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Commit 9526fda7 authored by Bhavana Nachenahalli Bhuthegowda's avatar Bhavana Nachenahalli Bhuthegowda
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.idea/vcs.xml 0 → 100644
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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$" vcs="Git" />
</component>
</project>
\ No newline at end of file
NB/NB_Dialog.py 0 → 100644
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#! /usr/bin/env python
# -*- encoding: UTF-8 -*-
"""Example: Using ALDialog Methods"""
import qi
import argparse
import sys
def main(session):
"""
This example uses ALDialog methods.
It's a short dialog session with two topics.
"""
# Getting the service ALDialog
ALDialog = session.service("ALDialog")
ALDialog.setLanguage("English")
motion_service = session.service("ALMotion")
# writing topics' qichat code as text strings (end-of-line characters are important!)
topic_content_1 = ('topic: ~example_topic_content()\n'
'language: enu\n'
'include: lexicon_enu.top\n'
'concept:(greetings) ^rand[hi hello "hey there"]\n'
'concept:(wine) [red white] wine\n'
'concept:(alcohol) [beer ~wine]\n'
'concept:(food) [fruits chicken beef eggs tacos anything chocolate mofin]\n'
'u:(~greetings) [~greetings]\n'
'u: (how are you) Hello human, I am fine thank you and you?\n'
'u1: (how are you) Why are you asking again?\n'
'u1:(~im_good) I’m glad to hear that! would you like to know my age?\n'
'u2:(~yes) I am seven years old bitch, and you?\n'
'u3:(~i_am {20} years old) You are too old, Touch my head or hands if you want to play more\n'
'u2:(~no) Thats fine, lets move on, Touch my head or hands if you want to play more\n'
'u1:(~im_ok) I’m glad to hear that you are ok, would you like to know my age?\n'
'u2:(~yes) I am seven years old bitch, and you?\n'
'u3:(~i_am {20} years old) You are too old, Touch my head or hands if you want to play more\n'
'u2:(~no) Thats fine, lets move on, Touch my head or hands if you want to play more\n'
'u1:(~i_dont_feel_good) sorry to hear that, would you like to know my age?\n'
'u2:(~yes) I am seven years old bitch, and you?\n'
'u3:(~i_am {20} years old) You are too old, Touch my head or hands if you want to play more\n'
'u2:(~no) Thats fine, lets move on, Touch or hands my head if you want to play more\n'
'u1:(~im_sick) I hope you can recover soon, would you like to know my age?\n'
'u2:(~yes) I am seven years old bitch, and you?\n'
'u3:(~i_am {20} years old) You are too old, Touch my head or hands if you want to play more\n'
'u2:(~no) Thats fine, lets move on, Touch my head or hands if you want to play more\n'
'u1:(~im_tired) you should rest and then you will feel better, would you like to know my age?\n'
'u1:(~im_angry) Why are you angry?\n'
'u:(~i_am hungry) I can bring food, What kind of food do you want?\n'
'u1: (I [want "would like"] {some} _~food) Sure! You must really like $1 .\n'
'u:(I want to drink something) do you want ~alcohol ?\n'
'u: (Good morning Pepper) good morning!\n'
'u:(~i_am happy) I’m glad to hear that!\n'
'u:(I love Pepper) I love you too!\n'
'u:(I hate you) I hate you too!\n'
'u:(I love you) I love you too!\n')
topic_content_2 = ('topic: ~dummy_topic()\n'
