Specific NAO Class for faster programming the NAO robot in Python 2.7 DIVINTECH

Uses o obo ics o imp o e he ins umen al
skills o s uden s wi h Au ism Spec um
Diso de h ough he de elopmen o new
inclusi e con ex s (Di InTech)
NAO Class
1 NAO Class
File 1: __ini __.py
1 om .impo *
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
File 2: nao_audio_playe .py
1# ! / us / bin / en py h on
2# −*− enco ding : UTF−8 −*−
3"""
/////////////////////////////////////////////////////////////////////////////
4Name : na o _audi o_ p laye . py
5F u n c i o n : F i l e w i h h e c l a s s o un a ud io i n NAO
6See ALAudioPlaye :
7h p s : / / d e e lo p e . s o b a n k o b o i c s . com / nao6 / naoqi −
d e e lo p e −g ui de / naoqi −a p i s / naoqi −audio /
a l a u d i o p l a y e / a l a u d i o p l a y e −api
8L as m o d i i e d : 2 1/ 0 8/2022
9C ea e d by : SCV
10 /////////////////////////////////////////////////////////////////////////////
"""
11
12
13 " " "++++++++++++++++++++++++++++++++++++++
14 Lib a ies
15 ++++++++++++++++++++++++++++++++++++++" " "
16 # Gene al
17 impo s u b p o c e s s
18 impo q i
19 impo pa amiko
20 impo os
21 impo j s o n
22
23
24 " " "++++++++++++++++++++++++++++++++++++++
25 C o n s a n s C l a s s e s
26 ++++++++++++++++++++++++++++++++++++++" " "
27 DESTINATION = "nao@192 . 1 6 8 . 1 . 4 0 : 2 0 "
28 DEFAULT_PATH = " / home / nao / musicS / "
29 USERNAME = " nao "
30 PASSWORD = " nao "
31
32
33 class Nao_AudioPlaye () :
34 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
35 Name : _ _ i n i _ _
36 Func i o n : i n i o h e c l a s s
37 Pa ame e s : s e s s i o n : nao s e s s i o n
38 i l e : i l e w i h h e p a hs o h e audios o send
o h e o b o
39 ONLY WAV!
40 Re u n : −
41 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
42 de _ _ i n i _ _ ( s e l , s e s s i o n , i l e = None ) :
43 s e l . s e s s i o n = s e s s i o n
44 # Ge h e i p o h e o b o
45 s e l . i p = s e l . s e s s i o n . u l ( )
46 i p _ i n i = s e l . i p . i n d ( " / " ) + 2
47 ip_e nd = s e l . i p . i n d ( " :9559 " )
48 s e l . i p = s e l . ip [ i p _ i n i : i p_end ]
49
50 # Ge he s e i c e ALAudioPlaye .
51 s e l . a u d i o _ p l a y e _ s e i c e = s e l . s e s s i o n . s e i c e ( "
ALAudioPlaye " )
52
53 i i l e != None :
54 sel . send_audio_ o_ obo ( i l e )
55 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
56 Name: send_audio_ o_ obo
57 Func i o n : s e n ds h o u g h scp h e WAV i l e s
58 Pa ame e s : i l e _ w i h _ p a h s : i l e w i h h e p a hs o h e
a u di os o se nd o h e o b o
59 ( see / Examples / SendFilesSCP /
i l e s 2 s e n d . j s o n o o ma
example )
60 Re u n : −
61 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
62 de s e n d _ a u d i o _ o _ o b o ( s e l , i l e _ w i h _ p a h s ) :
63 wi h open ( i l e _ w i h _ p a h s , ’ ’ ) as :
64 d a a = j s o n . lo ad ( )
65 o i l e i n d a a :
66 _name_nao = i l e ["name_in_nao" ]
67 c_p a h = i l e [ " p a h " ]
68
69 ssh = pa amiko . SSHClien ( )
70 ssh . l o a d _ h o s _ k e y s ( os . p a h . e x pa n du s e ( os . p a h .
