mirror of
https://github.com/soconnor0919/robot-plugins.git
synced 2025-12-12 23:24:43 -05:00
feat: Enhanced NAO6 plugin with comprehensive HRIStudio integration
ENHANCED ACTIONS: - Movement: walk_forward, walk_backward, turn_left, turn_right with duration control - Head Control: move_head with precise yaw/pitch positioning and speed control - Arm Control: move_arm with full shoulder/elbow joint manipulation - Advanced Speech: say_with_emotion supporting 5 emotional expressions - Audio Control: set_volume and set_language with 9 language support IMPROVEMENTS: - Parameter validation with min/max ranges and step controls - Duration-based movement commands for precise control - Template-based payload mapping for dynamic parameters - Enhanced descriptions and user-friendly parameter names - Safety limits matching NAO6 hardware constraints Version bump: 2.0.0 → 2.1.0 Ready for HRIStudio wizard interface integration and real-time robot control during trials.
This commit is contained in:
HRIStudio Integration
@@ -1,9 +1,9 @@
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{
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"robotId": "nao6-ros2",
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"name": "NAO6 Robot (ROS2 Integration)",
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"description": "NAO V6 humanoid robot with full ROS2 integration via naoqi_driver2, supporting motion control, speech, vision, and sensor data",
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"description": "NAO V6 humanoid robot with enhanced ROS2 integration via naoqi_driver2, featuring comprehensive movement control, advanced speech synthesis, emotion expression, multilingual support, and complete sensor monitoring",
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"platform": "ROS2",
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"version": "2.0.0",
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"version": "2.1.0",
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"pluginApiVersion": "1.0",
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"hriStudioVersion": ">=0.1.0",
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"trustLevel": "verified",
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@@ -126,6 +126,166 @@
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}
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}
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},
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{
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"id": "walk_forward",
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"name": "Walk Forward",
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"description": "Make the robot walk forward at specified speed",
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"category": "movement",
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"icon": "arrow-up",
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"timeout": 30000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"speed": {
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"type": "number",
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"minimum": 0.01,
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"maximum": 0.3,
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"default": 0.1,
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"description": "Walking speed in m/s"
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},
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"duration": {
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"type": "number",
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"minimum": 0,
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"maximum": 30,
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"default": 0,
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"description": "Duration to walk in seconds (0 = indefinite)"
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}
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},
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"required": ["speed"]
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},
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"ros2": {
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"messageType": "geometry_msgs/msg/Twist",
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"topic": "/cmd_vel",
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"payloadMapping": {
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"type": "static",
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"payload": {
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"linear": { "x": "{{speed}}", "y": 0, "z": 0 },
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"angular": { "x": 0, "y": 0, "z": 0 }
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}
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}
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}
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},
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{
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"id": "walk_backward",
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"name": "Walk Backward",
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"description": "Make the robot walk backward at specified speed",
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"category": "movement",
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"icon": "arrow-down",
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"timeout": 30000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"speed": {
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"type": "number",
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"minimum": 0.01,
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"maximum": 0.3,
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"default": 0.1,
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"description": "Walking speed in m/s"
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},
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"duration": {
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"type": "number",
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"minimum": 0,
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"maximum": 30,
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"default": 0,
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"description": "Duration to walk in seconds (0 = indefinite)"
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}
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},
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"required": ["speed"]
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},
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"ros2": {
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"messageType": "geometry_msgs/msg/Twist",
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"topic": "/cmd_vel",
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"payloadMapping": {
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"type": "static",
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"payload": {
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"linear": { "x": "-{{speed}}", "y": 0, "z": 0 },
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"angular": { "x": 0, "y": 0, "z": 0 }
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}
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}
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}
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},
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{
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"id": "turn_left",
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"name": "Turn Left",
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"description": "Make the robot turn left at specified angular speed",
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"category": "movement",
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"icon": "rotate-ccw",
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"timeout": 30000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"speed": {
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"type": "number",
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"minimum": 0.1,
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"maximum": 1.0,
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"default": 0.3,
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"description": "Angular speed in rad/s"
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},
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"duration": {
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"type": "number",
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"minimum": 0,
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"maximum": 30,
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"default": 0,
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"description": "Duration to turn in seconds (0 = indefinite)"
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}
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},
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"required": ["speed"]
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},
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"ros2": {
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"messageType": "geometry_msgs/msg/Twist",
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"topic": "/cmd_vel",
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"payloadMapping": {
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"type": "static",
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"payload": {
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"linear": { "x": 0, "y": 0, "z": 0 },
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"angular": { "x": 0, "y": 0, "z": "{{speed}}" }