'language: enu\n'
'u:(Where are you from) I was designed in Softbank robotics headquarters in Paris\n'
'u:(can_you walk) Do you want me to walk?\n'
'u1:(~yes) Too bad, I can not walk for the moment\n'
'u1:(~no) Let’s do something else then!\n'
'u:(Who am I) You are a student\n'
'u:(Which class is this) Applied computer science project\n'
'u:(What can I ask) ask something interesting\n'
'u:(How old are you) I am seven years old bitch\n'
'u:(tell me your position) Sure. ^call(ALRobotPosture.getPosture())\n'
'c1:(_*) $1\n'
'c1:(crouch) My position is crouch.\n'
'u2:(ok) What about you ?\n'
'u:(Are you a robot) Im not a robot, im Pepper\n')
topic_content_4 = ('topic: ~cats()\n'
'language: enu\n'
'u:(What are you) I am free today!\n'
'u:(Good morning) good morning!\n')
topic_content_3 = ('topic: ~touching()\n'
'language: enu\n'
# 'u: ([e:FaceDetected]) $FaceDetected[1][1][1]\n'
'u: ([e:FrontTactilTouched e:MiddleTactilTouched e:RearTactilTouched]) You touched my head!\n'
'%script\n'
'names = list()\n'
'times = list()\n'
'keys = list()\n'
'names.append("HeadPitch")\n'
'times.append([1.52, 2.36, 3.32, 4.16, 5.08, 5.92, 6.88, 7.72, 8.16, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04, 16.24])\n'
'keys.append([-0.476475, 0.338594, -0.476475, 0.338594, -0.476475, 0.338594, -0.476475, 0.338594, 0.0680678, -0.476475, 0.338594, -0.476475, 0.338594, -0.476475, 0.338594, -0.476475, 0.338594, -0.17185])\n'
'names.append("HeadYaw")\n'
'times.append([1.52, 2.36, 3.32, 4.16, 5.08, 5.92, 6.88, 7.72, 8.16, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04, 16.24])\n'
'keys.append([-0.745256, 0.0411095, -0.745256, 0.0411095, -0.745256, 0.018508, -0.745256, 0.289725, 0.425684, 0.745256, -0.0411095, 0.745256, -0.0411095, 0.745256, -0.018508, 0.745256, -0.289725, 0.00916195])\n'
'names.append("HipPitch")\n'
'times.append([0.68, 1.52, 2.36, 3.32, 4.16, 5.08, 5.92, 6.88, 7.72, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04, 16.24])\n'
'keys.append([-0.376033, -0.036954, -0.344024, -0.0404086, -0.339835, -0.038321, -0.341769, -0.0367355, -0.34817, -0.035085, -0.341769, -0.0382761, -0.339629, -0.0396041, -0.341605, -0.0362713, -0.343065, -0.0495279])\n'
'names.append("HipRoll")\n'
'times.append([1.52, 2.36, 3.32, 4.16, 5.08, 5.92, 6.88, 7.72, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04, 16.24])\n'
'keys.append([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0])\n'
'names.append("KneePitch")\n'
'times.append([0.68, 1.52, 2.36, 3.32, 4.16, 5.08, 5.92, 6.88, 7.72, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04, 16.24])\n'
'keys.append([0.166965, -0.00379234, 0.185949, -0.0129339, 0.180821, -0.00320919, 0.187035, -0.00931236, 0.182162, -0.0111253, 0.187035, -0.00683206, 0.184441, -0.0119436, 0.179202, -0.0114876, 0.187691, -0.013167])\n'
'names.append("LElbowRoll")\n'
'times.append([0.68, 1.04, 1.48, 2.32, 3.28, 4.12, 5.04, 5.88, 6.84, 7.68, 8.12, 8.48, 8.8, 9.2, 9.64, 10.12, 10.6, 11, 11.44, 11.92, 12.36, 12.76, 13.2, 13.68, 14.16, 14.56, 15, 15.6, 16.2, 16.4])\n'
'keys.append([-1.37289, -1.12923, -0.369652, -0.202446, -0.369652, -0.202446, -0.369652, -0.202446, -0.369652, -0.202446, -0.820305, -0.23305, -0.138102, -1.309, -0.257754, -1.4591, -0.138102, -1.309, -0.257754, -1.4591, -0.138102, -1.309, -0.257754, -1.4591, -0.138102, -1.309, -0.257754, -0.984366, -0.513992, -0.424876])\n'
