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nao_connector.py
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from test import read_file
from test import append_file
from test import erase_file
from naoqi import ALProxy
import argparse
import sys
from watchdog.observers import Observer
from watchdog.events import FileSystemEventHandler
import time
import csv
import numpy as np
# IP = "127.0.0.1"
PORT = 9559
parser = argparse.ArgumentParser()
parser.add_argument('ip',type=str,help='Enter IP address of NAO')
args = parser.parse_args()
flag = 0
IP = args.ip
tts = audio = record = aup = None
def connection_succes(IP,flag):
if flag == 0:
try:
tts = ALProxy("ALTextToSpeech", IP, PORT)
tts.say("Connection succesful")
flag=1
except:
print(IP)
sys.exit("Connection failed!")
string = ""
class MyHandler(FileSystemEventHandler):
def on_modified(self, event):
# print("Modified")
# erase_file()
tts = ALProxy("ALTextToSpeech", IP, PORT)
audio = ALProxy("ALAudioDevice", IP, PORT)
record = ALProxy("ALAudioRecorder", IP, PORT)
aup = ALProxy("ALAudioPlayer", IP, PORT)
time.sleep(1.3)
string = read_file()
string = string.lower()
if string == '':
pass
else:
print("Modified")
print string
if "tsop" in string:
tts = ALProxy("ALTextToSpeech", IP, PORT)
tts.say("Connection Terminated")
sys.exit("Connection Terminated")
elif 'joy' in string:
asr_service = ALProxy("ALAnimatedSpeech", IP, PORT)
# set the local configuration
configuration = {"bodyLanguageMode": "contextual"}
# say the text with the local configuration
asr_service.say(string, configuration)
# tts = ALProxy("ALTextToSpeech", IP, PORT)
# tts.say(string)
asr_service.say("Since you are happy , let me cheer you up!",configuration)
aup = ALProxy("ALAudioPlayer", IP, PORT)
audio = ALProxy("ALAudioDevice", IP, PORT)
music = '/home/nao/happy.mp3'
fileID = aup.post.playFileFromPosition(music, 78, 1.0, 0)
names = list()
times = list()
keys = list()
names.append("HeadPitch")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 4.95, 5.45, 5.95, 6.45, 6.95, 7.45, 7.95,
8.45, 8.95, 9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append([[-0.172107, [3, -0.0166667, 0], [3, 0.15, 0]], [-0.16418, [3, -0.15, 0], [3, 0.166667, 0]],
[-0.172107, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.16418, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.172107, [3, -0.166667, 0.00639163], [3, 0.166667, -0.00639163]],
[-0.20253, [3, -0.166667, 0.00913104], [3, 0.166667, -0.00913104]],
[-0.226893, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.268781, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.432842, [3, -0.166667, 0.146303], [3, 0.166667, -0.146303]],
[-0.60904, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.459022, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.493989, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.514872, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.584497, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.172107, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.204064, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.204064, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.159578, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.174338, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.159578, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.174338, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.159578, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.174338, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.159578, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.174338, [3, -0.166667, 0], [3, 0.666667, 0]],
[-0.172107, [3, -0.666667, 0], [3, 0, 0]]])
names.append("HeadYaw")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 3.45, 3.95, 4.45, 4.95, 5.45, 5.95, 6.45, 6.95, 7.45, 7.95, 8.45,
8.95, 9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append(
[[0.00115764, [3, -0.0166667, 0], [3, 0.15, 0]], [-0.0123138, [3, -0.15, 0], [3, 0.166667, 0]],
[0.00115764, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0123138, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.00115764, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0107799, [3, -0.166667, 0], [3, 0.333333, 0]],
[-0.0014837, [3, -0.333333, 0], [3, 0.166667, 0]],
[-0.0014837, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.019984, [3, -0.166667, 0.0166242], [3, 0.166667, -0.0166242]],
[-0.101229, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0798099, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.101229, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0690719, [3, -0.166667, -0.0170645], [3, 0.166667, 0.0170645]],
[0.00115764, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.021518, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.021518, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.021518, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.00832583, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.021518, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.00832583, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.021518, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.00832583, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.021518, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.00832583, [3, -0.166667, -0.00151171], [3, 0.666667, 0.00604684]],
[0.00115764, [3, -0.666667, 0], [3, 0, 0]]])
names.append("LAnklePitch")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95, 9.45,
9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append(
[[0.0859814, [3, -0.0166667, 0], [3, 0.15, 0]], [0.0873961, [3, -0.15, 0], [3, 0.166667, 0]],
[0.0859814, [3, -0.166667, 0], [3, 0.166667, 0]], [0.0873961, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0859814, [3, -0.166667, 0.00102271], [3, 0.166667, -0.00102271]],
[0.0812599, [3, -0.166667, 0], [3, 0.333333, 0]], [0.0812657, [3, -0.333333, 0], [3, 0.166667, 0]],
[0.0812657, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0858622, [3, -0.166667, -0.000681164], [3, 0.333333, 0.00136233]],
[0.0873961, [3, -0.333333, -0.000511324], [3, 0.333333, 0.000511324]],
[0.0889301, [3, -0.333333, 0], [3, 0.166667, 0]],
[0.0859814, [3, -0.166667, 0.00153403], [3, 0.166667, -0.00153403]],
[0.0797259, [3, -0.166667, 0], [3, 0.166667, 0]], [0.0797259, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0889301, [3, -0.166667, 0], [3, 0.166667, 0]], [0.0729001, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0889301, [3, -0.166667, 0], [3, 0.166667, 0]], [0.0729001, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0889301, [3, -0.166667, 0], [3, 0.166667, 0]], [0.0729001, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0889301, [3, -0.166667, 0], [3, 0.166667, 0]], [0.0729001, [3, -0.166667, 0], [3, 0.666667, 0]],
[0.0859814, [3, -0.666667, 0], [3, 0, 0]]])
names.append("LAnkleRoll")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95, 9.45,
9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append(
[[-0.106353, [3, -0.0166667, 0], [3, 0.15, 0]], [-0.0996681, [3, -0.15, 0], [3, 0.166667, 0]],
[-0.106353, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0996681, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.106353, [3, -0.166667, 0.00204535], [3, 0.166667, -0.00204535]],
