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watchdog_code.py
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import time
from watchdog.observers import Observer
from watchdog.events import FileSystemEventHandler
from test import read_file
from test import append_file
from test import erase_file
from naoqi import ALProxy
import sys
import argparse
IP = "192.168.43.84"
PORT = 9559
tts = audio = record = aup = None
string = ""
class MyHandler(FileSystemEventHandler):
def on_modified(self, event):
global tts, audio, record, aup
# tts = ALProxy("ALTextToSpeech", IP, PORT)
#
# record = ALProxy("ALAudioRecorder", IP, PORT)
# print("Modified")
# erase_file()
string = read_file()
string = string.lower()
if string == '':
pass
else:
print("Modified")
tts = ALProxy("ALTextToSpeech", IP, PORT)
tts.say(string)
print (string)
erase_file()
if "sad" in string:
aup = ALProxy("ALAudioPlayer", IP, PORT)
audio = ALProxy("ALAudioDevice", IP, PORT)
music = '/home/nao/staying alive.mp3'
fileID = aup.post.playFileFromPosition(music, 41, 1.0, 0)
names = list()
times = list()
keys = list()
try:
ttsProxy = ALProxy("ALTextToSpeech", IP, PORT)
except Exception, e:
print("Could not create a proxy to ALTextToSpeech")
# ttsProxy.say("...")
names.append("HeadPitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.00847434, [3, -0.333333, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0, 0]]])
names.append("HeadYaw")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[1.19972, [3, -0.333333, 0], [3, 0.2, 0]], [0, [3, -0.2, 0], [3, 0.2, 0]],
[1.19972, [3, -0.2, 0], [3, 0.2, 0]], [0, [3, -0.2, 0.399908], [3, 0.2, -0.399908]],
[-1.19972, [3, -0.2, 0], [3, 0.2, 0]], [0, [3, -0.2, 0], [3, 0.2, 0]],
[-1.19972, [3, -0.2, 0], [3, 0.2, 0]], [0, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00464368, [3, -0.2, 0], [3, 0, 0]]])
names.append("LAnklePitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.242601, [3, -0.333333, 0], [3, 0.2, 0]], [-0.342535, [3, -0.2, 0], [3, 0.2, 0]],
[-0.342535, [3, -0.2, 0], [3, 0.2, 0]], [-0.342535, [3, -0.2, 0], [3, 0.2, 0]],
[-0.242428, [3, -0.2, -0.00764976], [3, 0.2, 0.00764976]],
[-0.234778, [3, -0.2, 0], [3, 0.2, 0]],
[-0.234778, [3, -0.2, 0], [3, 0.2, 0]], [-0.234778, [3, -0.2, 0], [3, 0.2, 0]],
[-0.340758, [3, -0.2, 0], [3, 0, 0]]])
names.append("LAnkleRoll")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.00872665, [3, -0.333333, 0], [3, 0.2, 0]], [-0.00242534, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00242534, [3, -0.2, 0], [3, 0.2, 0]], [-0.00242534, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00949218, [3, -0.2, 0], [3, 0.2, 0]], [-0.00242534, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00242534, [3, -0.2, 0], [3, 0.2, 0]], [-0.00242534, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00242534, [3, -0.2, 0], [3, 0, 0]]])
names.append("LElbowRoll")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.138215, [3, -0.333333, 0], [3, 0.2, 0]], [-0.445724, [3, -0.2, 0], [3, 0.2, 0]],
[-0.138215, [3, -0.2, 0], [3, 0.2, 0]], [-0.445724, [3, -0.2, 0], [3, 0.2, 0]],
[-0.381585, [3, -0.2, 0], [3, 0.2, 0]], [-0.381585, [3, -0.2, 0], [3, 0.2, 0]],
