mirror of
https://github.com/soconnor0919/hristudio.git
synced 2025-12-13 23:54:44 -05:00
nao6 ros2 integration updated
This commit is contained in:
631
scripts/seed-nao6-plugin.ts
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631
scripts/seed-nao6-plugin.ts
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@@ -0,0 +1,631 @@
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#!/usr/bin/env bun
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/**
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* Seed NAO6 Plugin into HRIStudio Database
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*
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* This script adds the NAO6 ROS2 integration plugin to the HRIStudio database,
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* including the plugin repository and plugin definition with all available actions.
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*/
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import { drizzle } from "drizzle-orm/postgres-js";
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import postgres from "postgres";
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import { env } from "~/env";
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import {
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plugins,
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pluginRepositories,
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robots,
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users,
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type InsertPlugin,
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type InsertPluginRepository,
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type InsertRobot,
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} from "~/server/db/schema";
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import { eq } from "drizzle-orm";
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const connectionString = env.DATABASE_URL;
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const client = postgres(connectionString);
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const db = drizzle(client);
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async function seedNAO6Plugin() {
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console.log("🤖 Seeding NAO6 plugin into HRIStudio database...");
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try {
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// 0. Get system user for created_by fields
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console.log("👤 Getting system user...");
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const systemUser = await db
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.select()
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.from(users)
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.where(eq(users.email, "sean@soconnor.dev"))
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.limit(1);
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if (systemUser.length === 0) {
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throw new Error(
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"System user not found. Please run 'bun db:seed' first to create initial users.",
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);
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}
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const userId = systemUser[0]!.id;
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console.log(`✅ Found system user: ${userId}`);
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// 1. Create or update NAO6 robot entry
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console.log("📋 Creating NAO6 robot entry...");
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const existingRobot = await db
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.select()
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.from(robots)
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.where(eq(robots.name, "NAO6"))
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.limit(1);
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let robotId: string;
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if (existingRobot.length > 0) {
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robotId = existingRobot[0]!.id;
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console.log(`✅ Found existing NAO6 robot: ${robotId}`);
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} else {
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const newRobots = await db
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.insert(robots)
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.values({
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name: "NAO6",
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manufacturer: "SoftBank Robotics",
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model: "NAO V6.0",
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description:
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"Humanoid robot designed for education, research, and human-robot interaction studies. Features bipedal walking, speech synthesis, cameras, and comprehensive sensor suite.",
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capabilities: [
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"bipedal_walking",
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"speech_synthesis",
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"head_movement",
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"arm_gestures",
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"touch_sensors",
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"visual_sensors",
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"audio_sensors",
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"posture_control",
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"balance_control",
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],
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communicationProtocol: "ros2",
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} satisfies InsertRobot)
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.returning();
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robotId = newRobots[0]!.id;
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console.log(`✅ Created NAO6 robot: ${robotId}`);
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}
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// 2. Create or update plugin repository
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console.log("📦 Creating NAO6 plugin repository...");
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const existingRepo = await db
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.select()
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.from(pluginRepositories)
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.where(eq(pluginRepositories.name, "NAO6 ROS2 Integration Repository"))
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.limit(1);
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let repoId: string;
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if (existingRepo.length > 0) {
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repoId = existingRepo[0]!.id;
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console.log(`✅ Found existing repository: ${repoId}`);
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} else {
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const newRepos = await db
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.insert(pluginRepositories)
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.values({
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name: "NAO6 ROS2 Integration Repository",
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url: "https://github.com/hristudio/nao6-ros2-plugins",
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description:
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"Official NAO6 robot plugins for ROS2-based Human-Robot Interaction experiments",
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trustLevel: "official",
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isActive: true,
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isPublic: true,
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createdBy: userId,
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status: "active",
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lastSyncedAt: new Date(),
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metadata: {
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author: {
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name: "HRIStudio Team",
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email: "support@hristudio.com",
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},
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license: "MIT",
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ros2: {
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distro: "humble",