'names.append("LElbowYaw")\n'
'times.append([0.68, 1.48, 2.32, 3.28, 4.12, 5.04, 5.88, 6.84, 7.68, 8.12, 8.48, 8.8, 9.2, 9.64, 10.12, 10.6, 11, 11.44, 11.92, 12.36, 12.76, 13.2, 13.68, 14.16, 14.56, 15, 15.6, 16.2, 16.4])\n'
'keys.append([-0.65506, -0.380475, -0.618244, -0.380475, -0.618244, -0.380475, -0.618244, -0.380475, -0.618244, 0.410152, 0.818273, 0.851412, 0.0750492, 0.00157596, 0.460767, 0.851412, 0.0750492, 0.00157596, 0.460767, 0.851412, 0.0750492, 0.00157596, 0.460767, 0.851412, 0.0750492, 0.00157596, -1.34565, -1.22484, -1.21037])\n'
'names.append("LHand")\n'
'times.append([0.68, 1.04, 1.48, 2.32, 3.28, 4.12, 5.04, 5.88, 6.84, 7.68, 8.48, 8.8, 9.2, 9.64, 10.12, 10.6, 11, 11.44, 11.92, 12.36, 12.76, 13.2, 13.68, 14.16, 14.56, 15, 15.6, 16.2, 16.4])\n'
'keys.append([0.2, 0.6, 0.2648, 0.264, 0.2648, 0.264, 0.2648, 0.264, 0.2648, 0.264, 0.663802, 0.928, 0.3, 0.0283999, 0.75, 0.928, 0.3, 0.0283999, 0.75, 0.928, 0.3, 0.0283999, 0.75, 0.928, 0.3, 0.5284, 0.936396, 0.950347, 0.2968])\n'
'names.append("LShoulderPitch")\n'
'times.append([0.68, 1.48, 2.32, 3.28, 4.12, 5.04, 5.88, 6.84, 7.68, 8.12, 8.48, 8.8, 9.64, 10.6, 11.44, 12.36, 13.2, 14.16, 15, 16.4])\n'
'keys.append([0.97784, 1.29573, 1.40466, 1.29573, 1.40466, 1.29573, 1.40466, 1.29573, 1.40466, 0.172788, -1.04904, -1.19188, 0.995607, -1.19188, 0.995607, -1.19188, 0.995607, -1.19188, 0.995607, 1.47106])\n'
'names.append("LShoulderRoll")\n'
'times.append([0.68, 1.48, 2.32, 3.28, 4.12, 5.04, 5.88, 6.84, 7.68, 8.48, 8.8, 9.2, 9.64, 10.12, 10.6, 11, 11.44, 11.92, 12.36, 12.76, 13.2, 13.68, 14.16, 14.56, 15, 15.6, 16.2])\n'
'keys.append([0.500047, 0.401871, 0.35585, 0.401871, 0.35585, 0.401871, 0.35585, 0.401871, 0.35585, 0.886453, 0.966481, 1.23332, 0.324005, 1.23332, 0.966481, 1.23332, 0.324005, 1.23332, 0.966481, 1.23332, 0.324005, 1.23332, 0.966481, 1.23332, 0.324005, 0.407503, 0.146991])\n'
'names.append("LWristYaw")\n'
'times.append([0.68, 1.04, 1.48, 2.32, 3.28, 4.12, 5.04, 5.88, 6.84, 7.68, 8.48, 8.8, 9.64, 10.6, 11.44, 12.36, 13.2, 14.16, 15, 16.2, 16.4])\n'
'keys.append([0.11961, -0.289725, -0.395814, -0.420357, -0.395814, -0.420357, -0.395814, -0.420357, -0.395814, -0.420357, -0.122946, -0.107338, -0.400331, -0.107338, -0.400331, -0.107338, -0.400331, -0.107338, -0.400331, 0.000370312, 0.0827939])\n'
'names.append("RElbowRoll")\n'
'times.append([0.68, 1.08, 1.52, 1.92, 2.36, 2.84, 3.32, 3.72, 4.16, 4.64, 5.08, 5.48, 5.92, 6.4, 6.88, 7.28, 7.72, 8.52, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04, 15.64, 16.24, 16.44])\n'
'keys.append([1.34689, 1.1205, 0.138102, 1.309, 0.257754, 1.4591, 0.138102, 1.309, 0.257754, 1.4591, 0.138102, 1.309, 0.257754, 1.4591, 0.138102, 1.309, 0.257754, 0.372085, 0.369652, 0.202446, 0.369652, 0.202446, 0.369652, 0.202446, 0.369652, 0.202446, 0.82205, 0.519567, 0.429562])\n'
'names.append("RElbowYaw")\n'
'times.append([0.68, 1.08, 1.52, 1.92, 2.36, 2.84, 3.32, 3.72, 4.16, 4.64, 5.08, 5.48, 5.92, 6.4, 6.88, 7.28, 7.72, 8.52, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04, 15.64, 16.24, 16.44])\n'