[-0.381585, [3, -0.2, 0], [3, 0.2, 0]], [-0.381585, [3, -0.2, 0], [3, 0.2, 0]],
[-1.00367, [3, -0.2, 0], [3, 0, 0]]])
names.append("LElbowYaw")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-1.30029, [3, -0.333333, 0], [3, 0.2, 0]], [-0.657336, [3, -0.2, 0], [3, 0.2, 0]],
[-1.30029, [3, -0.2, 0], [3, 0.2, 0]], [-0.657336, [3, -0.2, 0], [3, 0.2, 0]],
[-0.65816, [3, -0.2, 0], [3, 0.2, 0]], [-0.65816, [3, -0.2, 0], [3, 0.2, 0]],
[-0.65816, [3, -0.2, 0], [3, 0.2, 0]], [-0.65816, [3, -0.2, 0], [3, 0.2, 0]],
[-1.38323, [3, -0.2, 0], [3, 0, 0]]])
names.append("LHand")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.994649, [3, -0.333333, 0], [3, 0.2, 0]], [0.4, [3, -0.2, 0], [3, 0.2, 0]],
[0.994649, [3, -0.2, 0], [3, 0.2, 0]], [0.4, [3, -0.2, 0.122569], [3, 0.2, -0.122569]],
[0.259234, [3, -0.2, 0], [3, 0.2, 0]], [0.259234, [3, -0.2, 0], [3, 0.2, 0]],
[0.259234, [3, -0.2, 0], [3, 0.2, 0]], [0.259234, [3, -0.2, 0], [3, 0.2, 0]],
[0.259234, [3, -0.2, 0], [3, 0, 0]]])
names.append("LHipPitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.588176, [3, -0.333333, 0], [3, 0.2, 0]], [-0.455433, [3, -0.2, 0], [3, 0.2, 0]],
[-0.455433, [3, -0.2, 0], [3, 0.2, 0]], [-0.455433, [3, -0.2, 0], [3, 0.2, 0]],
[-0.58434, [3, -0.2, 0.00262321], [3, 0.2, -0.00262321]],
[-0.586963, [3, -0.2, 0], [3, 0.2, 0]],
[-0.586963, [3, -0.2, 0], [3, 0.2, 0]], [-0.586963, [3, -0.2, 0], [3, 0.2, 0]],
[-0.45, [3, -0.2, 0], [3, 0, 0]]])
names.append("LHipRoll")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.0913434, [3, -0.333333, 0], [3, 0.2, 0]], [0.00498489, [3, -0.2, 0], [3, 0.2, 0]],
[0.00498489, [3, -0.2, 0], [3, 0.2, 0]], [0.00498489, [3, -0.2, 0], [3, 0.2, 0]],
[0.0964097, [3, -0.2, -0.00936212], [3, 0.2, 0.00936212]],
[0.105772, [3, -0.2, 0], [3, 0.2, 0]],
[0.105772, [3, -0.2, 0], [3, 0.2, 0]], [0.105772, [3, -0.2, 0], [3, 0.2, 0]],
[0.00848469, [3, -0.2, 0], [3, 0, 0]]])
names.append("LHipYawPitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.00730551, [3, -0.333333, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00730551, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0, 0]]])
names.append("LKneePitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.708487, [3, -0.333333, 0], [3, 0.2, 0]], [0.701287, [3, -0.2, 0], [3, 0.2, 0]],
[0.701287, [3, -0.2, 0], [3, 0.2, 0]], [0.701287, [3, -0.2, 0], [3, 0.2, 0]],
[0.709886, [3, -0.2, -0.0015935], [3, 0.2, 0.0015935]],
[0.71148, [3, -0.2, 0], [3, 0.2, 0]],
[0.71148, [3, -0.2, 0], [3, 0.2, 0]], [0.71148, [3, -0.2, 0], [3, 0.2, 0]],
[0.700921, [3, -0.2, 0], [3, 0, 0]]])
names.append("LShoulderPitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.608631, [3, -0.333333, 0], [3, 0.2, 0]], [0.919783, [3, -0.2, 0], [3, 0.2, 0]],
[-0.608631, [3, -0.2, 0], [3, 0.2, 0]],
[0.919783, [3, -0.2, -0.00474029], [3, 0.2, 0.00474029]],
[0.924524, [3, -0.2, 0], [3, 0.2, 0]], [0.924524, [3, -0.2, 0], [3, 0.2, 0]],
[0.924524, [3, -0.2, 0], [3, 0.2, 0]], [0.924524, [3, -0.2, 0], [3, 0.2, 0]],
[1.39334, [3, -0.2, 0], [3, 0, 0]]])
names.append("LShoulderRoll")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.815868, [3, -0.333333, 0], [3, 0.2, 0]], [-0.0711377, [3, -0.2, 0], [3, 0.2, 0]],
[0.815868, [3, -0.2, 0], [3, 0.2, 0]],