[-0.11194, [3, -0.166667, 0], [3, 0.333333, 0]], [-0.105702, [3, -0.333333, 0], [3, 0.166667, 0]],
[-0.105702, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.108872, [3, -0.166667, 0], [3, 0.333333, 0]],
[-0.10427, [3, -0.333333, 0], [3, 0.333333, 0]], [-0.10427, [3, -0.333333, 0], [3, 0.166667, 0]],
[-0.106353, [3, -0.166667, 0.00153403], [3, 0.166667, -0.00153403]],
[-0.113474, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.113474, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.113474, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0861442, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.113474, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0861442, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.113474, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0861442, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.113474, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0861442, [3, -0.166667, 0], [3, 0.666667, 0]], [-0.106353, [3, -0.666667, 0], [3, 0, 0]]])
names.append("LElbowRoll")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95,
9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append(
[[-0.414982, [3, -0.0166667, 0], [3, 0.15, 0]], [-0.392662, [3, -0.15, 0], [3, 0.166667, 0]],
[-0.414982, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.392662, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.414982, [3, -0.166667, 0.0223193], [3, 0.166667, -0.0223193]],
[-1.48794, [3, -0.166667, 0.0498413], [3, 0.166667, -0.0498413]],
[-1.53778, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.0433995, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0433995, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.021434, [3, -0.166667, 0], [3, 0.333333, 0]],
[-0.139552, [3, -0.333333, 0.0539456], [3, 0.333333, -0.0539456]],
[-0.345107, [3, -0.333333, 0.0612066], [3, 0.166667, -0.0306033]],
[-0.414982, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.401866, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.401866, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.391128, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.592401, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.391128, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.592401, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.391128, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.592401, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.391128, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.592401, [3, -0.166667, 0], [3, 0.666667, 0]], [-0.414982, [3, -0.666667, 0], [3, 0, 0]]])
names.append("LElbowYaw")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95,
9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append([[-1.19856, [3, -0.0166667, 0], [3, 0.15, 0]], [-1.17815, [3, -0.15, 0], [3, 0.166667, 0]],
[-1.19856, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.17815, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.19856, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.339056, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.767852, [3, -0.166667, 0.00467571], [3, 0.166667, -0.00467571]],
[-0.772528, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.772528, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.786985, [3, -0.166667, 0.0144566], [3, 0.333333, -0.0289131]],
[-0.98487, [3, -0.333333, 0.0577806], [3, 0.333333, -0.0577806]],
[-1.13367, [3, -0.333333, 0.0474858], [3, 0.166667, -0.0237429]],
[-1.19856, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.18276, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.18276, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.18276, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.20531, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.18276, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.20531, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.18276, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.20531, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.18276, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.20531, [3, -0.166667, 0], [3, 0.666667, 0]], [-1.19856, [3, -0.666667, 0], [3, 0, 0]]])
names.append("LHand")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95,
9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append([[0.291965, [3, -0.0166667, 0], [3, 0.15, 0]], [0.3012, [3, -0.15, 0], [3, 0.166667, 0]],
[0.291965, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.3012, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.291965, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.3076, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.29661, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.73, [3, -0.166667, 0], [3, 0.166667, 0]], [0.73, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.3156, [3, -0.166667, 0.00300001], [3, 0.333333, -0.00600001]],
[0.3096, [3, -0.333333, 0], [3, 0.333333, 0]],
[0.3096, [3, -0.333333, 0], [3, 0.166667, 0]],
[0.291965, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.2952, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.2952, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.2952, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.352844, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.2952, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.352844, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.2952, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.352844, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.2952, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.352844, [3, -0.166667, 0], [3, 0.666667, 0]], [0.291965, [3, -0.666667, 0], [3, 0, 0]]])
names.append("LHipPitch")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95,
9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append([[0.134022, [3, -0.0166667, 0], [3, 0.15, 0]], [-0.248467, [3, -0.15, 0], [3, 0.166667, 0]],
[0.134022, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.248467, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.134022, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0837758, [3, -0.166667, 0.0258277], [3, 0.166667, -0.0258277]],
[-0.020944, [3, -0.166667, 0.0523599], [3, 0.166667, -0.0523599]],
[-0.230383, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.230383, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.211651, [3, -0.166667, -0.0187326], [3, 0.333333, 0.0374652]],
[-0.0475121, [3, -0.333333, -0.0521561], [3, 0.333333, 0.0521561]],
[0.101286, [3, -0.333333, -0.040341], [3, 0.166667, 0.0201705]],
[0.134022, [3, -0.166667, -0.00101159], [3, 0.166667, 0.00101159]],
[0.135034, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.135034, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.331302, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.180661, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.331302, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.180661, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.331302, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.180661, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.331302, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.180661, [3, -0.166667, 0], [3, 0.666667, 0]], [0.134022, [3, -0.666667, 0], [3, 0, 0]]])
names.append("LHipRoll")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 4.95, 5.45, 5.95, 6.45, 6.95, 7.45, 7.95,
