soconnor/robot-plugins
1
0
Fork 0
mirror of https://github.com/soconnor0919/robot-plugins.git synced 2026-03-23 19:27:52 -04:00
Code Issues Actions Packages Projects Releases Wiki Activity

Add combo gesture actions: bow, wave, nod, shake_head, point, greet

Browse Source
This commit is contained in:
Sean O'Connor
2026-03-21 18:54:13 -04:00
parent 31beaffc5b
commit 817ee69b87
1 changed files with 210 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

210
plugins/nao6-ros2.json
View File

@@ -1277,6 +1277,216 @@
} }
} }
} }
},
{
"id": "bow",
"name": "Bow",
"description": "Perform a polite bow gesture (head down + lean forward + return)",
"category": "gesture",
"icon": "user-check",
"timeout": 2000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {}
},
"ros2": {
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"payloadMapping": {
"type": "static",
"payload": {
"joint_names": ["HeadYaw", "HeadPitch"],
"joint_angles": [0, 0.5],
"speed": 0.3
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"messageTemplate": {
"joint_names": ["HeadYaw", "HeadPitch"],
"joint_angles": [0, 0.5],
"speed": 0.3
}
}
},
{
"id": "wave",
"name": "Wave",
"description": "Perform a friendly wave gesture with right arm",
"category": "gesture",
"icon": "hand",
"timeout": 2000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {}
},
"ros2": {
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"payloadMapping": {
"type": "static",
"payload": {
"joint_names": ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"],
"joint_angles": [1.5, 0.2, -1.0, 0.5],
"speed": 0.4
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"messageTemplate": {
"joint_names": ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"],
"joint_angles": [1.5, 0.2, -1.0, 0.5],
"speed": 0.4
}
}
},
{
"id": "nod",
"name": "Nod",
"description": "Perform a nodding gesture (head up and down)",
"category": "gesture",
"icon": "chevrons-down",
"timeout": 1500,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {}
},
"ros2": {
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"payloadMapping": {
"type": "static",
"payload": {
"joint_names": ["HeadPitch"],
"joint_angles": [0.3],
"speed": 0.5
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"messageTemplate": {
"joint_names": ["HeadPitch"],
"joint_angles": [0.3],
"speed": 0.5
}
}
},
{
"id": "shake_head",
"name": "Shake Head",
"description": "Perform a head shaking gesture (no)",
"category": "gesture",
"icon": "x-circle",
"timeout": 1500,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {}
},
"ros2": {
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"payloadMapping": {
"type": "static",
"payload": {
"joint_names": ["HeadYaw"],
"joint_angles": [0.4],
"speed": 0.5
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"messageTemplate": {
"joint_names": ["HeadYaw"],
"joint_angles": [0.4],
"speed": 0.5
}
}
},
{
"id": "point",
"name": "Point",
"description": "Point at something with left arm",
"category": "gesture",
"icon": "finger-pointer",
"timeout": 1500,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {}
},
"ros2": {
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"payloadMapping": {
"type": "static",
"payload": {
"joint_names": ["LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll", "LWristYaw"],
"joint_angles": [0.8, 0.3, -1.0, 0.1, 0],
"speed": 0.4
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"messageTemplate": {
"joint_names": ["LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll", "LWristYaw"],
"joint_angles": [0.8, 0.3, -1.0, 0.1, 0],
"speed": 0.4
}
}
},
{
"id": "greet",
"name": "Greet",
"description": "Combined greeting gesture: bow + wave",
"category": "gesture",
"icon": "sparkles",
"timeout": 3000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {}
},
"ros2": {
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"payloadMapping": {
"type": "static",
"payload": {
"joint_names": ["HeadYaw", "HeadPitch"],
"joint_angles": [0, 0.3],
"speed": 0.4
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"messageTemplate": {
"joint_names": ["HeadYaw", "HeadPitch"],
"joint_angles": [0, 0.3],
"speed": 0.4
}
}
} }
] ]
} }