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}
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}
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}
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},
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{
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"id": "turn_right",
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"name": "Turn Right",
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"description": "Make the robot turn right at specified angular speed",
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"category": "movement",
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"icon": "rotate-cw",
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"timeout": 30000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"speed": {
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"type": "number",
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"minimum": 0.1,
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"maximum": 1.0,
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"default": 0.3,
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"description": "Angular speed in rad/s"
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},
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"duration": {
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"type": "number",
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"minimum": 0,
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"maximum": 30,
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"default": 0,
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"description": "Duration to turn in seconds (0 = indefinite)"
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}
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},
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"required": ["speed"]
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},
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"ros2": {
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"messageType": "geometry_msgs/msg/Twist",
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"topic": "/cmd_vel",
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"payloadMapping": {
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"type": "static",
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"payload": {
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"linear": { "x": 0, "y": 0, "z": 0 },
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"angular": { "x": 0, "y": 0, "z": "-{{speed}}" }
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}
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}
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}
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},
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{
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"id": "stop_walking",
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"name": "Stop Walking",
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@@ -189,6 +349,254 @@
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}
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}
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},
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{
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"id": "say_with_emotion",
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"name": "Say Text with Emotion",
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"description": "Speak text with emotional expression using SSML-like markup",
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"category": "interaction",
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"icon": "heart",
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"timeout": 15000,
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"retryable": true,
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"parameterSchema": {
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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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"default": "Hello! I'm feeling great today!",
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"description": "Text for the robot to speak"
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},
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"emotion": {
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"type": "string",
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"enum": ["neutral", "happy", "sad", "excited", "calm"],
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"default": "neutral",
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"description": "Emotional tone for speech"
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},
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"speed": {
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"type": "number",
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"minimum": 0.5,
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"maximum": 2.0,
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"default": 1.0,
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"description": "Speech speed multiplier"
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}
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},
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"required": ["text"]
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},
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"ros2": {
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"messageType": "std_msgs/msg/String",
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"topic": "/speech",
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"payloadMapping": {
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"type": "static",
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"payload": {
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"data": "\\rspd={{speed}}\\\\rst={{emotion}}\\{{text}}"
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}
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}
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}
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},
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{
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"id": "set_volume",
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"name": "Set Volume",
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"description": "Adjust the robot's audio volume level",
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"category": "interaction",
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"icon": "volume-x",
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"timeout": 5000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"volume": {
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"type": "number",
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"minimum": 0.0,
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"maximum": 1.0,
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"default": 0.5,
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"description": "Volume level (0.0 = silent, 1.0 = maximum)"
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}
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},
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"required": ["volume"]
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},
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"ros2": {
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"messageType": "std_msgs/msg/Float32",
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"topic": "/audio_volume",
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"payloadMapping": {
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"type": "static",
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"payload": {
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"data": "{{volume}}"
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}
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}
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}
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},
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{
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"id": "set_language",
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"name": "Set Language",
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"description": "Change the robot's speech language",
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"category": "interaction",
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"icon": "globe",
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"timeout": 5000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"language": {
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"type": "string",
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"enum": [
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"en-US",
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"en-GB",
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"fr-FR",
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"de-DE",
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"es-ES",
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"it-IT",
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"ja-JP",
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"ko-KR",
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"zh-CN"
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],
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"default": "en-US",
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"description": "Speech language"
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}
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},
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"required": ["language"]