j o i n ( "~" , " . ssh " , " known_hos s " ) ) )
71 s s h . c o n n e c ( s e l . ip , use na me =USERNAME, p ass wo d
=PASSWORD)
72 s p = ssh . o p e n _ s p ( )
73 s p . pu ( c_pa h , DEFAULT_PATH + _name_nao )
74 s p . c l o s e ( )
75 ssh . c l o s e ( )
76
77 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
78 Name: dele e_all_audios_in_ obo
79 Func i o n : d e l e e s a l l h e a u d i o s i n s i d e h e obo
80 Pa ame e s : −
81 Re u n : −
82 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
83 de d e l e e _ a l l _ a u d i o s _ i n _ o b o ( s e l ) :
84 s s h = pa amiko . SSHClien ( )
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
85 s sh . l o a d _ h o s _ k e y s ( os . p a h . e x pa n du s e ( os . p a h . j o i n ( " ~" ,
" . ssh " , " known_hos s " ) ) )
86 s s h . c o n n e c ( s e l . ip , use nam e=USERNAME, pa ssw o d =
PASSWORD)
87 s p = ss h . o p e n _ s p ( )
88
89 # Upda ed code below :
90 i l e s I n R e m o e A i a c s = s p . l i s d i ( pa h =DEFAULT_PATH)
91 o i l e i n ilesInRemo eA i ac s :
92 s p . emo e (DEFAULT_PATH + i l e )
93
94 # Cl os e o end
95 s p . c l o s e ( )
96 s s h . c l o s e ( )
97
98 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
99 Name : p l a y _ a u d i o
100 Func i o n : p l a ys h e s p e c i i e d audio
101 Pa ame e s : audio_name : name o h e a udio i n s i d e nao
102 ( see / Examples / SendFilesSCP /
i l e s 2 s e n d . j s o n [ name_in_nao ] )
103 asy nc : i h e sound has o be p l aye d
a s y n c o n o u s l y
104 Re u n : −
105 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
106 de p l a y _ a u d i o ( s e l , audio_name , a sync = T ue ) :
107 # Pa h i n s i d e he o b o
108 i l e I d = s e l . a u d i o _ p l a y e _ s e i c e . l o a d F i l e (DEFAULT_PATH
+ audio_name)
109 s e l . a u d i o _ p l a y e _ s e i c e . p l ay ( i l e I d , _async=async )
110
111 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
112 Name : s o p _ a u d i o
113 Func i o n : s o p s a l l a ud ios
114 Pa ame e s : −
115 Re u n : −
116 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
117 de s o p _ a u d i o ( s e l ) :
118 s e l . a u d i o _ p l a y e _ s e i c e . s o p A l l ( )
119 sel . audio_playe _se ice . unloadAllFiles ()
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
File 3: nao_au onomous_li e.py
1# ! / us / bin / en py h on
2# −*− enco ding : UTF−8 −*−
3"""
/////////////////////////////////////////////////////////////////////////////
4Name : n a o _ a u o n o m o u s _ l i e . py
5F u nc i o n : F i l e h a ch ang es h e au onomous l i e o h e NAO o b o
.
6See ALAun onomousLi e :
7h p : / / doc . aldeba a n . com /2 −1/ naoqi / c o e / a u o n o m o u s l i e
. h m l
8L as m o d i i e d : 1 3 /03/2023
9C ea e d by : SCV
10 /////////////////////////////////////////////////////////////////////////////
"""
11
12
13 " " "++++++++++++++++++++++++++++++++++++++
14 Lib a ies
15 ++++++++++++++++++++++++++++++++++++++" " "
16 # Gene al
17 impo s u b p o c e s s
18 impo q i
19 impo pa amiko
20 impo os
21 impo j s o n
22
23
24 " " "++++++++++++++++++++++++++++++++++++++
25 C o n s a n s C l a s s e s
26 ++++++++++++++++++++++++++++++++++++++" " "
27
28 """**************************************
29 Name : AUTONOMOUSLIFE_STATES
30 Func i o n : c o n a i n s he p o s s i b l e au onomous
31 l i e s a e s .