'keys.append([0.59515, 0.567232, -0.851412, -0.0750492, -0.00157596, -0.460767, -0.851412, -0.0750492, -0.00157596, -0.460767, -0.851412, -0.0750492, -0.00157596, -0.460767, -0.851412, -0.0750492, -0.00157596, 0.352279, 0.380475, 0.618244, 0.380475, 0.618244, 0.380475, 0.618244, 0.380475, 0.618244, 1.26711, 1.23132, 1.21028])\n'
'names.append("RHand")\n'
'times.append([0.68, 1.08, 1.52, 1.92, 2.36, 2.84, 3.32, 3.72, 4.16, 4.64, 5.08, 5.48, 5.92, 6.4, 6.88, 7.28, 7.72, 8.52, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04, 16.24, 16.44])\n'
'keys.append([0.2, 0.95, 0.928, 0.3, 0.0283999, 0.75, 0.928, 0.3, 0.0283999, 0.75, 0.928, 0.3, 0.0283999, 0.75, 0.928, 0.3, 0.5284, 0.271478, 0.2648, 0.264, 0.2648, 0.264, 0.2648, 0.264, 0.2648, 0.264, 0.596785, 0.2976])\n'
'names.append("RShoulderPitch")\n'
'times.append([0.68, 1.52, 2.36, 3.32, 4.16, 5.08, 5.92, 6.88, 7.72, 8.52, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04, 16.24])\n'
'keys.append([0.915841, -1.19188, 0.995607, -1.19188, 0.995607, -1.19188, 0.995607, -1.19188, 0.995607, 1.281, 1.29573, 1.40466, 1.29573, 1.40466, 1.29573, 1.40466, 1.29573, 1.40466, 1.47268])\n'
'names.append("RShoulderRoll")\n'
'times.append([0.68, 1.08, 1.52, 1.92, 2.36, 2.84, 3.32, 3.72, 4.16, 4.64, 5.08, 5.48, 5.92, 6.4, 6.88, 7.28, 7.72, 8.52, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04, 15.64, 16.44])\n'
'keys.append([-0.905123, -1.30837, -0.966481, -1.23332, -0.324005, -1.23332, -0.966481, -1.23332, -0.324005, -1.23332, -0.966481, -1.23332, -0.324005, -1.23332, -0.966481, -1.23332, -0.324005, -0.397371, -0.401871, -0.35585, -0.401871, -0.35585, -0.401871, -0.35585, -0.401871, -0.35585, -0.310669, -0.174533])\n'
'names.append("RWristYaw")\n'
'times.append([0.68, 1.52, 2.36, 3.32, 4.16, 5.08, 5.92, 6.88, 7.72, 8.52, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04, 16.24, 16.44])\n'
'keys.append([-0.401949, 0.107338, 0.400331, 0.107338, 0.400331, 0.107338, 0.400331, 0.107338, 0.400331, 0.391888, 0.395814, 0.420357, 0.395814, 0.420357, 0.395814, 0.420357, 0.395814, 0.420357, 0.00501826, 0.108872])\n'
'ALMotion.angleInterpolation(names, keys, times, True)\n'
'%script\n'
'u1:(~yes) Nice! Do you want me to dance?\n'
'u2:(~yes) Sure! ^call(dance())\n'
'u2:(~no) ok, lets move on\n'
'u1:(~no) Its fine, Do you want me to dance?\n'
'u2:(~yes) Sure! ^call(dance())\n'
# 'u2:(~yes) Sure! ^call(ALMotion.setAngles(["HeadYaw"],[1.52, 2.36, 3.32, 4.16, 5.08],[-0.476475,0.338594,-0.476475,0.338594,-0.476475],True))\n'
'u2:(~no) ok, lets move on\n'
'u: ([e:HandRightBackTouched e:HandLeftBackTouched]) You touched my hands Are you hungry?\n'
'u1:(~i_am hungry) I can bring food, What kind of food do you want?\n'
'u2: (I [want "would like"] {some} _~food) Sure! You must really like $1 .\n'
'u2: (~food) Sure! You must really like $1\n'
'u1:(~yes) I can bring food, What kind of food do you want?\n'
'u2: (I [want "would like"] {some} _~food) Sure! You must really like $1. where are you from?\n'
'u3:(~i_am from {Norway}) Im so sorry for you\n'
'u1:(~no) ok, where are you from?\n'
'u2:(~i_am from {Norway}) Im so sorry for you\n'
'u: (Nice dance) Thank you\n')
#ALDialog.unloadTopic("cats")
#ALDialog.unloadTopic("cats2")
