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feat(nao6): add gesture and motion control actions

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- Add open_hand_wave, show_sole, present_object, beckon, think gestures
- Add set_posture for posture control (Stand, Crouch, Sit, etc.)
- Add pause_motion and stop_motion for motion control
- Use NAOqi commands via /speech topic
- Update play_animation with additional animations
This commit is contained in:
Sean O'Connor
2026-04-01 16:04:50 -04:00
parent d772aecc54
commit 9df69ce9b7
1 changed files with 289 additions and 15 deletions
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plugins/nao6-ros2.json
+289 -15
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@@ -1505,21 +1505,24 @@
"parameterSchema": {
"type": "object",
"properties": {
"animation": {
"type": "string",
"enum": [
"Hey_1",
"Happy_1",
"Happy_4",
"Enthusiastic_1",
"Yes_1",
"Yes_2",
"No_1",
"Blow_1",
"Gesture_Ok_1",
"Gesture_Nice_1",
"Gesture_You_1"
],
"animation": {
"type": "string",
"enum": [
"Hey_1",
"Happy_1",
"Happy_4",
"Enthusiastic_1",
"Yes_1",
"Yes_2",
"No_1",
"Blow_1",
"Gesture_Ok_1",
"Gesture_Nice_1",
"Gesture_You_1",
"Open_1",
"ShowSole_1",
"Show_1"
],
"default": "Hey_1",
"description": "Animation to play"
}
@@ -1542,6 +1545,277 @@
"data": "^start(animations/Stand/Gestures/{{animation}})"
}
}
},
{
"id": "open_hand_wave",
"name": "Open Hand Wave",
"description": "Wave with open palm gesture",
"category": "movement",
"icon": "hand",
"timeout": 2500,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {}
},
"ros2": {
"messageType": "std_msgs/msg/String",
"topic": "/speech",
"payloadMapping": {
"type": "static",
"payload": {
"data": "^start(animations/Stand/Gestures/Open_1)"
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/speech",
"messageType": "std_msgs/msg/String",
"messageTemplate": {
"data": "^start(animations/Stand/Gestures/Open_1)"
}
}
},
{
"id": "show_sole",
"name": "Show Sole",
"description": "Show open palm with fingers spread",
"category": "movement",
"icon": "hand",
"timeout": 2000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {}
},
"ros2": {
"messageType": "std_msgs/msg/String",
"topic": "/speech",
"payloadMapping": {
"type": "static",
"payload": {
"data": "^start(animations/Stand/Gestures/ShowSole_1)"
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/speech",
"messageType": "std_msgs/msg/String",
"messageTemplate": {
"data": "^start(animations/Stand/Gestures/ShowSole_1)"
}
}
},
{
"id": "present_object",
"name": "Present Object",
"description": "Present something to the participant with open hand",
"category": "movement",
"icon": "hand",
"timeout": 2000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {}
},
"ros2": {
"messageType": "std_msgs/msg/String",
"topic": "/speech",
"payloadMapping": {
"type": "static",
"payload": {
"data": "^start(animations/Stand/Gestures/Show_1)"
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/speech",
"messageType": "std_msgs/msg/String",
"messageTemplate": {
"data": "^start(animations/Stand/Gestures/Show_1)"
}
}
},
{
"id": "beckon",
"name": "Beckon",
"description": "Come here gesture",
"category": "movement",
"icon": "arrow-right",
"timeout": 2000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {}
},
"ros2": {
"messageType": "std_msgs/msg/String",
"topic": "/speech",
"payloadMapping": {
"type": "static",
"payload": {
"data": "^start(animations/Stand/Gestures/Beckon_1)"
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/speech",
"messageType": "std_msgs/msg/String",
"messageTemplate": {
"data": "^start(animations/Stand/Gestures/Beckon_1)"
}
}
},
{
"id": "think",
"name": "Think",
"description": "Thinking gesture with hand near head",
"category": "movement",
"icon": "help-circle",
"timeout": 2000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {}
},
"ros2": {
"messageType": "std_msgs/msg/String",
"topic": "/speech",
"payloadMapping": {
"type": "static",
"payload": {
"data": "^start(animations/Stand/Gestures/Thinking_1)"
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/speech",
"messageType": "std_msgs/msg/String",
"messageTemplate": {
"data": "^start(animations/Stand/Gestures/Thinking_1)"
}
}
},
{
"id": "set_posture",
"name": "Set Posture",
"description": "Return robot to a specific posture using ALRobotPosture",
"category": "movement",
"icon": "user",
"timeout": 5000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"posture": {
"type": "string",
"enum": ["Stand", "Crouch", "Sit", "SitRelief", "StandInit", "StandZero", "LyingBelly", "LyingBack"],
"default": "Stand",
"description": "Target posture"
},
"speed": {
"type": "number",
"minimum": 0.0,
"maximum": 1.0,
"default": 0.5,
"description": "Transition speed (0-1)"
}
},
"required": ["posture"]
},
"ros2": {
"messageType": "std_msgs/msg/String",
"topic": "/speech",
"payloadMapping": {
"type": "static",
"payload": {
"data": "^runPosture({{posture}}, {{math.round(speed * 100)}})"
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/speech",
"messageType": "std_msgs/msg/String",
"messageTemplate": {
"data": "^runPosture({{posture}}, {{math.round(speed * 100)}})"
}
}
},
{
"id": "pause_motion",
"name": "Pause Motion",
"description": "Freeze all robot motion by setting stiffness to 0",
"category": "movement",
"icon": "pause",
"timeout": 3000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"stiffness": {
"type": "number",
"minimum": 0.0,
"maximum": 1.0,
"default": 0.0,
"description": "Stiffness value (0 = relax, 1 = full)"
}
}
},
"ros2": {
"messageType": "std_msgs/msg/String",
"topic": "/speech",
"payloadMapping": {
"type": "static",
"payload": {
"data": "^setStiffnesses([[Body]], {{stiffness}})"
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/speech",
"messageType": "std_msgs/msg/String",
"messageTemplate": {
"data": "^setStiffnesses([[Body]], {{stiffness}})"
}
}
},
{
"id": "stop_motion",
"name": "Stop Motion",
"description": "Stop all movement and hold current position",
"category": "movement",
"icon": "square",
"timeout": 3000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {}
},
"ros2": {
"messageType": "std_msgs/msg/String",
"topic": "/speech",
"payloadMapping": {
"type": "static",
"payload": {
"data": "^stopAll()"
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/speech",
"messageType": "std_msgs/msg/String",
"messageTemplate": {
"data": "^stopAll()"
}
}
}
]
}