hubo-yaml

hubo-yaml is a lightweight python script for creating Hubo scripts using a YAML format.

Installation

There are several ways to install hubo-yaml:

• Download the latest version
• Install with git

Usage

Gestures are created in YAML files. File name does not matter.

To create a gesture name the tag and specify the joints and their positions:

my-gesture:
  RSY: 1
  RSP: -1

Multiple Gestures can be run in sequence using the run tag:

hello:
  RSY: 1
  RSP: -1

good-bye:
  LKP: 1

run:
  - hello
  - good-bye

This tag is required to run a YAML script. Gestures will be run in the order of the list. They can also be repeated.

To specify units use the units tag:

units: deg

  hello:
    RSY: 45
    RSP: 30

The deg tag is used for degrees and rad tag for radians. The script will default to radians if the units tag is not specified.

The waitFor tag can be used to specify which joints the robot should wait to move before going on to another process. This creates more natural-like movements.

hello:
  RSY: 45
  RSP: 30
  waitFor: RSY RSP

Example YAML

A finished YAML script should like this:

units: rad

gesture1:
    RSY: 1
    LSY: 2
    waitFor: RSY LSY

gesture2:
    RSY: -1
    RSR: 1

run:
    - gesture1
    - gesture2

Options

Functions

Function	Sub Tag	Description
units	deg rad	specifies units
waitFor	"list of joints"	waits for joints to move to position
(More Functions coming soon)

Joint List

Hubo has six joints on each side: Shoulder, Hip, Knee, Elbow, Ankle, Wrist, Finger. Joints are defined by standard three letter tags. For most of them the first letter specifies which side the joint is on (Left or Right). The second letter specifies the joint location. And the third specifies roll, pitch, and yaw.

Hubo also has joints that don't follow the standard: Waist, Neck, Finger. Hubo's Neck and Fingers have multiple joints and his Waist only has one. These joint tags are still only three characters.

This table shows the valid joint exceptions:

Tag	Description
WST	Waist joint
NKY	Neck yaw
NK[1-2]	Neck joint (1 or 2)
[L-R]F[1-5]	Finger (Left or Right hand has 5 fingers)

This diagram shows all the valid joint declarations:

Build

• Clone the repository: https://github.com/jhs88/hubo-yaml.git
• Change in the project directory: cd hubo-yaml
• Create YAML script in directory
• Run hubo-yaml.py in Hubo: python hubo-yaml.py [YAML script]