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},
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"ros2": {
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"messageType": "std_msgs/msg/String",
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"topic": "/set_language",
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"payloadMapping": {
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"type": "static",
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"payload": {
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"data": "{{language}}"
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}
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}
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}
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},
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{
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"id": "move_head",
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"name": "Move Head",
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"description": "Control head orientation (yaw and pitch)",
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"category": "movement",
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"icon": "eye",
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"timeout": 10000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"yaw": {
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"type": "number",
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"minimum": -2.09,
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"maximum": 2.09,
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"default": 0,
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"description": "Head yaw angle in radians"
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},
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"pitch": {
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"type": "number",
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"minimum": -0.67,
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"maximum": 0.51,
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"default": 0,
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"description": "Head pitch angle in radians"
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},
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"speed": {
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"type": "number",
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"minimum": 0.1,
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"maximum": 1.0,
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"default": 0.3,
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"description": "Movement speed (0.1 = slow, 1.0 = fast)"
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}
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},
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"required": ["yaw", "pitch"]
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},
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"ros2": {
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"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
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"topic": "/joint_angles",
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"payloadMapping": {
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"type": "static",
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"payload": {
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"joint_names": ["HeadYaw", "HeadPitch"],
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"joint_angles": ["{{yaw}}", "{{pitch}}"],
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"speed": "{{speed}}"
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}
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}
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}
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},
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{
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"id": "move_arm",
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"name": "Move Arm",
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"description": "Control arm joint positions",
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"category": "movement",
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"icon": "hand",
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"timeout": 10000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"arm": {
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"type": "string",
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"enum": ["left", "right"],
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"default": "right",
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"description": "Which arm to control"
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},
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"shoulder_pitch": {
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"type": "number",
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"minimum": -2.09,
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"maximum": 2.09,
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"default": 1.4,
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"description": "Shoulder pitch angle in radians"
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},
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"shoulder_roll": {
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"type": "number",
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"minimum": -0.31,
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"maximum": 1.33,
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"default": 0.2,
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"description": "Shoulder roll angle in radians"
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},
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"elbow_yaw": {
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"type": "number",
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"minimum": -2.09,
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"maximum": 2.09,
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"default": 0,
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"description": "Elbow yaw angle in radians"
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},
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"elbow_roll": {
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"type": "number",
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"minimum": -1.54,
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"maximum": -0.03,
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"default": -0.5,
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"description": "Elbow roll angle in radians"
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},
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"speed": {
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"type": "number",
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"minimum": 0.1,
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"maximum": 1.0,
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"default": 0.3,
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"description": "Movement speed (0.1 = slow, 1.0 = fast)"
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}
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},
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"required": [
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"arm",
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"shoulder_pitch",
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"shoulder_roll",
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"elbow_yaw",
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"elbow_roll"
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]
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},
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"ros2": {
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"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
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"topic": "/joint_angles",
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"payloadMapping": {
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"type": "static",
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"payload": {
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"joint_names": [
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"{{arm === 'left' ? 'L' : 'R'}}ShoulderPitch",
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"{{arm === 'left' ? 'L' : 'R'}}ShoulderRoll",
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"{{arm === 'left' ? 'L' : 'R'}}ElbowYaw",
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"{{arm === 'left' ? 'L' : 'R'}}ElbowRoll"
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],
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"joint_angles": [
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"{{shoulder_pitch}}",
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"{{shoulder_roll}}",
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"{{elbow_yaw}}",
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"{{elbow_roll}}"
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],
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"speed": "{{speed}}"
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}
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}
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}
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},
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{
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"id": "set_joint_angle",
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"name": "Set Joint Angle",
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