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packages: [
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"naoqi_driver2",
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"naoqi_bridge_msgs",
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"rosbridge_suite",
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],
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},
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supportedRobots: ["NAO6"],
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categories: [
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"movement",
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"speech",
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"sensors",
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"interaction",
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"vision",
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],
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},
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} satisfies InsertPluginRepository)
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.returning();
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repoId = newRepos[0]!.id;
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console.log(`✅ Created repository: ${repoId}`);
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}
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// 3. Create or update NAO6 plugin
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console.log("🔌 Creating NAO6 enhanced plugin...");
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const existingPlugin = await db
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.select()
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.from(plugins)
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.where(eq(plugins.name, "NAO6 Robot (Enhanced ROS2 Integration)"))
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.limit(1);
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const actionDefinitions = [
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{
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id: "nao_speak",
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name: "Speak Text",
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description:
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"Make the NAO robot speak the specified text using text-to-speech synthesis",
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category: "speech",
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icon: "volume2",
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parametersSchema: {
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type: "object",
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properties: {
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text: {
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type: "string",
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title: "Text to Speak",
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description: "The text that the robot should speak aloud",
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minLength: 1,
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maxLength: 500,
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},
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volume: {
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type: "number",
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title: "Volume",
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description: "Speech volume level (0.1 = quiet, 1.0 = loud)",
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default: 0.7,
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minimum: 0.1,
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maximum: 1.0,
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step: 0.1,
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},
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speed: {
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type: "number",
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title: "Speech Speed",
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description: "Speech rate multiplier (0.5 = slow, 2.0 = fast)",
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default: 1.0,
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minimum: 0.5,
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maximum: 2.0,
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step: 0.1,
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},
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},
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required: ["text"],
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},
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implementation: {
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type: "ros2_topic",
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topic: "/speech",
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messageType: "std_msgs/String",
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},
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},
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{
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id: "nao_move",
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name: "Move Robot",
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description:
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"Move the NAO robot with specified linear and angular velocities",
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category: "movement",
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icon: "move",
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parametersSchema: {
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type: "object",
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properties: {
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direction: {
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type: "string",
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title: "Movement Direction",
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description: "Predefined movement direction",
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enum: [
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"forward",
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"backward",
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"left",
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"right",
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"turn_left",
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"turn_right",
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],
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default: "forward",
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},
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distance: {
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type: "number",
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title: "Distance (meters)",
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description: "Distance to move in meters",
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default: 0.1,
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minimum: 0.01,
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maximum: 2.0,
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step: 0.01,
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},
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speed: {
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type: "number",
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title: "Movement Speed",
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description: "Speed factor (0.1 = very slow, 1.0 = normal speed)",
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default: 0.5,
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minimum: 0.1,
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maximum: 1.0,
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step: 0.1,
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},
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},
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required: ["direction"],
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},
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implementation: {
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type: "ros2_topic",
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topic: "/cmd_vel",
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messageType: "geometry_msgs/Twist",
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},
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},
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{
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id: "nao_pose",
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name: "Set Posture",
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description: "Set the NAO robot to a specific posture or pose",
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category: "movement",
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icon: "user",
