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feat(nao6): add SSH-based animation execution for NAO6 robot

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- Add play_animation actions to robots/command API using qicli SSH
- Add SSH-based animation execution to robot-communication service
- Animations: bow, hey, show_floor, show_sole, enthusiastic, think, yes, no, idontknow

This bypasses ROS2 cross-container issues by using direct SSH connection.
This commit is contained in:
Sean O'Connor
2026-04-01 18:51:40 -04:00
parent 143cf2ce50
commit de1b125b13
2 changed files with 91 additions and 1 deletions
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src/app/api/robots/command/route.ts
+36
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@@ -89,6 +89,42 @@ export async function POST(request: NextRequest) {
command = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no "nao@${robotIp}" "python2 -c \\"import sys; sys.path.append('/opt/aldebaran/lib/python2.7/site-packages'); import naoqi; m = naoqi.ALProxy('ALMotion', '127.0.0.1', 9559); m.rest()\\""`;
break;
case "play_animation_bow":
command = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no "nao@${robotIp}" "qicli call ALAnimationPlayer.run 'animations/Stand/Gestures/BowShort_1'"`;
break;
case "play_animation_hey":
command = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no "nao@${robotIp}" "qicli call ALAnimationPlayer.run 'animations/Stand/Gestures/Hey_1'"`;
break;
case "play_animation_show_floor":
command = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no "nao@${robotIp}" "qicli call ALAnimationPlayer.run 'animations/Stand/Gestures/ShowFloor_1'"`;
break;
case "play_animation_show_sole":
command = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no "nao@${robotIp}" "qicli call ALAnimationPlayer.run 'animations/Stand/Gestures/ShowSole_1'"`;
break;
case "play_animation_enthusiastic":
command = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no "nao@${robotIp}" "qicli call ALAnimationPlayer.run 'animations/Stand/Gestures/Enthusiastic_4'"`;
break;
case "play_animation_think":
command = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no "nao@${robotIp}" "qicli call ALAnimationPlayer.run 'animations/Stand/Gestures/Think_1'"`;
break;
case "play_animation_yes":
command = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no "nao@${robotIp}" "qicli call ALAnimationPlayer.run 'animations/Stand/Gestures/Yes_1'"`;
break;
case "play_animation_no":
command = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no "nao@${robotIp}" "qicli call ALAnimationPlayer.run 'animations/Stand/Gestures/No_3'"`;
break;
case "play_animation_idontknow":
command = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no "nao@${robotIp}" "qicli call ALAnimationPlayer.run 'animations/Stand/Gestures/IDontKnow_1'"`;
break;
default:
return NextResponse.json(
{ error: `System action ${id} not implemented` },