[-0.0711377, [3, -0.2, 0.0592056], [3, 0.2, -0.0592056]],
[-0.130343, [3, -0.2, 0], [3, 0.2, 0]], [-0.118499, [3, -0.2, 0], [3, 0.2, 0]],
[-0.130343, [3, -0.2, 0], [3, 0.2, 0]],
[-0.118499, [3, -0.2, -0.0118445], [3, 0.2, 0.0118445]],
[0.294489, [3, -0.2, 0], [3, 0, 0]]])
names.append("LWristYaw")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[1.81842, [3, -0.333333, 0], [3, 0.2, 0]], [-0.0671777, [3, -0.2, 0], [3, 0.2, 0]],
[1.81842, [3, -0.2, 0], [3, 0.2, 0]], [-0.0671777, [3, -0.2, 0], [3, 0.2, 0]],
[-0.0663408, [3, -0.2, 0], [3, 0.2, 0]], [-0.0663408, [3, -0.2, 0], [3, 0.2, 0]],
[-0.0663408, [3, -0.2, 0], [3, 0.2, 0]], [-0.0663408, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00262915, [3, -0.2, 0], [3, 0, 0]]])
names.append("RAnklePitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.242428, [3, -0.333333, 0], [3, 0.2, 0]], [-0.234778, [3, -0.2, 0], [3, 0.2, 0]],
[-0.234778, [3, -0.2, 0], [3, 0.2, 0]], [-0.234778, [3, -0.2, 0], [3, 0.2, 0]],
[-0.242601, [3, -0.2, 0.00782255], [3, 0.2, -0.00782255]],
[-0.342535, [3, -0.2, 0], [3, 0.2, 0]],
[-0.342535, [3, -0.2, 0], [3, 0.2, 0]], [-0.342535, [3, -0.2, 0], [3, 0.2, 0]],
[-0.342535, [3, -0.2, 0], [3, 0, 0]]])
names.append("RAnkleRoll")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.00949218, [3, -0.333333, 0], [3, 0.2, 0]], [0.00242534, [3, -0.2, 0], [3, 0.2, 0]],
[0.00242534, [3, -0.2, 0], [3, 0.2, 0]], [0.00242534, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00872665, [3, -0.2, 0], [3, 0.2, 0]], [0.00242534, [3, -0.2, 0], [3, 0.2, 0]],
[0.00242534, [3, -0.2, 0], [3, 0.2, 0]], [0.00242534, [3, -0.2, 0], [3, 0.2, 0]],
[0.00242534, [3, -0.2, 0], [3, 0, 0]]])
names.append("RElbowRoll")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.381585, [3, -0.333333, 0], [3, 0.2, 0]], [0.381585, [3, -0.2, 0], [3, 0.2, 0]],
[0.381585, [3, -0.2, 0], [3, 0.2, 0]], [0.381585, [3, -0.2, 0], [3, 0.2, 0]],
[0.138215, [3, -0.2, 0], [3, 0.2, 0]], [0.445724, [3, -0.2, 0], [3, 0.2, 0]],
[0.138215, [3, -0.2, 0], [3, 0.2, 0]],
[0.445724, [3, -0.2, -0.144335], [3, 0.2, 0.144335]],
[1.00422, [3, -0.2, 0], [3, 0, 0]]])
names.append("RElbowYaw")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.65816, [3, -0.333333, 0], [3, 0.2, 0]], [0.65816, [3, -0.2, 0], [3, 0.2, 0]],
[0.65816, [3, -0.2, 0], [3, 0.2, 0]], [0.65816, [3, -0.2, 0], [3, 0.2, 0]],
[1.30029, [3, -0.2, 0], [3, 0.2, 0]], [0.657336, [3, -0.2, 0], [3, 0.2, 0]],
[1.30029, [3, -0.2, 0], [3, 0.2, 0]], [0.657336, [3, -0.2, 0], [3, 0.2, 0]],
[1.38304, [3, -0.2, 0], [3, 0, 0]]])
names.append("RHand")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.259234, [3, -0.333333, 0], [3, 0.2, 0]], [0.259234, [3, -0.2, 0], [3, 0.2, 0]],
[0.259234, [3, -0.2, 0], [3, 0.2, 0]], [0.259234, [3, -0.2, 0], [3, 0.2, 0]],
[0.994649, [3, -0.2, 0], [3, 0.2, 0]], [0.4, [3, -0.2, 0], [3, 0.2, 0]],
[0.994649, [3, -0.2, 0], [3, 0.2, 0]], [0.4, [3, -0.2, 0.124108], [3, 0.2, -0.124108]],
[0.25, [3, -0.2, 0], [3, 0, 0]]])
names.append("RHipPitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.58434, [3, -0.333333, 0], [3, 0.2, 0]], [-0.586963, [3, -0.2, 0], [3, 0.2, 0]],
[-0.586963, [3, -0.2, 0], [3, 0.2, 0]], [-0.586963, [3, -0.2, 0], [3, 0.2, 0]],