#ALDialog.unloadTopic("cats3")
#ALDialog.unloadTopic("cats4")
#ALDialog.unloadTopic("cats5")
# Loading the topics directly as text strings
#topic_name_1 = ALDialog.loadTopicContent(topic_content_1)
#topic_name_2 = ALDialog.loadTopicContent(topic_content_2)
#topic_name_3 = ALDialog.loadTopicContent(topic_content_3)
topic_name_4 = ALDialog.loadTopicContent(topic_content_4)
# Activating the loaded topics
#ALDialog.activateTopic(topic_name_1)
#ALDialog.activateTopic(topic_name_2)
#ALDialog.activateTopic(topic_name_3)
ALDialog.activateTopic(topic_name_4)
print(ALDialog.getAllLoadedTopics())
# Starting the dialog engine - we need to type an arbitrary string as the identifier
# We subscribe only ONCE, regardless of the number of topics we have activated
ALDialog.subscribe('my_dialog_example')
try:
raw_input("\nSpeak to the robot using rules from both the activated topics. Press Enter when finished:")
finally:
# stopping the dialog engine
ALDialog.unsubscribe('my_dialog_example')
# Deactivating all topics
#ALDialog.deactivateTopic(topic_name_1)
#ALDialog.deactivateTopic(topic_name_2)
#ALDialog.deactivateTopic(topic_name_3)
ALDialog.deactivateTopic(topic_name_4)
# now that the dialog engine is stopped and there are no more activated topics,
# we can unload all topics and free the associated memory
#ALDialog.unloadTopic(topic_name_1)
#ALDialog.unloadTopic(topic_name_2)
#ALDialog.unloadTopic(topic_name_3)
ALDialog.unloadTopic(topic_name_4)
print(ALDialog.getAllLoadedTopics())
def dance():
names = list()
times = list()
keys = list()
motion_service = session.service("ALMotion")
names.append("HeadPitch")
times.append(
[1.52, 2.36, 3.32, 4.16, 5.08, 5.92, 6.88, 7.72, 8.16, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04,
16.24])
keys.append(
[-0.476475, 0.338594, -0.476475, 0.338594, -0.476475, 0.338594, -0.476475, 0.338594, 0.0680678, -0.476475,
0.338594, -0.476475, 0.338594, -0.476475, 0.338594, -0.476475, 0.338594, -0.17185])
names.append("HeadYaw")
times.append(
[1.52, 2.36, 3.32, 4.16, 5.08, 5.92, 6.88, 7.72, 8.16, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04,
16.24])
keys.append(
[-0.745256, 0.0411095, -0.745256, 0.0411095, -0.745256, 0.018508, -0.745256, 0.289725, 0.425684, 0.745256,
-0.0411095, 0.745256, -0.0411095, 0.745256, -0.018508, 0.745256, -0.289725, 0.00916195])
names.append("HipPitch")
times.append(
[0.68, 1.52, 2.36, 3.32, 4.16, 5.08, 5.92, 6.88, 7.72, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04,
16.24])
keys.append(
[-0.376033, -0.036954, -0.344024, -0.0404086, -0.339835, -0.038321, -0.341769, -0.0367355, -0.34817, -0.035085,
-0.341769, -0.0382761, -0.339629, -0.0396041, -0.341605, -0.0362713, -0.343065, -0.0495279])
names.append("HipRoll")
times.append(
[1.52, 2.36, 3.32, 4.16, 5.08, 5.92, 6.88, 7.72, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04, 16.24])
keys.append([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0])
names.append("KneePitch")
times.append(
[0.68, 1.52, 2.36, 3.32, 4.16, 5.08, 5.92, 6.88, 7.72, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04,
16.24])
keys.append([0.166965, -0.00379234, 0.185949, -0.0129339, 0.180821, -0.00320919, 0.187035, -0.00931236, 0.182162,