32 See : h p : / / doc . a ldeba an . com /2 −1/ n aoqi / co e /
a u o n o m o u s l i e _ a d a n c e d . h m l # a u o n o m o u s l i e − s a e s
33 See : h p : / / doc . a ldeba an . com /2 −8/ e / l i e /
au onomous_abili ies_managemen . h ml?highligh =
au onomous
34
35 S o l i a y s a e
36 −−−−−−−−−−−−−−
37
38 When h i s s a e i s e n e e d :
39
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).

40 B as i c Awa eness and B e a h i n g s e i c e s a e s a e d and
pa ame e s e s e .
41 Au onomous Launchpad i s s a e d .
42 Only p l u g i n s o " s o l i a y " g oup a e e na bl ed by d e a u l .
43
44 Du ing h i s s a e :
45
46 Any a c i i y can be s a e d i a ALAu onomousLi eP oxy : :
sw i c h F o cus ( ) .
47 S a i n g i n e a c i e A c i i y w i l l s w i c h o i n e a c i e
s a e .
48 The s a e g u a d and d i s a b l e d s a e s may be e n e e d .
49 Au onomous Launchpad can n o be s op ped , and i s s u g g e s e d
a c i i i e s w i l l be a u o m a i c a l l y ocu s ed , p o e n i a l l y
i n e u p i n g u n n i n g A c i i y .
50
51 Launchpad A c i i y p i o i i z a i o n :
52
53 I a s o l i a y and i n e a c i e b o h ha e u e c o n d i i o n s a
h e same ime , i n e a c i e w i l l g e p i o i y .
54 When m u l i p l e a c i i i e s ha e u e c o n d i i o n s a h e same
ime , h e one h a was o c u s e d l e a s e c e n l y w i l l g e
p io i y .
55 Du ing a s o l i a y A c i i y , an i n e a c i e A c i i y may
i n e u p i o a k e h e o cu s .
56 A s o l i a y A c i i y w i l l n o be i n e u p e d a no h e s o l i a y
A c i i y ( h i s be h a i o co u l d change i n he u u e )
57
58
59 In e ac i e s a e
60 −−−−−−−−−−−−−−−−−
61
62 I n e a c i e s a e i s onl y e n e e d :
63
64 when an I n e a c i e A c i i y i s o c u s e d .
65
66 When h i s s a e i s e n e e d :
67
68 B as i c Awa eness and B e a h i n g s e i c e s w i l l be s a e d and
pa ame e s e s e .
69 Au onomous Launchpad w i l l be s o p p e d .
70
71 Du ing h i s s a e :
72
73 I n e a c i e a c i i i e s can be s a e d i a
ALAu onomousLi eP oxy : : s wi chFocus ( )
74 Focusing a new i n e a c i e A c i i y w i l l e −e n e h e
i n e a c i e s a e .
75 S o l i a y a c i i i e s may no be s a e d , h i s would cause
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
h e s o l i a y s a e o e n o c e i s u l e s and c e a e a
bad l i e c y c l e w i h h e u s e . ( T h i s c o u l d change i n
h e u u e )
76 The s a e g u a d and d i s a b l e d s a e may be e n e e d .
77 Au onomous Launchpad can be s a e d , i w i l l no e n o c e
o c u s i n g i s s u g g e s i o n s . I w i l l no i n e u p h e
unning A c i i y .
78 When an e n i e s a c k o i n e a c i e a c i i i e s has e x i e d ,
s o l i a y s a e w i l l be e n e e d .
79 When a l l humans ha e been l o s , h e i n e a c i e A c i i y
w i l l be o c i b l y e x i e d . ( Th i s i s no y e im plem en e d )
80
81
82 Disa b l e d s a e
83 −−−−−−−−−−−−−−
84 When h i s s a e i s e n e e d :
85
86 Focused A c i i y w i l l be s oppe d and s a c k c l e a e d .
87 B as i c Awa eness and B e a h i n g s e i c e s w i l l be s o p p e d i
h e y a e unning .