[-0.588176, [3, -0.2, 0], [3, 0.2, 0]], [-0.455433, [3, -0.2, 0], [3, 0.2, 0]],
[-0.455433, [3, -0.2, 0], [3, 0.2, 0]], [-0.455433, [3, -0.2, 0], [3, 0.2, 0]],
[-0.455433, [3, -0.2, 0], [3, 0, 0]]])
names.append("RHipRoll")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.0964097, [3, -0.333333, 0], [3, 0.2, 0]], [-0.105772, [3, -0.2, 0], [3, 0.2, 0]],
[-0.105772, [3, -0.2, 0], [3, 0.2, 0]], [-0.105772, [3, -0.2, 0], [3, 0.2, 0]],
[0.0913434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00498489, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00498489, [3, -0.2, 0], [3, 0.2, 0]], [-0.00498489, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00498489, [3, -0.2, 0], [3, 0, 0]]])
names.append("RHipYawPitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.00847434, [3, -0.333333, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0, 0]]])
names.append("RKneePitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.709886, [3, -0.333333, 0], [3, 0.2, 0]], [0.71148, [3, -0.2, 0], [3, 0.2, 0]],
[0.71148, [3, -0.2, 0], [3, 0.2, 0]], [0.71148, [3, -0.2, 0], [3, 0.2, 0]],
[0.708487, [3, -0.2, 0.00169879], [3, 0.2, -0.00169879]],
[0.701287, [3, -0.2, 0], [3, 0.2, 0]],
[0.701287, [3, -0.2, 0], [3, 0.2, 0]], [0.701287, [3, -0.2, 0], [3, 0.2, 0]],
[0.701287, [3, -0.2, 0], [3, 0, 0]]])
names.append("RShoulderPitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.924524, [3, -0.333333, 0], [3, 0.2, 0]], [0.924524, [3, -0.2, 0], [3, 0.2, 0]],
[0.924524, [3, -0.2, 0], [3, 0.2, 0]], [0.924524, [3, -0.2, 0], [3, 0.2, 0]],
[-0.608631, [3, -0.2, 0], [3, 0.2, 0]], [0.919783, [3, -0.2, 0], [3, 0.2, 0]],
[-0.608631, [3, -0.2, 0], [3, 0.2, 0]],
[0.919783, [3, -0.2, -0.333765], [3, 0.2, 0.333765]],
[1.39396, [3, -0.2, 0], [3, 0, 0]]])
names.append("RShoulderRoll")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.130343, [3, -0.333333, 0], [3, 0.2, 0]], [0.118499, [3, -0.2, 0], [3, 0.2, 0]],
[0.130343, [3, -0.2, 0], [3, 0.2, 0]],
[0.118499, [3, -0.2, 0.0118445], [3, 0.2, -0.0118445]],
[-0.815868, [3, -0.2, 0], [3, 0.2, 0]], [0.0711377, [3, -0.2, 0], [3, 0.2, 0]],
[-0.815868, [3, -0.2, 0], [3, 0.2, 0]], [0.0711377, [3, -0.2, 0], [3, 0.2, 0]],
[-0.295554, [3, -0.2, 0], [3, 0, 0]]])
names.append("RWristYaw")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.0663408, [3, -0.333333, 0], [3, 0.2, 0]], [0.0663408, [3, -0.2, 0], [3, 0.2, 0]],
[0.0663408, [3, -0.2, 0], [3, 0.2, 0]], [0.0663408, [3, -0.2, 0], [3, 0.2, 0]],
[-1.81842, [3, -0.2, 0], [3, 0.2, 0]], [0.0671777, [3, -0.2, 0], [3, 0.2, 0]],
[-1.81842, [3, -0.2, 0], [3, 0.2, 0]], [0.0671777, [3, -0.2, 0], [3, 0.2, 0]],
[0.00266231, [3, -0.2, 0], [3, 0, 0]]])
try:
motion = ALProxy("ALMotion", IP, PORT)
motion.angleInterpolationBezier(names, times, keys)
except BaseException, err:
print err
aup.stopAll()
#happy dance
elif "happy" in string:
aup = ALProxy("ALAudioPlayer", IP, PORT)
audio = ALProxy("ALAudioDevice", IP, PORT)
music = '/home/nao/happy.mp3'
fileID = aup.post.playFileFromPosition(music, 24, 1.0, 0)
names = list()
times = list()
keys = list()
try:
ttsProxy = ALProxy("ALTextToSpeech", IP, PORT)
except Exception, e:
print("Could not create a proxy to ALTextToSpeech")