-0.0111253, 0.187035, -0.00683206, 0.184441, -0.0119436, 0.179202, -0.0114876, 0.187691, -0.013167])
names.append("LElbowRoll")
times.append(
[0.68, 1.04, 1.48, 2.32, 3.28, 4.12, 5.04, 5.88, 6.84, 7.68, 8.12, 8.48, 8.8, 9.2, 9.64, 10.12, 10.6, 11, 11.44,
11.92, 12.36, 12.76, 13.2, 13.68, 14.16, 14.56, 15, 15.6, 16.2, 16.4])
keys.append(
[-1.37289, -1.12923, -0.369652, -0.202446, -0.369652, -0.202446, -0.369652, -0.202446, -0.369652, -0.202446,
-0.820305, -0.23305, -0.138102, -1.309, -0.257754, -1.4591, -0.138102, -1.309, -0.257754, -1.4591, -0.138102,
-1.309, -0.257754, -1.4591, -0.138102, -1.309, -0.257754, -0.984366, -0.513992, -0.424876])
names.append("LElbowYaw")
times.append(
[0.68, 1.48, 2.32, 3.28, 4.12, 5.04, 5.88, 6.84, 7.68, 8.12, 8.48, 8.8, 9.2, 9.64, 10.12, 10.6, 11, 11.44,
11.92, 12.36, 12.76, 13.2, 13.68, 14.16, 14.56, 15, 15.6, 16.2, 16.4])
keys.append(
[-0.65506, -0.380475, -0.618244, -0.380475, -0.618244, -0.380475, -0.618244, -0.380475, -0.618244, 0.410152,
0.818273, 0.851412, 0.0750492, 0.00157596, 0.460767, 0.851412, 0.0750492, 0.00157596, 0.460767, 0.851412,
0.0750492, 0.00157596, 0.460767, 0.851412, 0.0750492, 0.00157596, -1.34565, -1.22484, -1.21037])
names.append("LHand")
times.append(
[0.68, 1.04, 1.48, 2.32, 3.28, 4.12, 5.04, 5.88, 6.84, 7.68, 8.48, 8.8, 9.2, 9.64, 10.12, 10.6, 11, 11.44,
11.92, 12.36, 12.76, 13.2, 13.68, 14.16, 14.56, 15, 15.6, 16.2, 16.4])
keys.append(
[0.2, 0.6, 0.2648, 0.264, 0.2648, 0.264, 0.2648, 0.264, 0.2648, 0.264, 0.663802, 0.928, 0.3, 0.0283999, 0.75,
0.928, 0.3, 0.0283999, 0.75, 0.928, 0.3, 0.0283999, 0.75, 0.928, 0.3, 0.5284, 0.936396, 0.950347, 0.2968])
names.append("LShoulderPitch")
times.append(
[0.68, 1.48, 2.32, 3.28, 4.12, 5.04, 5.88, 6.84, 7.68, 8.12, 8.48, 8.8, 9.64, 10.6, 11.44, 12.36, 13.2, 14.16,
15, 16.4])
keys.append(
[0.97784, 1.29573, 1.40466, 1.29573, 1.40466, 1.29573, 1.40466, 1.29573, 1.40466, 0.172788, -1.04904, -1.19188,
0.995607, -1.19188, 0.995607, -1.19188, 0.995607, -1.19188, 0.995607, 1.47106])
names.append("LShoulderRoll")
times.append(
[0.68, 1.48, 2.32, 3.28, 4.12, 5.04, 5.88, 6.84, 7.68, 8.48, 8.8, 9.2, 9.64, 10.12, 10.6, 11, 11.44, 11.92,
12.36, 12.76, 13.2, 13.68, 14.16, 14.56, 15, 15.6, 16.2])
keys.append(
[0.500047, 0.401871, 0.35585, 0.401871, 0.35585, 0.401871, 0.35585, 0.401871, 0.35585, 0.886453, 0.966481,
1.23332, 0.324005, 1.23332, 0.966481, 1.23332, 0.324005, 1.23332, 0.966481, 1.23332, 0.324005, 1.23332,
0.966481, 1.23332, 0.324005, 0.407503, 0.146991])
names.append("LWristYaw")
times.append(
[0.68, 1.04, 1.48, 2.32, 3.28, 4.12, 5.04, 5.88, 6.84, 7.68, 8.48, 8.8, 9.64, 10.6, 11.44, 12.36, 13.2, 14.16,
15, 16.2, 16.4])
keys.append(
[0.11961, -0.289725, -0.395814, -0.420357, -0.395814, -0.420357, -0.395814, -0.420357, -0.395814, -0.420357,
-0.122946, -0.107338, -0.400331, -0.107338, -0.400331, -0.107338, -0.400331, -0.107338, -0.400331, 0.000370312,
0.0827939])
names.append("RElbowRoll")
times.append(
[0.68, 1.08, 1.52, 1.92, 2.36, 2.84, 3.32, 3.72, 4.16, 4.64, 5.08, 5.48, 5.92, 6.4, 6.88, 7.28, 7.72, 8.52,
8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04, 15.64, 16.24, 16.44])
keys.append([1.34689, 1.1205, 0.138102, 1.309, 0.257754, 1.4591, 0.138102, 1.309, 0.257754, 1.4591, 0.138102, 1.309,