8.45, 8.95, 9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append([[0.113808, [3, -0.0166667, 0], [3, 0.15, 0]], [0.0138481, [3, -0.15, 0], [3, 0.166667, 0]],
[0.113808, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0138481, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.113808, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.107422, [3, -0.166667, 0.00558721], [3, 0.166667, -0.00558721]],
[0.0802851, [3, -0.166667, 0.00830434], [3, 0.166667, -0.00830434]],
[0.0575959, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0575959, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.124296, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0907571, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.099752, [3, -0.166667, -0.0206757], [3, 0.166667, 0.0206757]],
[0.120428, [3, -0.166667, -0.00715867], [3, 0.166667, 0.00715867]],
[0.142704, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.113808, [3, -0.166667, 0.00331857], [3, 0.166667, -0.00331857]],
[0.11049, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.11049, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.136568, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.08554, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.136568, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.08554, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.136568, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.08554, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.136568, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.08554, [3, -0.166667, 0], [3, 0.666667, 0]], [0.113808, [3, -0.666667, 0], [3, 0, 0]]])
names.append("LHipYawPitch")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95,
9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append(
[[-0.165959, [3, -0.0166667, 0], [3, 0.15, 0]], [-0.162562, [3, -0.15, 0], [3, 0.166667, 0]],
[-0.165959, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.162562, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.165959, [3, -0.166667, 0.00339676], [3, 0.166667, -0.00339676]],
[-0.202446, [3, -0.166667, 0.0104466], [3, 0.166667, -0.0104466]],
[-0.228638, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.165806, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.165806, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.15796, [3, -0.166667, 0], [3, 0.333333, 0]],
[-0.15796, [3, -0.333333, 0], [3, 0.333333, 0]], [-0.168698, [3, -0.333333, 0], [3, 0.166667, 0]],
[-0.165959, [3, -0.166667, -0.000767015], [3, 0.166667, 0.000767015]],
[-0.164096, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.164096, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.256563, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.159943, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.256563, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.159943, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.256563, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.159943, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.256563, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.159943, [3, -0.166667, 0], [3, 0.666667, 0]],
[-0.165959, [3, -0.666667, 0], [3, 0, 0]]])
names.append("LKneePitch")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95, 9.45,
9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append(
[[-0.0862456, [3, -0.0166667, 0], [3, 0.15, 0]], [0.133416, [3, -0.15, 0], [3, 0.166667, 0]],
[-0.0862456, [3, -0.166667, 0], [3, 0.166667, 0]], [0.133416, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0862456, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.047596, [3, -0.166667, -0.0250038], [3, 0.333333, 0.0500077]],
[0.138789, [3, -0.333333, 0], [3, 0.166667, 0]], [0.138789, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.128814, [3, -0.166667, 0.00997491], [3, 0.333333, -0.0199498]],
[0.033706, [3, -0.333333, 0.0327253], [3, 0.333333, -0.0327253]],
[-0.067538, [3, -0.333333, 0.0266559], [3, 0.166667, -0.013328]],
[-0.0862456, [3, -0.166667, 0.00276844], [3, 0.166667, -0.00276844]],
[-0.0890141, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0890141, [3, -0.166667, 0], [3, 0.166667, 0]], [0.243864, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0861126, [3, -0.166667, 0], [3, 0.166667, 0]], [0.243864, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0861126, [3, -0.166667, 0], [3, 0.166667, 0]], [0.243864, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0861126, [3, -0.166667, 0], [3, 0.166667, 0]], [0.243864, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0861126, [3, -0.166667, 3.325e-05], [3, 0.666667, -0.000133]],
[-0.0862456, [3, -0.666667, 0], [3, 0, 0]]])
names.append("LShoulderPitch")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95,
9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append([[1.44407, [3, -0.0166667, 0], [3, 0.15, 0]], [1.15506, [3, -0.15, 0], [3, 0.166667, 0]],
[1.44407, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.15506, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.44407, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.239262, [3, -0.166667, 0.120491], [3, 0.166667, -0.120491]],
[0.118771, [3, -0.166667, 0.120491], [3, 0.166667, -0.120491]],
[-1.60396, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.60396, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.24565, [3, -0.166667, -0.195257], [3, 0.333333, 0.390515]],
[0.153358, [3, -0.333333, -0.415203], [3, 0.333333, 0.415203]],
[1.24557, [3, -0.333333, -0.286826], [3, 0.166667, 0.143413]],
[1.44407, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.43118, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.43118, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.41891, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.49761, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.41891, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.49761, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.41891, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.49761, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.41891, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.49761, [3, -0.166667, 0], [3, 0.666667, 0]], [1.44407, [3, -0.666667, 0], [3, 0, 0]]])
names.append("LShoulderRoll")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95,
9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append([[0.230755, [3, -0.0166667, 0], [3, 0.15, 0]], [-0.191792, [3, -0.15, 0], [3, 0.166667, 0]],
[0.230755, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.191792, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.230755, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.243948, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.143502, [3, -0.166667, -0.00890659], [3, 0.166667, 0.00890659]],
[0.152409, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.152409, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.190175, [3, -0.166667, -0.00383449], [3, 0.333333, 0.00766897]],
[0.197844, [3, -0.333333, -0.00153385], [3, 0.333333, 0.00153385]],
[0.199378, [3, -0.333333, -0.00153415], [3, 0.166667, 0.000767074]],
[0.230755, [3, -0.166667, -0.0089483], [3, 0.166667, 0.0089483]],