# ttsProxy.say("...")
names.append("HeadPitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append(
[[-0.00847434, [3, -0.333333, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0, 0]]])
names.append("HeadYaw")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[1.19972, [3, -0.333333, 0], [3, 0.2, 0]], [0, [3, -0.2, 0], [3, 0.2, 0]],
[1.19972, [3, -0.2, 0], [3, 0.2, 0]], [0, [3, -0.2, 0.399908], [3, 0.2, -0.399908]],
[-1.19972, [3, -0.2, 0], [3, 0.2, 0]], [0, [3, -0.2, 0], [3, 0.2, 0]],
[-1.19972, [3, -0.2, 0], [3, 0.2, 0]], [0, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00464368, [3, -0.2, 0], [3, 0, 0]]])
names.append("LAnklePitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.242601, [3, -0.333333, 0], [3, 0.2, 0]], [-0.342535, [3, -0.2, 0], [3, 0.2, 0]],
[-0.342535, [3, -0.2, 0], [3, 0.2, 0]], [-0.342535, [3, -0.2, 0], [3, 0.2, 0]],
[-0.242428, [3, -0.2, -0.00764976], [3, 0.2, 0.00764976]],
[-0.234778, [3, -0.2, 0], [3, 0.2, 0]],
[-0.234778, [3, -0.2, 0], [3, 0.2, 0]], [-0.234778, [3, -0.2, 0], [3, 0.2, 0]],
[-0.340758, [3, -0.2, 0], [3, 0, 0]]])
names.append("LAnkleRoll")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.00872665, [3, -0.333333, 0], [3, 0.2, 0]], [-0.00242534, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00242534, [3, -0.2, 0], [3, 0.2, 0]], [-0.00242534, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00949218, [3, -0.2, 0], [3, 0.2, 0]], [-0.00242534, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00242534, [3, -0.2, 0], [3, 0.2, 0]], [-0.00242534, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00242534, [3, -0.2, 0], [3, 0, 0]]])
names.append("LElbowRoll")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.138215, [3, -0.333333, 0], [3, 0.2, 0]], [-0.445724, [3, -0.2, 0], [3, 0.2, 0]],
[-0.138215, [3, -0.2, 0], [3, 0.2, 0]], [-0.445724, [3, -0.2, 0], [3, 0.2, 0]],
[-0.381585, [3, -0.2, 0], [3, 0.2, 0]], [-0.381585, [3, -0.2, 0], [3, 0.2, 0]],
[-0.381585, [3, -0.2, 0], [3, 0.2, 0]], [-0.381585, [3, -0.2, 0], [3, 0.2, 0]],
[-1.00367, [3, -0.2, 0], [3, 0, 0]]])
names.append("LElbowYaw")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-1.30029, [3, -0.333333, 0], [3, 0.2, 0]], [-0.657336, [3, -0.2, 0], [3, 0.2, 0]],
[-1.30029, [3, -0.2, 0], [3, 0.2, 0]], [-0.657336, [3, -0.2, 0], [3, 0.2, 0]],
[-0.65816, [3, -0.2, 0], [3, 0.2, 0]], [-0.65816, [3, -0.2, 0], [3, 0.2, 0]],
[-0.65816, [3, -0.2, 0], [3, 0.2, 0]], [-0.65816, [3, -0.2, 0], [3, 0.2, 0]],
[-1.38323, [3, -0.2, 0], [3, 0, 0]]])
names.append("LHand")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.994649, [3, -0.333333, 0], [3, 0.2, 0]], [0.4, [3, -0.2, 0], [3, 0.2, 0]],
[0.994649, [3, -0.2, 0], [3, 0.2, 0]], [0.4, [3, -0.2, 0.122569], [3, 0.2, -0.122569]],
[0.259234, [3, -0.2, 0], [3, 0.2, 0]], [0.259234, [3, -0.2, 0], [3, 0.2, 0]],
[0.259234, [3, -0.2, 0], [3, 0.2, 0]], [0.259234, [3, -0.2, 0], [3, 0.2, 0]],
