mirror of
https://github.com/soconnor0919/robot-plugins.git
synced 2026-05-08 06:18:55 -04:00
feat(nao6): add animation handler support and fix gesture actions
- Redesign beckon as 3-phase gesture_sequence (both arms open wide then sweep inward then return to neutral) instead of a single static pose - Fix wake_up/rest to use service payloadMapping type targeting ALMotion ROS2 services instead of publishing to /dummy topic - Fix nod: double-nod sequence with return to neutral (was single frame) - Fix shake_head: left/right/left/center sequence (was single frame) - Fix bow: pitch down + return to neutral (was single frame only) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
+118
-68
@@ -1194,7 +1194,7 @@
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{
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"id": "wake_up",
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"name": "Wake Up",
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"description": "Initialize robot motors and stand up",
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"description": "Initialize robot motors and stand up via ALMotion.wakeUp service",
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"category": "movement",
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"icon": "zap",
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"timeout": 15000,
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@@ -1204,20 +1204,19 @@
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"properties": {}
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},
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"ros2": {
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"topic": "/dummy",
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"messageType": "std_msgs/msg/String",
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"topic": "/naoqi_driver/ALMotion/wakeUp",
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"messageType": "std_msgs/msg/Empty",
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"payloadMapping": {
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"type": "static",
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"payload": {
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"data": "wake_up"
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}
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"type": "service",
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"service": "/naoqi_driver/ALMotion/wakeUp",
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"args": {}
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}
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}
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},
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{
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"id": "rest",
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"name": "Rest",
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"description": "Disable motors and sit down safely",
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"description": "Disable motors and sit down safely via ALMotion.rest service",
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"category": "movement",
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"icon": "moon",
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"timeout": 15000,
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@@ -1227,23 +1226,22 @@
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"properties": {}
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},
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"ros2": {
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"topic": "/dummy",
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"messageType": "std_msgs/msg/String",
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"topic": "/naoqi_driver/ALMotion/rest",
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"messageType": "std_msgs/msg/Empty",
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"payloadMapping": {
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"type": "static",
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"payload": {
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"data": "rest"
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}
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"type": "service",
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"service": "/naoqi_driver/ALMotion/rest",
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"args": {}
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}
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}
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},
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{
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"id": "bow",
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"name": "Bow",
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"description": "Perform a polite bow gesture (head down + lean forward + return)",
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"description": "Polite bow — head pitches down then returns to neutral",
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"category": "movement",
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"icon": "user-check",
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"timeout": 2000,
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"timeout": 3500,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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@@ -1255,20 +1253,24 @@
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"payloadMapping": {
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"type": "static",
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"payload": {
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"type": "gesture_sequence",
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"movements": [
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{
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"comment": "Head pitches down (bow)",
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"joint_names": ["HeadYaw", "HeadPitch"],
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"joint_angles": [0, 0.5],
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"speed": 0.3
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}
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}
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"joint_angles": [0.0, 0.5],
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"speed": 0.25,
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"delay_after": 1000
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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/msg/JointAnglesWithSpeed",
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"messageTemplate": {
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{
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"comment": "Return to neutral",
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"joint_names": ["HeadYaw", "HeadPitch"],
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"joint_angles": [0, 0.5],
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"speed": 0.3
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"joint_angles": [0.0, 0.0],
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"speed": 0.2,
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"delay_after": 500
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}
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]
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}
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}
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}
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},
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@@ -1320,10 +1322,10 @@
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{
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"id": "nod",
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"name": "Nod",
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"description": "Perform a nodding gesture (head up and down)",
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"description": "Nodding gesture — head pitches down twice then returns to neutral",
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"category": "movement",
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"icon": "chevrons-down",
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"timeout": 1500,
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"timeout": 3000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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@@ -1335,30 +1337,44 @@
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"payloadMapping": {
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"type": "static",
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"payload": {
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"type": "gesture_sequence",
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"movements": [
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{
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"joint_names": ["HeadPitch"],
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"joint_angles": [0.3],
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"speed": 0.5
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}
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}
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"joint_angles": [0.35],
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"speed": 0.6,
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"delay_after": 350
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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/msg/JointAnglesWithSpeed",
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"messageTemplate": {
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{