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parametersSchema: {
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type: "object",
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properties: {
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posture: {
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type: "string",
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title: "Posture",
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description: "Target posture for the robot",
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enum: ["Stand", "Sit", "SitRelax", "StandInit", "Crouch"],
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default: "Stand",
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},
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speed: {
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type: "number",
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title: "Movement Speed",
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description:
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"Speed of posture transition (0.1 = slow, 1.0 = fast)",
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default: 0.5,
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minimum: 0.1,
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maximum: 1.0,
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step: 0.1,
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},
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},
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required: ["posture"],
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},
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implementation: {
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type: "ros2_service",
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service: "/naoqi_driver/robot_posture/go_to_posture",
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serviceType: "naoqi_bridge_msgs/srv/SetString",
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},
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},
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{
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id: "nao_head_movement",
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name: "Move Head",
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description:
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"Control NAO robot head movement for gaze direction and attention",
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category: "movement",
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icon: "eye",
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parametersSchema: {
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type: "object",
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properties: {
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headYaw: {
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type: "number",
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title: "Head Yaw (degrees)",
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description:
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"Left/right head rotation (-90° = right, +90° = left)",
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default: 0.0,
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minimum: -90.0,
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maximum: 90.0,
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step: 1.0,
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},
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headPitch: {
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type: "number",
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title: "Head Pitch (degrees)",
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description: "Up/down head rotation (-25° = down, +25° = up)",
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default: 0.0,
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minimum: -25.0,
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maximum: 25.0,
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step: 1.0,
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},
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speed: {
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type: "number",
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title: "Movement Speed",
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description: "Speed of head movement (0.1 = slow, 1.0 = fast)",
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default: 0.3,
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minimum: 0.1,
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maximum: 1.0,
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step: 0.1,
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},
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},
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required: [],
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},
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implementation: {
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type: "ros2_topic",
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topic: "/joint_angles",
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messageType: "naoqi_bridge_msgs/JointAnglesWithSpeed",
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},
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},
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{
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id: "nao_gesture",
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name: "Perform Gesture",
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description:
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"Make NAO robot perform predefined gestures and animations",
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category: "interaction",
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icon: "hand",
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parametersSchema: {
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type: "object",
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properties: {
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gesture: {
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type: "string",
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title: "Gesture Type",
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description: "Select a predefined gesture or animation",
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enum: [
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"wave",
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"point_left",
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"point_right",
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"applause",
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"thumbs_up",
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],
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default: "wave",
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},
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intensity: {
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type: "number",
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title: "Gesture Intensity",
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description:
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"Intensity of the gesture movement (0.5 = subtle, 1.0 = full)",
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default: 0.8,
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minimum: 0.3,
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maximum: 1.0,
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step: 0.1,
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},
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},
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required: ["gesture"],
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},
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implementation: {
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type: "ros2_service",
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service: "/naoqi_driver/animation_player/run_animation",
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serviceType: "naoqi_bridge_msgs/srv/SetString",
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},
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},
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{
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id: "nao_sensor_monitor",
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name: "Monitor Sensors",
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description: "Monitor NAO robot sensors for interaction detection",
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category: "sensors",
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icon: "activity",
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parametersSchema: {
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type: "object",
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properties: {