[0.259234, [3, -0.2, 0], [3, 0, 0]]])
names.append("LHipPitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.588176, [3, -0.333333, 0], [3, 0.2, 0]], [-0.455433, [3, -0.2, 0], [3, 0.2, 0]],
[-0.455433, [3, -0.2, 0], [3, 0.2, 0]], [-0.455433, [3, -0.2, 0], [3, 0.2, 0]],
[-0.58434, [3, -0.2, 0.00262321], [3, 0.2, -0.00262321]],
[-0.586963, [3, -0.2, 0], [3, 0.2, 0]],
[-0.586963, [3, -0.2, 0], [3, 0.2, 0]], [-0.586963, [3, -0.2, 0], [3, 0.2, 0]],
[-0.45, [3, -0.2, 0], [3, 0, 0]]])
names.append("LHipRoll")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.0913434, [3, -0.333333, 0], [3, 0.2, 0]], [0.00498489, [3, -0.2, 0], [3, 0.2, 0]],
[0.00498489, [3, -0.2, 0], [3, 0.2, 0]], [0.00498489, [3, -0.2, 0], [3, 0.2, 0]],
[0.0964097, [3, -0.2, -0.00936212], [3, 0.2, 0.00936212]],
[0.105772, [3, -0.2, 0], [3, 0.2, 0]],
[0.105772, [3, -0.2, 0], [3, 0.2, 0]], [0.105772, [3, -0.2, 0], [3, 0.2, 0]],
[0.00848469, [3, -0.2, 0], [3, 0, 0]]])
names.append("LHipYawPitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append(
[[-0.00730551, [3, -0.333333, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00730551, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0, 0]]])
names.append("LKneePitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.708487, [3, -0.333333, 0], [3, 0.2, 0]], [0.701287, [3, -0.2, 0], [3, 0.2, 0]],
[0.701287, [3, -0.2, 0], [3, 0.2, 0]], [0.701287, [3, -0.2, 0], [3, 0.2, 0]],
[0.709886, [3, -0.2, -0.0015935], [3, 0.2, 0.0015935]],
[0.71148, [3, -0.2, 0], [3, 0.2, 0]],
[0.71148, [3, -0.2, 0], [3, 0.2, 0]], [0.71148, [3, -0.2, 0], [3, 0.2, 0]],
[0.700921, [3, -0.2, 0], [3, 0, 0]]])
names.append("LShoulderPitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.608631, [3, -0.333333, 0], [3, 0.2, 0]], [0.919783, [3, -0.2, 0], [3, 0.2, 0]],
[-0.608631, [3, -0.2, 0], [3, 0.2, 0]],
[0.919783, [3, -0.2, -0.00474029], [3, 0.2, 0.00474029]],
[0.924524, [3, -0.2, 0], [3, 0.2, 0]], [0.924524, [3, -0.2, 0], [3, 0.2, 0]],
[0.924524, [3, -0.2, 0], [3, 0.2, 0]], [0.924524, [3, -0.2, 0], [3, 0.2, 0]],
[1.39334, [3, -0.2, 0], [3, 0, 0]]])
names.append("LShoulderRoll")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.815868, [3, -0.333333, 0], [3, 0.2, 0]], [-0.0711377, [3, -0.2, 0], [3, 0.2, 0]],
[0.815868, [3, -0.2, 0], [3, 0.2, 0]],
[-0.0711377, [3, -0.2, 0.0592056], [3, 0.2, -0.0592056]],
[-0.130343, [3, -0.2, 0], [3, 0.2, 0]], [-0.118499, [3, -0.2, 0], [3, 0.2, 0]],
[-0.130343, [3, -0.2, 0], [3, 0.2, 0]],
[-0.118499, [3, -0.2, -0.0118445], [3, 0.2, 0.0118445]],
[0.294489, [3, -0.2, 0], [3, 0, 0]]])
names.append("LWristYaw")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[1.81842, [3, -0.333333, 0], [3, 0.2, 0]], [-0.0671777, [3, -0.2, 0], [3, 0.2, 0]],
[1.81842, [3, -0.2, 0], [3, 0.2, 0]], [-0.0671777, [3, -0.2, 0], [3, 0.2, 0]],
[-0.0663408, [3, -0.2, 0], [3, 0.2, 0]], [-0.0663408, [3, -0.2, 0], [3, 0.2, 0]],
