAD],
[80.9*almath.TO_RAD],
[8.3*almath.TO_RAD],
[-45.3*almath.TO_RAD],
[-60.4*almath.TO_RAD],
[8.7*almath.TO_RAD],
[0],
[80.8*almath.TO_RAD],
[-8.4*almath.TO_RAD],
[45.1*almath.TO_RAD],
[60.1*almath.TO_RAD],
[-10.6*almath.TO_RAD],
[0]]
#*almath.TO_RAD
timeLists = [[0.5, 1.0, 1.5, 2.0, 2.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[1.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5]]
isAbsolute = True
# the post is so it happens at the same time as the speech
motionProxy.post.angleInterpolation(names, angleLists, timeLists, isAbsolute)
## tts.say("I don't think that's right")
time.sleep(1.0)
def lookLeft():
names = ["HeadYaw", "HeadPitch",
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll","LWristYaw", "LHand",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
angleLists = [[14.3*almath.TO_RAD],
[22.9*almath.TO_RAD],
[39.9*almath.TO_RAD, 49.9*almath.TO_RAD],
[30.2*almath.TO_RAD, 40.9*almath.TO_RAD, 30.2*almath.TO_RAD],
[-60.5*almath.TO_RAD],
[-2.0*almath.TO_RAD],
[28.1*almath.TO_RAD],
[1],
[80.8*almath.TO_RAD],
[-8.4*almath.TO_RAD],
[45.1*almath.TO_RAD],
[60.1*almath.TO_RAD],
[-10.6*almath.TO_RAD],
[0]]
#*almath.TO_RAD
timeLists = [[0.5],
[0.5],
[1.5, 2.5],
[1.5, 2.5, 3.0],
[0.5],
[0.5],
[0.5],
[1.0],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5]]
isAbsolute = True
# the post is so it happens at the same time as the speech
motionProxy.post.angleInterpolation(names, angleLists, timeLists, isAbsolute)
## tts.say("Take a look at the screen here!")
time.sleep(1.0)
crouch()
def lookRight():
names = ["HeadYaw", "HeadPitch",
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll","LWristYaw", "LHand",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
angleLists = [[-14.3*almath.TO_RAD],
[22.9*almath.TO_RAD],
[80.8*almath.TO_RAD],
[8.4*almath.TO_RAD],
[-45.1*almath.TO_RAD],
[-60.1*almath.TO_RAD],
[8.6*almath.TO_RAD],
[0],
[39.9*almath.TO_RAD, 49.9*almath.TO_RAD],
[-30.2*almath.TO_RAD, -40.9*almath.TO_RAD, -30.9*almath.TO_RAD],
[60.5*almath.TO_RAD],
[2.0*almath.TO_RAD],
[-28.1*almath.TO_RAD],
[1]]
timeLists = [[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[0.5],
[1.0],
[1.5, 2.5],
[1.5, 2.5, 3.0],
[0.5],
[0.5],
[0.5],
[0.5]]
isAbsolute = True
# the post is so it happens at the same time as the speech
motionProxy.post.angleInterpolation(names, angleLists, timeLists, isAbsolute)
## tts.say("Take a look at the screen here!")
time.sleep(1.0)
crouch()
def facepalmLeft():
names = ["HeadYaw", "HeadPitch",
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll","LWristYaw", "LHand",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", "RWristYaw", "RHand"]
angleLists = [[0.0*almath.TO_RAD],
[20.0*almath.TO_RAD],
[8.5*almath.TO_RAD, 28.3*almath.TO_RAD],
[-18.2*almath.TO_RAD, -9.1*almath.TO_RAD],
[-59.3*almath.TO_RAD, -101.0*almath.TO_RAD],
[-88.5*almath.TO_RAD, -85.7*almath.TO_RAD],
[-63.4*almath.TO_RAD, -61.2*almath.TO_RAD],
[1],
[80.8*almath.TO_RAD],
[-3.3*almath.TO_RAD],
[50.9*almath.TO_RAD],
[55.1*almath.TO_RAD],
[-5.0*almath.TO_RAD],
[0]]
#*almath.TO_RAD
timeLists = [[0.5],