[0.253067, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.253067, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.263807, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.199793, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.263807, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.199793, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.263807, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.199793, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.263807, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.199793, [3, -0.166667, 0], [3, 0.666667, 0]], [0.230755, [3, -0.666667, 0], [3, 0, 0]]])
names.append("LWristYaw")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95,
9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append(
[[0.0956821, [3, -0.0166667, 0], [3, 0.15, 0]], [0.0843279, [3, -0.15, 0], [3, 0.166667, 0]],
[0.0956821, [3, -0.166667, 0], [3, 0.166667, 0]], [0.0843279, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0956821, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.625914, [3, -0.166667, 0.249683], [3, 0.166667, -0.249683]],
[-1.40242, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.520057, [3, -0.166667, -0.371326], [3, 0.166667, 0.371326]],
[0.825541, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.515466, [3, -0.166667, 0], [3, 0.333333, 0]],
[-0.30224, [3, -0.333333, -0.0787452], [3, 0.333333, 0.0787452]],
[-0.0429941, [3, -0.333333, -0.0884272], [3, 0.166667, 0.0442136]],
[0.0956821, [3, -0.166667, -0.019326], [3, 0.166667, 0.019326]],
[0.115008, [3, -0.166667, 0], [3, 0.166667, 0]], [0.115008, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.115008, [3, -0.166667, 0], [3, 0.166667, 0]], [0.106489, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.115008, [3, -0.166667, 0], [3, 0.166667, 0]], [0.106489, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.115008, [3, -0.166667, 0], [3, 0.166667, 0]], [0.106489, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.115008, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.106489, [3, -0.166667, 0.0012884], [3, 0.666667, -0.00515361]],
[0.0956821, [3, -0.666667, 0], [3, 0, 0]]])
names.append("RAnklePitch")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95, 9.45,
9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append(
[[0.0789405, [3, -0.0166667, 0], [3, 0.15, 0]], [0.0859461, [3, -0.15, 0], [3, 0.166667, 0]],
[0.0789405, [3, -0.166667, 0], [3, 0.166667, 0]], [0.0859461, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0789405, [3, -0.166667, 0], [3, 0.166667, 0]], [0.0828778, [3, -0.166667, 0], [3, 0.333333, 0]],
[0.0795622, [3, -0.333333, 0], [3, 0.166667, 0]], [0.0795622, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0798099, [3, -0.166667, 0], [3, 0.333333, 0]],
[0.0782759, [3, -0.333333, 0.00153397], [3, 0.333333, -0.00153397]],
[0.067538, [3, -0.333333, 0], [3, 0.166667, 0]], [0.0789405, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0767419, [3, -0.166667, 0], [3, 0.166667, 0]], [0.0767419, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0844118, [3, -0.166667, 0], [3, 0.166667, 0]], [0.0791605, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0844118, [3, -0.166667, 0], [3, 0.166667, 0]], [0.0791605, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0844118, [3, -0.166667, 0], [3, 0.166667, 0]], [0.0791605, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0844118, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0791605, [3, -0.166667, 5.49776e-05], [3, 0.666667, -0.000219911]],
[0.0789405, [3, -0.666667, 0], [3, 0, 0]]])
names.append("RAnkleRoll")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95, 9.45,
9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append([[0.108629, [3, -0.0166667, 0], [3, 0.15, 0]], [0.108956, [3, -0.15, 0], [3, 0.166667, 0]],
[0.108629, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.108956, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.108629, [3, -0.166667, 0.000326728], [3, 0.166667, -0.000326728]],
[0.105888, [3, -0.166667, 0.000512778], [3, 0.333333, -0.00102556]],
[0.104014, [3, -0.333333, 0], [3, 0.166667, 0]],
[0.104014, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.101286, [3, -0.166667, 0], [3, 0.333333, 0]],
[0.101286, [3, -0.333333, 0], [3, 0.333333, 0]],
[0.101286, [3, -0.333333, 0], [3, 0.166667, 0]],
[0.108629, [3, -0.166667, -0.00230101], [3, 0.166667, 0.00230101]],
[0.115092, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.115092, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.113558, [3, -0.166667, 0.00153396], [3, 0.166667, -0.00153396]],
[0.103368, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.113558, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.103368, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.113558, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.103368, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.113558, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.103368, [3, -0.166667, 0], [3, 0.666667, 0]], [0.108629, [3, -0.666667, 0], [3, 0, 0]]])
names.append("RElbowRoll")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95,
9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append([[0.410938, [3, -0.0166667, 0], [3, 0.15, 0]], [0.383541, [3, -0.15, 0], [3, 0.166667, 0]],
[0.410938, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.383541, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.410938, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.403483, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.410861, [3, -0.166667, -0.00168889], [3, 0.166667, 0.00168889]],
[0.413617, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.413617, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.392746, [3, -0.166667, 0], [3, 0.333333, 0]],
[0.392746, [3, -0.333333, 0], [3, 0.333333, 0]],
[0.392746, [3, -0.333333, 0], [3, 0.166667, 0]],
[0.410938, [3, -0.166667, -0.0181916], [3, 0.166667, 0.0181916]],
[1.32695, [3, -0.166667, -0.184627], [3, 0.166667, 0.184627]],
[1.5187, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.452573, [3, -0.166667, 0.0755815], [3, 0.166667, -0.0755815]],
[0.376991, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.452573, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.376991, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.452573, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.376991, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.452573, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.376991, [3, -0.166667, 0], [3, 0.666667, 0]], [0.410938, [3, -0.666667, 0], [3, 0, 0]]])
names.append("RElbowYaw")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95,
9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append([[1.20855, [3, -0.0166667, 0], [3, 0.15, 0]], [1.21028, [3, -0.15, 0], [3, 0.166667, 0]],
[1.20855, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.21028, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.20855, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.21489, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.20455, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.21024, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.21024, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.19034, [3, -0.166667, 0], [3, 0.333333, 0]],
[1.19034, [3, -0.333333, 0], [3, 0.333333, 0]],
[1.19034, [3, -0.333333, 0], [3, 0.166667, 0]],