[-0.0663408, [3, -0.2, 0], [3, 0.2, 0]], [-0.0663408, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00262915, [3, -0.2, 0], [3, 0, 0]]])
names.append("RAnklePitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.242428, [3, -0.333333, 0], [3, 0.2, 0]], [-0.234778, [3, -0.2, 0], [3, 0.2, 0]],
[-0.234778, [3, -0.2, 0], [3, 0.2, 0]], [-0.234778, [3, -0.2, 0], [3, 0.2, 0]],
[-0.242601, [3, -0.2, 0.00782255], [3, 0.2, -0.00782255]],
[-0.342535, [3, -0.2, 0], [3, 0.2, 0]],
[-0.342535, [3, -0.2, 0], [3, 0.2, 0]], [-0.342535, [3, -0.2, 0], [3, 0.2, 0]],
[-0.342535, [3, -0.2, 0], [3, 0, 0]]])
names.append("RAnkleRoll")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.00949218, [3, -0.333333, 0], [3, 0.2, 0]], [0.00242534, [3, -0.2, 0], [3, 0.2, 0]],
[0.00242534, [3, -0.2, 0], [3, 0.2, 0]], [0.00242534, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00872665, [3, -0.2, 0], [3, 0.2, 0]], [0.00242534, [3, -0.2, 0], [3, 0.2, 0]],
[0.00242534, [3, -0.2, 0], [3, 0.2, 0]], [0.00242534, [3, -0.2, 0], [3, 0.2, 0]],
[0.00242534, [3, -0.2, 0], [3, 0, 0]]])
names.append("RElbowRoll")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.381585, [3, -0.333333, 0], [3, 0.2, 0]], [0.381585, [3, -0.2, 0], [3, 0.2, 0]],
[0.381585, [3, -0.2, 0], [3, 0.2, 0]], [0.381585, [3, -0.2, 0], [3, 0.2, 0]],
[0.138215, [3, -0.2, 0], [3, 0.2, 0]], [0.445724, [3, -0.2, 0], [3, 0.2, 0]],
[0.138215, [3, -0.2, 0], [3, 0.2, 0]],
[0.445724, [3, -0.2, -0.144335], [3, 0.2, 0.144335]],
[1.00422, [3, -0.2, 0], [3, 0, 0]]])
names.append("RElbowYaw")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.65816, [3, -0.333333, 0], [3, 0.2, 0]], [0.65816, [3, -0.2, 0], [3, 0.2, 0]],
[0.65816, [3, -0.2, 0], [3, 0.2, 0]], [0.65816, [3, -0.2, 0], [3, 0.2, 0]],
[1.30029, [3, -0.2, 0], [3, 0.2, 0]], [0.657336, [3, -0.2, 0], [3, 0.2, 0]],
[1.30029, [3, -0.2, 0], [3, 0.2, 0]], [0.657336, [3, -0.2, 0], [3, 0.2, 0]],
[1.38304, [3, -0.2, 0], [3, 0, 0]]])
names.append("RHand")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.259234, [3, -0.333333, 0], [3, 0.2, 0]], [0.259234, [3, -0.2, 0], [3, 0.2, 0]],
[0.259234, [3, -0.2, 0], [3, 0.2, 0]], [0.259234, [3, -0.2, 0], [3, 0.2, 0]],
[0.994649, [3, -0.2, 0], [3, 0.2, 0]], [0.4, [3, -0.2, 0], [3, 0.2, 0]],
[0.994649, [3, -0.2, 0], [3, 0.2, 0]], [0.4, [3, -0.2, 0.124108], [3, 0.2, -0.124108]],
[0.25, [3, -0.2, 0], [3, 0, 0]]])
names.append("RHipPitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.58434, [3, -0.333333, 0], [3, 0.2, 0]], [-0.586963, [3, -0.2, 0], [3, 0.2, 0]],
[-0.586963, [3, -0.2, 0], [3, 0.2, 0]], [-0.586963, [3, -0.2, 0], [3, 0.2, 0]],
[-0.588176, [3, -0.2, 0], [3, 0.2, 0]], [-0.455433, [3, -0.2, 0], [3, 0.2, 0]],
[-0.455433, [3, -0.2, 0], [3, 0.2, 0]], [-0.455433, [3, -0.2, 0], [3, 0.2, 0]],
[-0.455433, [3, -0.2, 0], [3, 0, 0]]])
names.append("RHipRoll")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[-0.0964097, [3, -0.333333, 0], [3, 0.2, 0]], [-0.105772, [3, -0.2, 0], [3, 0.2, 0]],
