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feat(nao6): add animation handler support and fix gesture actions

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- 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:
Sean O'Connor
2026-04-01 18:25:19 -04:00
parent 19e38589c5
commit eb2f35fe45
1 changed files with 124 additions and 74 deletions
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plugins/nao6-ros2.json
+124 -74
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@@ -1194,7 +1194,7 @@
{
"id": "wake_up",
"name": "Wake Up",
"description": "Initialize robot motors and stand up",
"description": "Initialize robot motors and stand up via ALMotion.wakeUp service",
"category": "movement",
"icon": "zap",
"timeout": 15000,
@@ -1204,20 +1204,19 @@
"properties": {}
},
"ros2": {
"topic": "/dummy",
"messageType": "std_msgs/msg/String",
"topic": "/naoqi_driver/ALMotion/wakeUp",
"messageType": "std_msgs/msg/Empty",
"payloadMapping": {
"type": "static",
"payload": {
"data": "wake_up"
}
"type": "service",
"service": "/naoqi_driver/ALMotion/wakeUp",
"args": {}
}
}
},
{
"id": "rest",
"name": "Rest",
"description": "Disable motors and sit down safely",
"description": "Disable motors and sit down safely via ALMotion.rest service",
"category": "movement",
"icon": "moon",
"timeout": 15000,
@@ -1227,23 +1226,22 @@
"properties": {}
},
"ros2": {
"topic": "/dummy",
"messageType": "std_msgs/msg/String",
"topic": "/naoqi_driver/ALMotion/rest",
"messageType": "std_msgs/msg/Empty",
"payloadMapping": {
"type": "static",
"payload": {
"data": "rest"
}
"type": "service",
"service": "/naoqi_driver/ALMotion/rest",
"args": {}
}
}
},
{
"id": "bow",
"name": "Bow",
"description": "Perform a polite bow gesture (head down + lean forward + return)",
"description": "Polite bow — head pitches down then returns to neutral",
"category": "movement",
"icon": "user-check",
"timeout": 2000,
"timeout": 3500,
"retryable": true,
"parameterSchema": {
"type": "object",
@@ -1255,21 +1253,25 @@
"payloadMapping": {
"type": "static",
"payload": {
"joint_names": ["HeadYaw", "HeadPitch"],
"joint_angles": [0, 0.5],
"speed": 0.3
"type": "gesture_sequence",
"movements": [
{
"comment": "Head pitches down (bow)",
"joint_names": ["HeadYaw", "HeadPitch"],
"joint_angles": [0.0, 0.5],
"speed": 0.25,
"delay_after": 1000
},
{
"comment": "Return to neutral",
"joint_names": ["HeadYaw", "HeadPitch"],
"joint_angles": [0.0, 0.0],
"speed": 0.2,
"delay_after": 500
}
]
}
}
},
"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
}
}
},
{
@@ -1320,10 +1322,10 @@
{
"id": "nod",
"name": "Nod",
"description": "Perform a nodding gesture (head up and down)",
"description": "Nodding gesture — head pitches down twice then returns to neutral",
"category": "movement",
"icon": "chevrons-down",
"timeout": 1500,
"timeout": 3000,
"retryable": true,
"parameterSchema": {
"type": "object",
@@ -1335,30 +1337,44 @@
"payloadMapping": {
"type": "static",
"payload": {
"joint_names": ["HeadPitch"],
"joint_angles": [0.3],
"speed": 0.5
"type": "gesture_sequence",
"movements": [
{
"joint_names": ["HeadPitch"],
"joint_angles": [0.35],
"speed": 0.6,
"delay_after": 350
},
{
"joint_names": ["HeadPitch"],
"joint_angles": [0.0],
"speed": 0.6,
"delay_after": 250
},
{
"joint_names": ["HeadPitch"],
"joint_angles": [0.35],
"speed": 0.6,
"delay_after": 350
},
{
"joint_names": ["HeadPitch"],
"joint_angles": [0.0],
"speed": 0.5,
"delay_after": 300
}
]
}
}
},
"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)",
"description": "Head-shake gesture (no) — yaws left then right twice then returns to neutral",
"category": "movement",
"icon": "x-circle",
"timeout": 1500,
"timeout": 3000,
"retryable": true,
"parameterSchema": {
"type": "object",
@@ -1370,21 +1386,35 @@
"payloadMapping": {
"type": "static",
"payload": {
"joint_names": ["HeadYaw"],
"joint_angles": [0.4],
"speed": 0.5
"type": "gesture_sequence",
"movements": [
{
"joint_names": ["HeadYaw"],
"joint_angles": [0.5],
"speed": 0.6,
"delay_after": 350
},
{
"joint_names": ["HeadYaw"],
"joint_angles": [-0.5],
"speed": 0.6,
"delay_after": 350
},
{
"joint_names": ["HeadYaw"],
"joint_angles": [0.5],
"speed": 0.6,
"delay_after": 350
},
{
"joint_names": ["HeadYaw"],
"joint_angles": [0.0],
"speed": 0.5,
"delay_after": 300
}
]
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"messageTemplate": {
"joint_names": ["HeadYaw"],
"joint_angles": [0.4],
"speed": 0.5
}
}
},
{
@@ -1644,10 +1674,10 @@
{
"id": "beckon",
"name": "Beckon",
"description": "Come here gesture",
"description": "Come here gesture — both arms sweep open wide then draw inward, then return to neutral",
"category": "movement",
"icon": "arrow-right",
"timeout": 2500,
"timeout": 5000,
"retryable": true,
"parameterSchema": {
"type": "object",
@@ -1659,21 +1689,41 @@
"payloadMapping": {
"type": "static",
"payload": {
"joint_names": ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"],
"joint_angles": [0.5, 0.3, -1.2, -0.5],
"speed": 0.3
"type": "gesture_sequence",
"movements": [
{
"comment": "Phase 1 — both arms rise and open wide",
"joint_names": [
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"
],
"joint_angles": [0.4, 0.7, -1.0, -0.4, 0.4, -0.7, 1.0, 0.4],
"speed": 0.25,
"delay_after": 900
},
{
"comment": "Phase 2 — arms sweep inward (come here)",
"joint_names": [
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"
],
"joint_angles": [0.5, 0.15, -1.0, -0.4, 0.5, -0.15, 1.0, 0.4],
"speed": 0.35,
"delay_after": 700
},
{
"comment": "Phase 3 — return to neutral standing position",
"joint_names": [
"LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll",
"RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"
],
"joint_angles": [1.4, 0.2, -0.5, -0.1, 1.4, -0.2, 0.5, 0.1],
"speed": 0.2,
"delay_after": 600
}
]
}
}
},
"implementation": {
"type": "ros2_topic",
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"messageTemplate": {
"joint_names": ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"],
"joint_angles": [0.5, 0.3, -1.2, -0.5],
"speed": 0.3
}
}
},
{