[1.20855, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0413762, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.28085, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.64884, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.41372, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.64884, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.41372, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.64884, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.41372, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.64884, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.41372, [3, -0.166667, 0], [3, 0.666667, 0]], [1.20855, [3, -0.666667, 0], [3, 0, 0]]])
names.append("RHand")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95,
9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append([[0.302121, [3, -0.0166667, 0], [3, 0.15, 0]], [0.3088, [3, -0.15, 0], [3, 0.166667, 0]],
[0.302121, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.3088, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.302121, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.3152, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.300403, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.300403, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.300403, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.3108, [3, -0.166667, 0], [3, 0.333333, 0]],
[0.3108, [3, -0.333333, 0], [3, 0.333333, 0]],
[0.3108, [3, -0.333333, 0], [3, 0.166667, 0]],
[0.302121, [3, -0.166667, 0.00313333], [3, 0.166667, -0.00313333]],
[0.292, [3, -0.166667, 0], [3, 0.166667, 0]], [0.292, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.9824, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.360237, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.9824, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.360237, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.9824, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.360237, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.9824, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.360237, [3, -0.166667, 0.014529], [3, 0.666667, -0.058116]],
[0.302121, [3, -0.666667, 0], [3, 0, 0]]])
names.append("RHipPitch")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95,
9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append([[0.124874, [3, -0.0166667, 0], [3, 0.15, 0]], [-0.247016, [3, -0.15, 0], [3, 0.166667, 0]],
[0.124874, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.247016, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.124874, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0837758, [3, -0.166667, 0.024303], [3, 0.166667, -0.024303]],
[-0.020944, [3, -0.166667, 0.0523599], [3, 0.166667, -0.0523599]],
[-0.230383, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.230383, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.207132, [3, -0.166667, -0.020821], [3, 0.333333, 0.0416421]],
[-0.0429941, [3, -0.333333, -0.0501107], [3, 0.333333, 0.0501107]],
[0.093532, [3, -0.333333, -0.0373041], [3, 0.166667, 0.018652]],
[0.124874, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.110406, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.110406, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.329852, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.16006, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.329852, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.16006, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.329852, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.16006, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.329852, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.16006, [3, -0.166667, 0], [3, 0.666667, 0]], [0.124874, [3, -0.666667, 0], [3, 0, 0]]])
names.append("RHipRoll")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 5.95, 6.45, 6.95, 7.45, 7.95, 8.45,
8.95, 9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append(
[[-0.118451, [3, -0.0166667, 0], [3, 0.15, 0]], [-0.00609397, [3, -0.15, 0], [3, 0.166667, 0]],
[-0.118451, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.00609397, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.118451, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.110406, [3, -0.166667, -0.00636094], [3, 0.166667, 0.00636094]],
[-0.0802851, [3, -0.166667, -0.00880167], [3, 0.166667, 0.00880167]],
[-0.0575959, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0575959, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.125746, [3, -0.166667, 0], [3, 0.333333, 0]], [-0.10427, [3, -0.333333, 0], [3, 0.166667, 0]],
[-0.120428, [3, -0.166667, 0.00536904], [3, 0.166667, -0.00536904]],
[-0.136484, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.118451, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.12728, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.12728, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.139552, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.117225, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.139552, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.117225, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.139552, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.117225, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.139552, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.117225, [3, -0.166667, 0], [3, 0.666667, 0]],
[-0.118451, [3, -0.666667, 0], [3, 0, 0]]])
names.append("RHipYawPitch")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95,
9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append(
[[-0.165959, [3, -0.0166667, 0], [3, 0.15, 0]], [-0.162562, [3, -0.15, 0], [3, 0.166667, 0]],
[-0.165959, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.162562, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.165959, [3, -0.166667, 0.00339676], [3, 0.166667, -0.00339676]],
[-0.202446, [3, -0.166667, 0.0104466], [3, 0.166667, -0.0104466]],
[-0.228638, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.165806, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.165806, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.15796, [3, -0.166667, 0], [3, 0.333333, 0]],
[-0.15796, [3, -0.333333, 0], [3, 0.333333, 0]], [-0.168698, [3, -0.333333, 0], [3, 0.166667, 0]],
[-0.165959, [3, -0.166667, -0.000767015], [3, 0.166667, 0.000767015]],
[-0.164096, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.164096, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.256563, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.159943, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.256563, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.159943, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.256563, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.159943, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.256563, [3, -0.166667, 0], [3, 0.166667, 0]], [-0.159943, [3, -0.166667, 0], [3, 0.666667, 0]],
[-0.165959, [3, -0.666667, 0], [3, 0, 0]]])
names.append("RKneePitch")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95, 9.45,
9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append([[-0.090787, [3, -0.0166667, 0], [3, 0.15, 0]], [0.131966, [3, -0.15, 0], [3, 0.166667, 0]],