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sensorType: {
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type: "string",
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title: "Sensor Type",
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description: "Which sensors to monitor",
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enum: ["touch", "bumper", "sonar", "all"],
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default: "touch",
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},
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duration: {
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type: "number",
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title: "Duration (seconds)",
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description: "How long to monitor sensors",
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default: 10,
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minimum: 1,
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maximum: 300,
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},
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},
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required: ["sensorType"],
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},
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implementation: {
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type: "ros2_subscription",
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topics: [
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"/naoqi_driver/bumper",
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"/naoqi_driver/hand_touch",
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"/naoqi_driver/head_touch",
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],
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},
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},
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{
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id: "nao_emergency_stop",
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name: "Emergency Stop",
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description: "Immediately stop all robot movement for safety",
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category: "safety",
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icon: "stop-circle",
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||||
parametersSchema: {
|
||||
type: "object",
|
||||
properties: {
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||||
stopType: {
|
||||
type: "string",
|
||||
title: "Stop Type",
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||||
description: "Type of emergency stop",
|
||||
enum: ["movement", "all"],
|
||||
default: "all",
|
||||
},
|
||||
},
|
||||
required: [],
|
||||
},
|
||||
implementation: {
|
||||
type: "ros2_topic",
|
||||
topic: "/cmd_vel",
|
||||
messageType: "geometry_msgs/Twist",
|
||||
},
|
||||
},
|
||||
{
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||||
id: "nao_wake_rest",
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||||
name: "Wake Up / Rest Robot",
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||||
description: "Wake up the robot or put it to rest position",
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||||
category: "system",
|
||||
icon: "power",
|
||||
parametersSchema: {
|
||||
type: "object",
|
||||
properties: {
|
||||
action: {
|
||||
type: "string",
|
||||
title: "Action",
|
||||
description: "Wake up robot or put to rest",
|
||||
enum: ["wake", "rest"],
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||||
default: "wake",
|
||||
},
|
||||
},
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||||
required: ["action"],
|
||||
},
|
||||
implementation: {
|
||||
type: "ros2_service",
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||||
service: "/naoqi_driver/motion/wake_up",
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||||
serviceType: "std_srvs/srv/Empty",
|
||||
},
|
||||
},
|
||||
{
|
||||
id: "nao_status_check",
|
||||
name: "Check Robot Status",
|
||||
description: "Get current robot status including battery and health",
|
||||
category: "system",
|
||||
icon: "info",
|
||||
parametersSchema: {
|
||||
type: "object",
|
||||
properties: {
|
||||
statusType: {
|
||||
type: "string",
|
||||
title: "Status Type",
|
||||
description: "What status information to retrieve",
|
||||
enum: ["basic", "battery", "sensors", "all"],
|
||||
default: "basic",
|
||||
},
|
||||
},
|
||||
required: ["statusType"],
|
||||
},
|
||||
implementation: {
|
||||
type: "ros2_service",
|
||||
service: "/naoqi_driver/get_robot_config",
|
||||
serviceType: "naoqi_bridge_msgs/srv/GetRobotInfo",
|
||||
},
|
||||
},
|
||||
];
|
||||
|
||||
const pluginData: InsertPlugin = {
|
||||
repositoryId: repoId,
|
||||
robotId: robotId,
|
||||
name: "NAO6 Robot (Enhanced ROS2 Integration)",
|
||||
version: "2.0.0",
|
||||
description:
|
||||
"Comprehensive NAO6 robot integration for HRIStudio experiments via ROS2. Provides full robot control including movement, speech synthesis, posture control, sensor monitoring, and safety features.",
|
||||
author: "HRIStudio RoboLab Team",
|
||||
repositoryUrl: "https://github.com/hristudio/nao6-ros2-plugins",
|
||||
trustLevel: "official",
|
||||
status: "active",
|
||||
configurationSchema: {
|
||||
type: "object",
|
||||
properties: {
|
||||
robotIp: {
|
||||
type: "string",
|
||||
default: "nao.local",
|
||||
title: "Robot IP Address",
|
||||
description: "IP address or hostname of the NAO6 robot",
|
||||
},
|
||||
robotPassword: {
|
||||
type: "string",
|
||||
default: "robolab",
|
||||
title: "Robot Password",
|
||||
description: "Password for robot authentication",
|
||||
format: "password",
|
||||
},
|
||||
websocketUrl: {
|
||||
type: "string",
|
||||
default: "ws://localhost:9090",
|
||||
title: "WebSocket URL",
|
||||
description: "ROS bridge WebSocket URL for robot communication",
|
||||
},
|
||||
maxLinearVelocity: {
|
||||
type: "number",
|
||||
default: 0.2,
|
||||
minimum: 0.01,
|
||||
maximum: 0.5,
|
||||
title: "Max Linear Velocity (m/s)",
|
||||
description: "Maximum allowed linear movement speed for safety",
|
||||
},
|
||||
speechVolume: {
|
||||
type: "number",
|
||||
default: 0.7,
|
||||
minimum: 0.1,
|
||||
maximum: 1.0,
|
||||
title: "Speech Volume",
|
||||
description: "Default volume for speech synthesis",
|
||||
},
|
||||
enableSafetyMonitoring: {
|
||||
type: "boolean",
|
||||
default: true,
|
||||
title: "Enable Safety Monitoring",
|
||||
description:
|
||||
"Enable automatic safety monitoring and emergency stops",
|
||||
},
|
||||
},
|
||||
required: ["robotIp", "websocketUrl"],
|
||||
},
|
||||
actionDefinitions: actionDefinitions,
|
||||
metadata: {
|
||||
robotModel: "NAO V6.0",
|
||||
manufacturer: "SoftBank Robotics",
|
||||
naoqiVersion: "2.8.7.4",
|
||||
ros2Distro: "humble",
|
||||
launchPackage: "nao_launch",
|
||||
capabilities: [
|
||||
"bipedal_walking",
|
||||
"speech_synthesis",
|
||||
"head_movement",
|
||||
"arm_gestures",
|
||||
"touch_sensors",
|
||||
"visual_sensors",
|
||||
"posture_control",
|
||||
],
|
||||
tags: [
|
||||
"nao6",
|
||||
"ros2",
|
||||
"speech",
|
||||
"movement",
|
||||
"sensors",
|
||||
"hri",
|
||||
"production",
|
||||
],
|
||||
},
|
||||
};
|
||||
|
||||
if (existingPlugin.length > 0) {
|
||||
await db
|
||||
.update(plugins)
|
||||
.set({
|
||||
...pluginData,
|
||||
updatedAt: new Date(),
|
||||
})
|
||||
.where(eq(plugins.id, existingPlugin[0]!.id));
|
||||
|
||||
console.log(`✅ Updated existing NAO6 plugin: ${existingPlugin[0]!.id}`);
|
||||
} else {
|
||||
const newPlugins = await db
|
||||
.insert(plugins)
|
||||
.values(pluginData)
|
||||
.returning();
|
||||
|
||||
console.log(`✅ Created NAO6 plugin: ${newPlugins[0]!.id}`);
|
||||
}
|
||||
|
||||
console.log("\n🎉 NAO6 plugin seeding completed successfully!");
|
||||
console.log("\nNext steps:");
|
||||
console.log("1. Install the plugin in a study via the HRIStudio interface");
|
||||
console.log("2. Configure the robot IP and WebSocket URL");
|
||||
console.log(
|
||||
"3. Launch ROS integration: ros2 launch nao_launch nao6_production.launch.py",
|
||||
);
|
||||
console.log("4. Test robot actions in the experiment designer");
|
||||
|
||||
console.log("\n📊 Plugin Summary:");
|
||||
console.log(` Robot: NAO6 (${robotId})`);
|
||||
console.log(` Repository: NAO6 ROS2 Integration (${repoId})`);
|
||||
console.log(` Actions: ${actionDefinitions.length} available`);
|
||||
console.log(
|
||||
" Categories: speech, movement, interaction, sensors, safety, system",
|
||||
);
|
||||
} catch (error) {
|
||||
console.error("❌ Error seeding NAO6 plugin:", error);
|
||||
throw error;
|
||||
} finally {
|
||||
await client.end();
|
||||
}
|
||||
}
|
||||
|
||||
// Run the seeding script
|
||||
seedNAO6Plugin()
|
||||
.then(() => {
|
||||
console.log("✅ Database seeding completed");
|
||||
process.exit(0);
|
||||
})
|
||||
.catch((error) => {
|
||||
console.error("❌ Database seeding failed:", error);
|
||||
process.exit(1);
|
||||
});
|
||||
Reference in New Issue
Block a user