0.257754, 1.4591, 0.138102, 1.309, 0.257754, 0.372085, 0.369652, 0.202446, 0.369652, 0.202446,
0.369652, 0.202446, 0.369652, 0.202446, 0.82205, 0.519567, 0.429562])
names.append("RElbowYaw")
times.append(
[0.68, 1.08, 1.52, 1.92, 2.36, 2.84, 3.32, 3.72, 4.16, 4.64, 5.08, 5.48, 5.92, 6.4, 6.88, 7.28, 7.72, 8.52,
8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04, 15.64, 16.24, 16.44])
keys.append([0.59515, 0.567232, -0.851412, -0.0750492, -0.00157596, -0.460767, -0.851412, -0.0750492, -0.00157596,
-0.460767, -0.851412, -0.0750492, -0.00157596, -0.460767, -0.851412, -0.0750492, -0.00157596, 0.352279,
0.380475, 0.618244, 0.380475, 0.618244, 0.380475, 0.618244, 0.380475, 0.618244, 1.26711, 1.23132,
1.21028])
names.append("RHand")
times.append(
[0.68, 1.08, 1.52, 1.92, 2.36, 2.84, 3.32, 3.72, 4.16, 4.64, 5.08, 5.48, 5.92, 6.4, 6.88, 7.28, 7.72, 8.52,
8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04, 16.24, 16.44])
keys.append(
[0.2, 0.95, 0.928, 0.3, 0.0283999, 0.75, 0.928, 0.3, 0.0283999, 0.75, 0.928, 0.3, 0.0283999, 0.75, 0.928, 0.3,
0.5284, 0.271478, 0.2648, 0.264, 0.2648, 0.264, 0.2648, 0.264, 0.2648, 0.264, 0.596785, 0.2976])
names.append("RShoulderPitch")
times.append(
[0.68, 1.52, 2.36, 3.32, 4.16, 5.08, 5.92, 6.88, 7.72, 8.52, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04,
16.24])
keys.append(
[0.915841, -1.19188, 0.995607, -1.19188, 0.995607, -1.19188, 0.995607, -1.19188, 0.995607, 1.281, 1.29573,
1.40466, 1.29573, 1.40466, 1.29573, 1.40466, 1.29573, 1.40466, 1.47268])
names.append("RShoulderRoll")
times.append(
[0.68, 1.08, 1.52, 1.92, 2.36, 2.84, 3.32, 3.72, 4.16, 4.64, 5.08, 5.48, 5.92, 6.4, 6.88, 7.28, 7.72, 8.52,
8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04, 15.64, 16.44])
keys.append(
[-0.905123, -1.30837, -0.966481, -1.23332, -0.324005, -1.23332, -0.966481, -1.23332, -0.324005, -1.23332,
-0.966481, -1.23332, -0.324005, -1.23332, -0.966481, -1.23332, -0.324005, -0.397371, -0.401871, -0.35585,
-0.401871, -0.35585, -0.401871, -0.35585, -0.401871, -0.35585, -0.310669, -0.174533])
names.append("RWristYaw")
times.append(
[0.68, 1.52, 2.36, 3.32, 4.16, 5.08, 5.92, 6.88, 7.72, 8.52, 8.84, 9.68, 10.64, 11.48, 12.4, 13.24, 14.2, 15.04,
16.24, 16.44])
keys.append(
[-0.401949, 0.107338, 0.400331, 0.107338, 0.400331, 0.107338, 0.400331, 0.107338, 0.400331, 0.391888, 0.395814,
0.420357, 0.395814, 0.420357, 0.395814, 0.420357, 0.395814, 0.420357, 0.00501826, 0.108872])
motion_service.angleInterpolation(names, keys, times, True)
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--ip", type=str, default="192.168.137.88",
help="Robot's IP address. If on a robot or a local Naoqi - use '127.0.0.1' (this is the default value).")
parser.add_argument("--port", type=int, default=9559,
help="port number, the default value is OK in most cases")
args = parser.parse_args()
session = qi.Session()
try:
session.connect("tcp://{}:{}".format(args.ip, args.port))
except RuntimeError:
print("\nCan't connect to Naoqi at IP {} (port {}).\nPlease check your script's arguments."
" Run with -h option for help.\n".format(args.ip, args.port))
sys.exit(1)
main(session)
\ No newline at end of file
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