[-0.090787, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.131966, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.090787, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0551819, [3, -0.166667, -0.0255084], [3, 0.333333, 0.0510169]],
[0.138789, [3, -0.333333, 0], [3, 0.166667, 0]],
[0.138789, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.11816, [3, -0.166667, 0.0137119], [3, 0.333333, -0.0274238]],
[0.0153821, [3, -0.333333, 0.032214], [3, 0.333333, -0.032214]],
[-0.075124, [3, -0.333333, 0.0235931], [3, 0.166667, -0.0117966]],
[-0.090787, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0889301, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0889301, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.251617, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0861124, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.251617, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0861124, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.251617, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0861124, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.251617, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.0861124, [3, -0.166667, 0.00116863], [3, 0.666667, -0.00467452]],
[-0.090787, [3, -0.666667, 0], [3, 0, 0]]])
names.append("RShoulderPitch")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95,
9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append([[1.45155, [3, -0.0166667, 0], [3, 0.15, 0]], [1.16281, [3, -0.15, 0], [3, 0.166667, 0]],
[1.45155, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.16281, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.45155, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.41746, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.44184, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.41416, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.41416, [3, -0.166667, 0], [3, 0.166667, 0]],
[1.42359, [3, -0.166667, -0.00224101], [3, 0.333333, 0.00448201]],
[1.43433, [3, -0.333333, -0.00357938], [3, 0.333333, 0.00357938]],
[1.44507, [3, -0.333333, -0.00382539], [3, 0.166667, 0.0019127]],
[1.45155, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.124212, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.467912, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.57603, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.0088, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.57603, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.0088, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.57603, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.0088, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.57603, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.0088, [3, -0.166667, -0.201839], [3, 0.666667, 0.807354]],
[1.45155, [3, -0.666667, 0], [3, 0, 0]]])
names.append("RShoulderRoll")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95,
9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append([[-0.229928, [3, -0.0166667, 0], [3, 0.15, 0]], [0.191709, [3, -0.15, 0], [3, 0.166667, 0]],
[-0.229928, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.191709, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.229928, [3, -0.166667, 0.0140202], [3, 0.166667, -0.0140202]],
[-0.243948, [3, -0.166667, 0.0035116], [3, 0.166667, -0.0035116]],
[-0.250998, [3, -0.166667, 0.00704939], [3, 0.166667, -0.00704939]],
[-0.288126, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.288126, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.285367, [3, -0.166667, -0.0011589], [3, 0.333333, 0.0023178]],
[-0.277696, [3, -0.333333, -0.00332369], [3, 0.333333, 0.00332369]],
[-0.265424, [3, -0.333333, -0.0106151], [3, 0.166667, 0.00530755]],
[-0.229928, [3, -0.166667, -0.0354965], [3, 0.166667, 0.0354965]],
[0.240796, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0260359, [3, -0.166667, 0.0641723], [3, 0.166667, -0.0641723]],
[-0.144238, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.110153, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.144238, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.110153, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.144238, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.110153, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.144238, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.110153, [3, -0.166667, 0], [3, 0.666667, 0]],
[-0.229928, [3, -0.666667, 0], [3, 0, 0]]])
names.append("RWristYaw")
times.append(
[0, 0.45, 0.95, 1.45, 1.95, 2.45, 2.95, 3.45, 3.95, 4.45, 5.45, 6.45, 6.95, 7.45, 7.95, 8.45, 8.95,
9.45, 9.95, 10.45, 10.95, 11.45, 11.95, 13.95])
keys.append([[0.104823, [3, -0.0166667, 0], [3, 0.15, 0]], [0.101202, [3, -0.15, 0], [3, 0.166667, 0]],
[0.104823, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.101202, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.104823, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.0689882, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.105009, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.105009, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.105009, [3, -0.166667, 0], [3, 0.166667, 0]],
[0.10427, [3, -0.166667, 0], [3, 0.333333, 0]],
[0.10427, [3, -0.333333, 0], [3, 0.333333, 0]],
[0.10427, [3, -0.333333, 0], [3, 0.166667, 0]],
[0.104823, [3, -0.166667, -0.000553097], [3, 0.166667, 0.000553097]],
[0.340507, [3, -0.166667, -0.14436], [3, 0.166667, 0.14436]],
[0.970981, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.549213, [3, -0.166667, 0.377669], [3, 0.166667, -0.377669]],
[-1.29503, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.549213, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.29503, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.549213, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.29503, [3, -0.166667, 0], [3, 0.166667, 0]],
[-0.549213, [3, -0.166667, 0], [3, 0.166667, 0]],
[-1.29503, [3, -0.166667, 0], [3, 0.666667, 0]], [0.104823, [3, -0.666667, 0], [3, 0, 0]]])
try:
motion = ALProxy("ALMotion", IP, PORT)
motion.angleInterpolationBezier(names, times, keys)
except BaseException, err:
print err
aup.stopAll()
elif 'sadness' in string:
asr_service = ALProxy("ALAnimatedSpeech", IP, PORT)
# set the local configuration
configuration = {"bodyLanguageMode": "contextual"}
# say the text with the local configuration
asr_service.say(string, configuration)
# tts = ALProxy("ALTextToSpeech", IP, PORT)
# tts.say(string)
asr_service.say("Since you are sad , let me cheer you up!")
aup = ALProxy("ALAudioPlayer", IP, PORT)
audio = ALProxy("ALAudioDevice", IP, PORT)
music = '/home/nao/count on me.mp3'
fileID = aup.post.playFileFromPosition(music, 37, 1.0, 0)
names = list()
times = list()
keys = list()
# ttsProxy.say("...")
names.append("HeadPitch")
times.append([0, 0.5, 1.1, 1.7, 2.5, 3.3, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 10, 10.6, 11.2, 11.8])
keys.append(
[[-0.151908, [3, -0.0333333, 0], [3, 0.166667, 0]], [-0.15651, [3, -0.166667, 0], [3, 0.2, 0]],
[-0.15651, [3, -0.2, 0], [3, 0.2, 0]], [0.346642, [3, -0.2, 0], [3, 0.266667, 0]],
[-0.0153821, [3, -0.266667, 0.0509405], [3, 0.266667, -0.0509405]],
[-0.0663225, [3, -0.266667, 0], [3, 0.4, 0]],
[-0.0567999, [3, -0.4, -0.0031388], [3, 0.2, 0.0015694]],
[-0.0521979, [3, -0.2, -0.00102266], [3, 0.2, 0.00102266]],