[-0.105772, [3, -0.2, 0], [3, 0.2, 0]], [-0.105772, [3, -0.2, 0], [3, 0.2, 0]],
[0.0913434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00498489, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00498489, [3, -0.2, 0], [3, 0.2, 0]], [-0.00498489, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00498489, [3, -0.2, 0], [3, 0, 0]]])
names.append("RHipYawPitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append(
[[-0.00847434, [3, -0.333333, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0.2, 0]], [-0.00847434, [3, -0.2, 0], [3, 0.2, 0]],
[-0.00847434, [3, -0.2, 0], [3, 0, 0]]])
names.append("RKneePitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.709886, [3, -0.333333, 0], [3, 0.2, 0]], [0.71148, [3, -0.2, 0], [3, 0.2, 0]],
[0.71148, [3, -0.2, 0], [3, 0.2, 0]], [0.71148, [3, -0.2, 0], [3, 0.2, 0]],
[0.708487, [3, -0.2, 0.00169879], [3, 0.2, -0.00169879]],
[0.701287, [3, -0.2, 0], [3, 0.2, 0]],
[0.701287, [3, -0.2, 0], [3, 0.2, 0]], [0.701287, [3, -0.2, 0], [3, 0.2, 0]],
[0.701287, [3, -0.2, 0], [3, 0, 0]]])
names.append("RShoulderPitch")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.924524, [3, -0.333333, 0], [3, 0.2, 0]], [0.924524, [3, -0.2, 0], [3, 0.2, 0]],
[0.924524, [3, -0.2, 0], [3, 0.2, 0]], [0.924524, [3, -0.2, 0], [3, 0.2, 0]],
[-0.608631, [3, -0.2, 0], [3, 0.2, 0]], [0.919783, [3, -0.2, 0], [3, 0.2, 0]],
[-0.608631, [3, -0.2, 0], [3, 0.2, 0]],
[0.919783, [3, -0.2, -0.333765], [3, 0.2, 0.333765]],
[1.39396, [3, -0.2, 0], [3, 0, 0]]])
names.append("RShoulderRoll")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.130343, [3, -0.333333, 0], [3, 0.2, 0]], [0.118499, [3, -0.2, 0], [3, 0.2, 0]],
[0.130343, [3, -0.2, 0], [3, 0.2, 0]],
[0.118499, [3, -0.2, 0.0118445], [3, 0.2, -0.0118445]],
[-0.815868, [3, -0.2, 0], [3, 0.2, 0]], [0.0711377, [3, -0.2, 0], [3, 0.2, 0]],
[-0.815868, [3, -0.2, 0], [3, 0.2, 0]], [0.0711377, [3, -0.2, 0], [3, 0.2, 0]],
[-0.295554, [3, -0.2, 0], [3, 0, 0]]])
names.append("RWristYaw")
times.append([1, 1.6, 2.2, 2.8, 3.4, 4, 4.6, 5.2, 5.8])
keys.append([[0.0663408, [3, -0.333333, 0], [3, 0.2, 0]], [0.0663408, [3, -0.2, 0], [3, 0.2, 0]],
[0.0663408, [3, -0.2, 0], [3, 0.2, 0]], [0.0663408, [3, -0.2, 0], [3, 0.2, 0]],
[-1.81842, [3, -0.2, 0], [3, 0.2, 0]], [0.0671777, [3, -0.2, 0], [3, 0.2, 0]],
[-1.81842, [3, -0.2, 0], [3, 0.2, 0]], [0.0671777, [3, -0.2, 0], [3, 0.2, 0]],
[0.00266231, [3, -0.2, 0], [3, 0, 0]]])
try:
motion = ALProxy("ALMotion", IP, PORT)
motion.angleInterpolationBezier(names, times, keys)
except BaseException, err:
print err
aup.stopAll()
#Sad cheer up music
if __name__ == "__main__":
erase_file()
print("Watching Test Directory !")
event_handler = MyHandler()
observer = Observer()
observer.schedule(event_handler, path='test', recursive=False)
observer.start()
try:
pass
except KeyboardInterrupt:
observer.stop()
erase_file()
observer.join()