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"joint_names": ["HeadPitch"],
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"joint_angles": [0.3],
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"speed": 0.5
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"joint_angles": [0.0],
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"speed": 0.6,
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"delay_after": 250
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},
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{
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"joint_names": ["HeadPitch"],
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"joint_angles": [0.35],
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"speed": 0.6,
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"delay_after": 350
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},
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{
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"joint_names": ["HeadPitch"],
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"joint_angles": [0.0],
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"speed": 0.5,
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"delay_after": 300
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}
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]
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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": "shake_head",
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"name": "Shake Head",
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"description": "Perform a head shaking gesture (no)",
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"description": "Head-shake gesture (no) — yaws left then right twice then returns to neutral",
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"category": "movement",
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"icon": "x-circle",
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"timeout": 1500,
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"timeout": 3000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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@@ -1370,20 +1386,34 @@
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"payloadMapping": {
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"type": "static",
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"payload": {
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"type": "gesture_sequence",
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"movements": [
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{
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"joint_names": ["HeadYaw"],
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"joint_angles": [0.4],
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"speed": 0.5
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}
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}
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"joint_angles": [0.5],
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"speed": 0.6,
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"delay_after": 350
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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/msg/JointAnglesWithSpeed",
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"messageTemplate": {
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{
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"joint_names": ["HeadYaw"],
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"joint_angles": [0.4],
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"speed": 0.5
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"joint_angles": [-0.5],
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"speed": 0.6,
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"delay_after": 350
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},
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{
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"joint_names": ["HeadYaw"],
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"joint_angles": [0.5],
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"speed": 0.6,
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"delay_after": 350
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},
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{
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"joint_names": ["HeadYaw"],
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"joint_angles": [0.0],
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"speed": 0.5,
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"delay_after": 300
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}
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]
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}
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}
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}
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},
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@@ -1644,10 +1674,10 @@
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{
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"id": "beckon",
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"name": "Beckon",
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"description": "Come here gesture",
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"description": "Come here gesture — both arms sweep open wide then draw inward, then return to neutral",
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"category": "movement",
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"icon": "arrow-right",
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"timeout": 2500,
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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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@@ -1659,20 +1689,40 @@
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"payloadMapping": {
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"type": "static",
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"payload": {
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"joint_names": ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"],
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"joint_angles": [0.5, 0.3, -1.2, -0.5],
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"speed": 0.3
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}
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}
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"type": "gesture_sequence",
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"movements": [
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{
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"comment": "Phase 1 — both arms rise and open wide",
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"joint_names": [
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"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll",
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"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"
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],
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"joint_angles": [0.4, 0.7, -1.0, -0.4, 0.4, -0.7, 1.0, 0.4],
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"speed": 0.25,
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"delay_after": 900
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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/msg/JointAnglesWithSpeed",
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"messageTemplate": {
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"joint_names": ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"],
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"joint_angles": [0.5, 0.3, -1.2, -0.5],
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"speed": 0.3
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{
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"comment": "Phase 2 — arms sweep inward (come here)",
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"joint_names": [
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"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll",
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"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"
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],
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"joint_angles": [0.5, 0.15, -1.0, -0.4, 0.5, -0.15, 1.0, 0.4],
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"speed": 0.35,
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"delay_after": 700
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},
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{
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"comment": "Phase 3 — return to neutral standing position",
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"joint_names": [
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"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll",
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"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"
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],
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"joint_angles": [1.4, 0.2, -0.5, -0.1, 1.4, -0.2, 0.5, 0.1],
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"speed": 0.2,
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"delay_after": 600
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}
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]
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}
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}
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}
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},
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