[-0.0506639, [3, -0.2, 0], [3, 0.2, 0]], [-0.0506639, [3, -0.2, 0], [3, 0.2, 0]],
[-0.0506639, [3, -0.2, 0], [3, 0.233333, 0]], [-0.0506639, [3, -0.233333, 0], [3, 0.2, 0]],
[-0.0506639, [3, -0.2, 0], [3, 0.2, 0]], [-0.0506639, [3, -0.2, 0], [3, 0.4, 0]],
[-0.561996, [3, -0.4, 0], [3, 0.2, 0]], [0.34732, [3, -0.2, 0], [3, 0.2, 0]],
[-0.561996, [3, -0.2, 0], [3, 0.2, 0]], [-0.151908, [3, -0.2, 0], [3, 0, 0]]])
names.append("HeadYaw")
times.append(
[0, 0.5, 1.1, 1.7, 2.5, 3.3, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 9.4, 10, 10.6, 11.2, 11.8])
keys.append(
[[0.0106959, [3, -0.0333333, 0], [3, 0.166667, 0]], [-0.019984, [3, -0.166667, 0], [3, 0.2, 0]],
[1.12898, [3, -0.2, 0], [3, 0.2, 0]], [0.615092, [3, -0.2, 0.1637], [3, 0.266667, -0.218266]],
[-0.016916, [3, -0.266667, 0], [3, 0.266667, 0]], [1.32296, [3, -0.266667, 0], [3, 0.4, 0]],
[-1.45427, [3, -0.4, 0], [3, 0.2, 0]], [-0.105888, [3, -0.2, 0], [3, 0.2, 0]],
[-0.12583, [3, -0.2, 0], [3, 0.2, 0]], [-0.12583, [3, -0.2, 0], [3, 0.2, 0]],
[-0.12583, [3, -0.2, 0], [3, 0.233333, 0]], [-0.12583, [3, -0.233333, 0], [3, 0.2, 0]],
[-0.12583, [3, -0.2, 0], [3, 0.2, 0]], [-0.12583, [3, -0.2, 0], [3, 0.2, 0]],
[-0.0418879, [3, -0.2, 0], [3, 0.2, 0]], [-0.0418879, [3, -0.2, 0], [3, 0.2, 0]],
[-0.0418879, [3, -0.2, 0], [3, 0.2, 0]], [-0.0418879, [3, -0.2, 0], [3, 0.2, 0]],
[0.0106959, [3, -0.2, 0], [3, 0, 0]]])
names.append("LAnklePitch")
times.append([0, 0.5, 1.1, 1.7, 2.5, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 11.8])
keys.append(
[[0.082794, [3, -0.0333333, 0], [3, 0.166667, 0]], [0.0950661, [3, -0.166667, 0], [3, 0.2, 0]],
[0.0950661, [3, -0.2, 0], [3, 0.2, 0]], [0.0873961, [3, -0.2, 0], [3, 0.266667, 0]],
[0.0904641, [3, -0.266667, 0], [3, 0.666667, 0]],
[0.0873961, [3, -0.666667, 0.00306798], [3, 0.2, -0.000920393]],
[0.078192, [3, -0.2, 0], [3, 0.2, 0]], [0.082794, [3, -0.2, 0], [3, 0.2, 0]],
[0.078192, [3, -0.2, 0], [3, 0.2, 0]], [0.0827939, [3, -0.2, 0], [3, 0.233333, 0]],
[0.078192, [3, -0.233333, 0], [3, 0.2, 0]], [0.0827939, [3, -0.2, 0], [3, 0.2, 0]],
[0.078192, [3, -0.2, 0], [3, 1, 0]], [0.0827939, [3, -1, 0], [3, 0, 0]]])
names.append("LAnkleRoll")
times.append([0, 0.5, 1.1, 1.7, 2.5, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 11.8])
keys.append(
[[-0.115008, [3, -0.0333333, 0], [3, 0.166667, 0]], [-0.11194, [3, -0.166667, 0], [3, 0.2, 0]],
[-0.11194, [3, -0.2, 0], [3, 0.2, 0]], [-0.10427, [3, -0.2, 0], [3, 0.266667, 0]],
[-0.10427, [3, -0.266667, 0], [3, 0.666667, 0]], [-0.102736, [3, -0.666667, 0], [3, 0.2, 0]],
[-0.102736, [3, -0.2, 0], [3, 0.2, 0]], [-0.11194, [3, -0.2, 0.00920415], [3, 0.2, -0.00920415]],
[-0.322098, [3, -0.2, 0], [3, 0.2, 0]], [-0.11194, [3, -0.2, 0], [3, 0.233333, 0]],
[-0.322099, [3, -0.233333, 0], [3, 0.2, 0]], [-0.11194, [3, -0.2, 0], [3, 0.2, 0]],
[-0.322099, [3, -0.2, 0], [3, 1, 0]], [-0.115008, [3, -1, 0], [3, 0, 0]]])
names.append("LElbowRoll")
times.append(
[0, 0.5, 1.1, 1.7, 2.5, 3.3, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 9.4, 10, 10.6, 11.2, 11.8])
keys.append(
[[-0.397264, [3, -0.0333333, 0], [3, 0.166667, 0]], [-0.406468, [3, -0.166667, 0], [3, 0.2, 0]],
[-0.052114, [3, -0.2, -0.02301], [3, 0.2, 0.02301]],
[-0.029104, [3, -0.2, -0.00416371], [3, 0.266667, 0.00555161]],
[-0.0229681, [3, -0.266667, 0], [3, 0.266667, 0]], [-1.21999, [3, -0.266667, 0], [3, 0.4, 0]],
[-1.20875, [3, -0.4, -0.00692824], [3, 0.2, 0.00346412]], [-1.18881, [3, -0.2, 0], [3, 0.2, 0]],
[-1.26244, [3, -0.2, 0], [3, 0.2, 0]], [-1.21642, [3, -0.2, 0], [3, 0.2, 0]],
[-1.26244, [3, -0.2, 0], [3, 0.233333, 0]], [-1.21642, [3, -0.233333, 0], [3, 0.2, 0]],
[-1.26244, [3, -0.2, 0], [3, 0.2, 0]], [-1.21642, [3, -0.2, 0], [3, 0.2, 0]],
[-1.54462, [3, -0.2, 0], [3, 0.2, 0]], [-1.54462, [3, -0.2, 0], [3, 0.2, 0]],
[-1.54462, [3, -0.2, 0], [3, 0.2, 0]], [-1.54462, [3, -0.2, 0], [3, 0.2, 0]],
[-0.397265, [3, -0.2, 0], [3, 0, 0]]])
names.append("LElbowYaw")
times.append(
[0, 0.5, 1.1, 1.7, 2.5, 3.3, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 9.4, 10, 10.6, 11.2, 11.8])
keys.append([[-1.17509, [3, -0.0333333, 0], [3, 0.166667, 0]],
[-1.17355, [3, -0.166667, -0.00153398], [3, 0.2, 0.00184078]],
[-0.952656, [3, -0.2, 0], [3, 0.2, 0]],
[-0.978734, [3, -0.2, 0.00854663], [3, 0.266667, -0.0113955]],
[-1.01248, [3, -0.266667, 0], [3, 0.266667, 0]],
[-1.00007, [3, -0.266667, -0.00265897], [3, 0.4, 0.00398846]],
[-0.99254, [3, -0.4, 0], [3, 0.2, 0]], [-1.02169, [3, -0.2, 0], [3, 0.2, 0]],
[-0.288434, [3, -0.2, -0.0107381], [3, 0.2, 0.0107381]],
[-0.277696, [3, -0.2, 0], [3, 0.2, 0]], [-0.288435, [3, -0.2, 0], [3, 0.233333, 0]],
[-0.277696, [3, -0.233333, 0], [3, 0.2, 0]], [-0.288435, [3, -0.2, 0], [3, 0.2, 0]],
[-0.277696, [3, -0.2, -0.010739], [3, 0.2, 0.010739]],
[0.261799, [3, -0.2, 0], [3, 0.2, 0]], [0.261799, [3, -0.2, 0], [3, 0.2, 0]],
[0.261799, [3, -0.2, 0], [3, 0.2, 0]], [0.261799, [3, -0.2, 0], [3, 0.2, 0]],
[-1.17509, [3, -0.2, 0], [3, 0, 0]]])
names.append("LHand")
times.append([0, 0.5, 1.1, 1.7, 2.5, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 9.4, 10, 10.6, 11.2, 11.8])
keys.append([[0.306, [3, -0.0333333, 0], [3, 0.166667, 0]], [0.2908, [3, -0.166667, 0], [3, 0.2, 0]],
[0.9532, [3, -0.2, 0], [3, 0.2, 0]],
[0.9464, [3, -0.2, 0.00291428], [3, 0.266667, -0.00388571]],
[0.9328, [3, -0.266667, 0], [3, 0.666667, 0]],
[0.9464, [3, -0.666667, -0.00379487], [3, 0.2, 0.00113846]],
[0.9476, [3, -0.2, 0], [3, 0.2, 0]], [0.9476, [3, -0.2, 0], [3, 0.2, 0]],
[0.9476, [3, -0.2, 0], [3, 0.2, 0]], [0.9476, [3, -0.2, 0], [3, 0.233333, 0]],
[0.9476, [3, -0.233333, 0], [3, 0.2, 0]], [0.9476, [3, -0.2, 0], [3, 0.2, 0]],
[0.9476, [3, -0.2, 0], [3, 0.2, 0]], [0, [3, -0.2, 0], [3, 0.2, 0]],
[0, [3, -0.2, 0], [3, 0.2, 0]], [0, [3, -0.2, 0], [3, 0.2, 0]],
[0, [3, -0.2, 0], [3, 0.2, 0]], [0.306, [3, -0.2, 0], [3, 0, 0]]])
names.append("LHipPitch")
times.append([0, 0.5, 1.1, 1.7, 2.5, 3.3, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 11.8])
keys.append([[0.116626, [3, -0.0333333, 0], [3, 0.166667, 0]], [0.1335, [3, -0.166667, 0], [3, 0.2, 0]],
[0.1335, [3, -0.2, 0], [3, 0.2, 0]],
[-0.210116, [3, -0.2, 0.00460195], [3, 0.266667, -0.00613594]],
[-0.216252, [3, -0.266667, 0], [3, 0.266667, 0]],
[0.127409, [3, -0.266667, -0.0030379], [3, 0.4, 0.00455684]],
[0.131966, [3, -0.4, -0.00237623], [3, 0.2, 0.00118811]],
[0.138102, [3, -0.2, 0], [3, 0.2, 0]], [0.138102, [3, -0.2, 0], [3, 0.2, 0]],
[-0.291418, [3, -0.2, 0], [3, 0.2, 0]], [0.138102, [3, -0.2, 0], [3, 0.233333, 0]],
[-0.291418, [3, -0.233333, 0], [3, 0.2, 0]], [0.138102, [3, -0.2, 0], [3, 0.2, 0]],
[-0.291418, [3, -0.2, 0], [3, 1, 0]], [0.116626, [3, -1, 0], [3, 0, 0]]])
names.append("LHipRoll")
times.append([0, 0.5, 1.1, 1.7, 2.5, 3.9, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 11.8])
keys.append(
[[0.165714, [3, -0.0333333, 0], [3, 0.166667, 0]], [0.214802, [3, -0.166667, 0], [3, 0.2, 0]],
[0.214802, [3, -0.2, 0], [3, 0.2, 0]], [0.204064, [3, -0.2, 0], [3, 0.266667, 0]],
[0.216336, [3, -0.266667, 0], [3, 0.466667, 0]],
[0.0959931, [3, -0.466667, 0.0198638], [3, 0.2, -0.00851304]],
[0.0874801, [3, -0.2, 0], [3, 0.2, 0]], [0.093616, [3, -0.2, 0], [3, 0.2, 0]],
[0.0598679, [3, -0.2, 0], [3, 0.2, 0]], [0.237812, [3, -0.2, 0], [3, 0.2, 0]],
[0.0598679, [3, -0.2, 0], [3, 0.233333, 0]], [0.237812, [3, -0.233333, 0], [3, 0.2, 0]],
[0.0598679, [3, -0.2, 0], [3, 0.2, 0]], [0.237812, [3, -0.2, 0], [3, 1, 0]],
[0.165714, [3, -1, 0], [3, 0, 0]]])
names.append("LHipYawPitch")
times.append([0, 0.5, 1.1, 1.7, 2.5, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 11.8])
keys.append(
[[-0.168698, [3, -0.0333333, 0], [3, 0.166667, 0]], [-0.168698, [3, -0.166667, 0], [3, 0.2, 0]],
[-0.168698, [3, -0.2, 0], [3, 0.2, 0]], [-0.167164, [3, -0.2, 0], [3, 0.266667, 0]],
[-0.170232, [3, -0.266667, 0], [3, 0.666667, 0]], [-0.167164, [3, -0.666667, 0], [3, 0.2, 0]],
[-0.167164, [3, -0.2, 0], [3, 0.2, 0]], [-0.167164, [3, -0.2, 0], [3, 0.2, 0]],
[-0.148756, [3, -0.2, 0], [3, 0.2, 0]], [-0.167164, [3, -0.2, 0], [3, 0.233333, 0]],
[-0.148756, [3, -0.233333, 0], [3, 0.2, 0]], [-0.167164, [3, -0.2, 0], [3, 0.2, 0]],
[-0.148756, [3, -0.2, 0], [3, 1, 0]], [-0.168698, [3, -1, 0], [3, 0, 0]]])
names.append("LKneePitch")
times.append([0, 0.5, 1.1, 1.7, 2.5, 3.3, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 11.8])
keys.append(
[[-0.104354, [3, -0.0333333, 0], [3, 0.166667, 0]], [-0.0874801, [3, -0.166667, 0], [3, 0.2, 0]],
[-0.0874801, [3, -0.2, 0], [3, 0.2, 0]], [0.182504, [3, -0.2, 0], [3, 0.266667, 0]],
[0.18097, [3, -0.266667, 0.00153398], [3, 0.266667, -0.00153398]],
[-0.0925025, [3, -0.266667, 0.00176503], [3, 0.4, -0.00264754]],
[-0.09515, [3, -0.4, 0.000929229], [3, 0.2, -0.000464614]], [-0.096684, [3, -0.2, 0], [3, 0.2, 0]],
[-0.0890141, [3, -0.2, -0.00766993], [3, 0.2, 0.00766993]], [0.222388, [3, -0.2, 0], [3, 0.2, 0]],
[-0.0890141, [3, -0.2, 0], [3, 0.233333, 0]], [0.222388, [3, -0.233333, 0], [3, 0.2, 0]],
[-0.0890141, [3, -0.2, 0], [3, 0.2, 0]], [0.222388, [3, -0.2, 0], [3, 1, 0]],
[-0.104354, [3, -1, 0], [3, 0, 0]]])
names.append("LShoulderPitch")
times.append(
[0, 0.5, 1.1, 1.7, 2.5, 3.3, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 9.4, 10, 10.6, 11.2, 11.8])
keys.append([[1.42811, [3, -0.0333333, 0], [3, 0.166667, 0]], [1.43425, [3, -0.166667, 0], [3, 0.2, 0]],
[1.42658, [3, -0.2, 0.00767004], [3, 0.2, -0.00767004]],
[0.28068, [3, -0.2, 0.209501], [3, 0.266667, -0.279334]],
[-0.0399261, [3, -0.266667, 0.202696], [3, 0.266667, -0.202696]],
[-0.935496, [3, -0.266667, 0], [3, 0.4, 0]],
[-0.90817, [3, -0.4, -0.0273267], [3, 0.2, 0.0136633]],
[0.079726, [3, -0.2, -0.30501], [3, 0.2, 0.30501]],
[0.921892, [3, -0.2, -0.0107379], [3, 0.2, 0.0107379]],
[0.93263, [3, -0.2, 0], [3, 0.2, 0]], [0.921892, [3, -0.2, 0], [3, 0.233333, 0]],
[0.932631, [3, -0.233333, 0], [3, 0.2, 0]], [0.921892, [3, -0.2, 0], [3, 0.2, 0]],
[0.932631, [3, -0.2, -0.010739], [3, 0.2, 0.010739]], [1.24966, [3, -0.2, 0], [3, 0.2, 0]],
[1.24966, [3, -0.2, 0], [3, 0.2, 0]], [1.24966, [3, -0.2, 0], [3, 0.2, 0]],
[1.24966, [3, -0.2, 0], [3, 0.2, 0]], [1.42811, [3, -0.2, 0], [3, 0, 0]]])
names.append("LShoulderRoll")
times.append(
[0, 0.5, 1.1, 1.7, 2.5, 3.3, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 9.4, 10, 10.6, 11.2, 11.8])
keys.append(
[[0.208582, [3, -0.0333333, 0], [3, 0.166667, 0]], [0.19631, [3, -0.166667, 0], [3, 0.2, 0]],
[1.32645, [3, -0.2, 0], [3, 0.2, 0]], [0.538392, [3, -0.2, 0.187307], [3, 0.266667, -0.249743]],
[0.0152981, [3, -0.266667, 0], [3, 0.266667, 0]], [1.32645, [3, -0.266667, 0], [3, 0.4, 0]],
[1.24403, [3, -0.4, 0.0824182], [3, 0.2, -0.0412091]], [-0.161112, [3, -0.2, 0], [3, 0.2, 0]],
[0.02757, [3, -0.2, -0.0447417], [3, 0.2, 0.0447417]], [0.107338, [3, -0.2, 0], [3, 0.2, 0]],
[0.0275701, [3, -0.2, 0], [3, 0.233333, 0]], [0.107338, [3, -0.233333, 0], [3, 0.2, 0]],
[0.0275701, [3, -0.2, 0], [3, 0.2, 0]], [0.107338, [3, -0.2, -0.0797678], [3, 0.2, 0.0797678]],
[0.736529, [3, -0.2, 0], [3, 0.2, 0]], [0.736529, [3, -0.2, 0], [3, 0.2, 0]],
[0.736529, [3, -0.2, 0], [3, 0.2, 0]], [0.736529, [3, -0.2, 0], [3, 0.2, 0]],
[0.208583, [3, -0.2, 0], [3, 0, 0]]])
names.append("LWristYaw")
times.append(
[0, 0.5, 1.1, 1.7, 2.5, 3.3, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 9.4, 10, 10.6, 11.2, 11.8])
keys.append(
[[0.075124, [3, -0.0333333, 0], [3, 0.166667, 0]], [0.110406, [3, -0.166667, 0], [3, 0.2, 0]],
[-0.372804, [3, -0.2, 0], [3, 0.2, 0]],
[-0.346726, [3, -0.2, -0.00701257], [3, 0.266667, 0.0093501]],
[-0.323716, [3, -0.266667, 0], [3, 0.266667, 0]], [-1.40848, [3, -0.266667, 0], [3, 0.4, 0]],
[-1.3699, [3, -0.4, -0.0385767], [3, 0.2, 0.0192883]], [-0.108956, [3, -0.2, 0], [3, 0.2, 0]],
[-0.665798, [3, -0.2, 0.050622], [3, 0.2, -0.050622]], [-0.71642, [3, -0.2, 0], [3, 0.2, 0]],
[-0.665798, [3, -0.2, 0], [3, 0.233333, 0]], [-0.716419, [3, -0.233333, 0], [3, 0.2, 0]],
[-0.665798, [3, -0.2, 0], [3, 0.2, 0]], [-0.716419, [3, -0.2, 0.0506215], [3, 0.2, -0.0506215]],
[-1.44513, [3, -0.2, 0], [3, 0.2, 0]], [-1.44513, [3, -0.2, 0], [3, 0.2, 0]],
[-1.44513, [3, -0.2, 0], [3, 0.2, 0]], [-1.44513, [3, -0.2, 0], [3, 0.2, 0]],
[0.075124, [3, -0.2, 0], [3, 0, 0]]])
names.append("RAnklePitch")
times.append([0, 0.5, 1.1, 1.7, 2.5, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 11.8])
keys.append(
[[0.0828779, [3, -0.0333333, 0], [3, 0.166667, 0]], [0.09515, [3, -0.166667, 0], [3, 0.2, 0]],
[0.09515, [3, -0.2, 0], [3, 0.2, 0]],
[0.0844119, [3, -0.2, 0.00241058], [3, 0.266667, -0.00321411]],
[0.0782759, [3, -0.266667, 0], [3, 0.666667, 0]], [0.0874801, [3, -0.666667, 0], [3, 0.2, 0]],
[0.0767419, [3, -0.2, 0.00255668], [3, 0.2, -0.00255668]], [0.07214, [3, -0.2, 0], [3, 0.2, 0]],
[0.07214, [3, -0.2, 0], [3, 0.2, 0]], [0.07214, [3, -0.2, 0], [3, 0.233333, 0]],
[0.07214, [3, -0.233333, 0], [3, 0.2, 0]], [0.07214, [3, -0.2, 0], [3, 0.2, 0]],
[0.07214, [3, -0.2, 0], [3, 1, 0]], [0.0828778, [3, -1, 0], [3, 0, 0]]])
names.append("RAnkleRoll")
times.append([0, 0.5, 1.1, 1.7, 2.5, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 11.8])
keys.append(
[[0.112024, [3, -0.0333333, 0], [3, 0.166667, 0]], [0.113558, [3, -0.166667, 0], [3, 0.2, 0]],
[0.113558, [3, -0.2, 0], [3, 0.2, 0]], [0.113558, [3, -0.2, 0], [3, 0.266667, 0]],
[0.112024, [3, -0.266667, 0], [3, 0.666667, 0]],
[0.113558, [3, -0.666667, -0.00117999], [3, 0.2, 0.000353996]],
[0.116626, [3, -0.2, 0], [3, 0.2, 0]], [0.116626, [3, -0.2, 0], [3, 0.2, 0]],
[0.32525, [3, -0.2, 0], [3, 0.2, 0]], [0.116626, [3, -0.2, 0], [3, 0.233333, 0]],
[0.325249, [3, -0.233333, 0], [3, 0.2, 0]], [0.116626, [3, -0.2, 0], [3, 0.2, 0]],
[0.325249, [3, -0.2, 0], [3, 1, 0]], [0.112024, [3, -1, 0], [3, 0, 0]]])
names.append("RElbowRoll")
times.append([0, 0.5, 1.1, 1.7, 2.5, 4.5, 5.1, 5.7, 6.3, 6.9, 7.6, 8.2, 8.8, 9.4, 10, 10.6, 11.2, 11.8])
keys.append([[0.42496, [3, -0.0333333, 0], [3, 0.166667, 0]], [0.40962, [3, -0.166667, 0], [3, 0.2, 0]],
[1.4374, [3, -0.2, 0], [3, 0.2, 0]],
[1.39905, [3, -0.2, 0.00898484], [3, 0.266667, -0.0119798]],
[1.37451, [3, -0.266667, 0.0176775], [3, 0.666667, -0.0441937]],
[1.21344, [3, -0.666667, 0.0452334], [3, 0.2, -0.01357]],
[1.1981, [3, -0.2, 0], [3, 0.2, 0]], [1.30548, [3, -0.2, 0], [3, 0.2, 0]],
[1.26252, [3, -0.2, 0], [3, 0.2, 0]], [1.30548, [3, -0.2, 0], [3, 0.233333, 0]],
[1.26252, [3, -0.233333, 0], [3, 0.2, 0]], [1.30548, [3, -0.2, 0], [3, 0.2, 0]],
[1.26252, [3, -0.2, 0], [3, 0.2, 0]], [1.50447, [3, -0.2, 0], [3, 0.2, 0]],
[1.50447, [3, -0.2, 0], [3, 0.2, 0]], [1.50447, [3, -0.2, 0], [3, 0.2, 0]],
[1.50447, [3, -0.2, 0], [3, 0.2, 0]], [0.42496, [3, -0.2, 0], [3, 0, 0]]])