88 Au onomous Launchpad . w i l l be s o p p e d .
89
90 Du ing h i s s a e :
91
92 No A c i i y can be s a e d i a ALAu onomousLi eP oxy : :
swi chFocus ()
93 Au onomous Launchpad can n o be s a e d .
94 The s a e g u a d o i n e a c i e s a e may no be e n e e d .
95
96 To e x i h i s s a e :
97
98 h e d e e l o p e may c a l l ALAu onomousLi eP oxy : : s e S a e ( )
99 T h i s a c i o n w i l l be p o i d e d i n a d e a u l s a u p b e h a i o
whe e d e s i e d .
100
101
102 Sa egua d s a e
103 −−−−−−−−−−−−−−−
104 Sa egua d s a e i s e n e e d when :
105
106 A c i i c a l e l e x a i s e d .
107 The d e e l o p e sho ul d n o e n e h i s s a e . E n e i n g h i s
s a e i s e s e e d o c i i c a l Aldeba an code .
108 A c i i c a l e l e x i s a i s e d when ALBodyTempe a u e s e e s h a
a c i i c a l j o i n i s oo h o o u n c i o n , o i
ALDiagnosis s ee s h a c i i c a l ha dwa e i s no
u n c i o n i n g p ope l y , as d e i n e d i n L e el o a i l u e
se e i y .
109
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
110 When h i s s a e i s e n e e d :
111
112 Focused A c i i y i s s o p ped and s a c k c l e a e d .
113 B as i c Awa eness and B e a h i n g s e i c e s a e s o p p e d i h e y
a e u n n i n g .
114 Au onomous Launchpad i s s o p p e d .
115 The e l e x i s h e n p o c e s s e d .
116 Based on h e ou come o he e l e x , he s o l i a y s a e may
be e −e n e e d .
117 Fo damaged ha dwa e , h e o b o d oes n o e x i s a e g u a d
s a e .
118 Fo o e h e a i n g , h e o bo e x i s h e s a e g u a d s a e
a e c o o l i n g down s u i c i e n l y .
119
120 Du ing h i s s a e :
121
122 No A c i i y can be s a e d i a ALAu onomousLi eP oxy : :
swi chFocus ()
123 Au onomous Launchpad can n o be s a e d .
124 The s a e g u a d s a e may be e −e n e e d o a h i g h e p i o i y
e lex .
125
126 ************************************** """
127 class AUTONOMOUSLIFE_STATES ( ) :
128 SOLITARY = " s o l i a y "
129 INTERACTIVE = " i n e a c i e "
130 DISABLED = " d i s a b l e d "
131 SAFEGUARD = " s a e g u a d "
132
133 " " "++++++++++++++++++++++++++++++++++++++
134 Class
135 ++++++++++++++++++++++++++++++++++++++" " "
136 class Nao_Au onomousLi e () :
137 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
138 Name : _ _ i n i _ _
139 Func i o n : i n i o h e c l a s s
140 Pa ame e s : s e s s i o n : nao s e s s i o n
141 i l e : i l e w i h h e p a hs o h e audios o send
o h e o b o
142 ONLY WAV!
143 Re u n : −
144 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
145 de _ _ i n i _ _ ( s e l , s e s s i o n ) :
146 s e l . s e s s i o n = s e s s i o n
147
148 # Ge he s e i c e ALAu onomousLi e
149 s e l . a u o n o m o u s _ l i e _ s e i c e = s e l . s e s s i o n . s e i c e ( "
ALAu onomousLi e" )
150
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
151 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
152 Name: se _au onomous_li e
153 Func i o n : s e s h e au onomous l i e o an s p e c i i e d s a e .
154 Pa ame e s : s a e : s e e AUTONOMOUSLIFE_STATES c l a s s .
155 Re u n : −
156 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
157 de s e _ a u o n o m o u s _ l i e ( s e l , s a e ) :
158 s e l . a u o n o m o u s _ l i e _ s e i c e . s e S a e ( s a e )
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
280 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS .
HEAD_LEFT_FRONT, _LEDS_GROUPS . HEAD_LEFT_FRONT)
281 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS .
HEAD_FRONT, _LEDS_GROUPS .HEAD_FRONT)
282 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS .
HEAD_RIGHT_MIDDLE, _LEDS_GROUPS . HEAD_RIGHT_MIDDLE)
283 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS .
HEAD_LEFT_MIDDLE , _LEDS_GROUPS . HEAD_LEFT_MIDDLE)
284 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS .
HEAD_MIDDLE, _LEDS_GROUPS .HEAD_MIDDLE)
285 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS .
HEAD_RIGHT_REAR , _LEDS_GROUPS . HEAD_RIGHT_REAR)
286 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS .
HEAD_LEFT_REAR , _LEDS_GROUPS . HEAD_LEFT_REAR)
287 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS .
HEAD_REAR, _LEDS_GROUPS .HEAD_REAR)
288 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS .
EYES_FULL , _LEDS_GROUPS . EYES_FULL)
289 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS .
EYE_RIGHT , _LEDS_GROUPS . EYE_RIGHT)
290 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS . EYE_LEFT
, _LEDS_GROUPS . EYE_LEFT )
291 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS .
EARS_FULL , _LEDS_GROUPS . EARS_FULL)
292 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS .
EAR_RIGHT , _LEDS_GROUPS . EAR_RIGHT)
293 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS . EAR_LEFT
, _LEDS_GROUPS . EAR_LEFT)
294 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS .
FEET_FULL , _LEDS_GROUPS . FEET_FULL)
295 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS .
FOOT_RIGHT , _LEDS_GROUPS . FOOT_RIGHT)
296 s e l . l e d s _ s e i c e . c e a e G o u p (NAMES_LEDS_GROUPS .
FOOT_LEFT , _LEDS_GROUPS . FOOT_LEFT)
297
298 ###################################################
299 ## LEDS GROUPS FUNCTIONS ##
300 ###################################################
301
302 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
303 Name : u n_on_ g ou p
304 Func i o n : u n s on a g oup o l e d s
305 Pa ame e s : g oup_name : one o h e c l a s s NAMES_LEDS_GROUPS
306 Re u n : −
307 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
308 de u n _ o n _ g oup ( s e l , g oup_name ) :
309 s e l . l e d s _ s e i c e . on ( g oup_name )
310
311 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).

312 Name : u n _ o _ g o u p
313 Func i o n : u n s on a g oup o l e d s
314 Pa ame e s : g oup_name : one o h e c l a s s NAMES_LEDS_GROUPS
315 Re u n : −
316 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
317 de u n _ o _ g o u p ( s e l , g oup_name ) :
318 s e l . l e d s _ s e i c e . o ( g oup_name )
319
320 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
321 Name: se _in ensi y
322 Func i o n : s e s h e i n e n s i y o a g oup o l e d s
323 Pa ame e s : g oup_name : one o h e c l a s s NAMES_LEDS_GROUPS
324 i n e n s i y : al u e be ween 0 and 1
325 Re u n : −
326 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
327 de s e _ i n e n s i y ( s e l , g oup_name , i n e n s i y ) :
328 s e l . l e d s _ s e i c e . s e I n e n s i y ( g oup_name , i n e n s i y )
329
330 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
331 Name : a d e
332 Func i o n : s e s h e i n e n s i y o a g oup o l e d s w i h i n a
g i e n i m e
333 m ai n ly us ed o e a s
334 Pa ame e s : g oup_name : one o h e c l a s s NAMES_LEDS_GROUPS
335 i n e n s i y : al u e be ween 0 and 1
336 d u a i o n : ime o a i e o h e i n e n s i y
337 async : b ool ean h a i n d i c a e s i h e a c i o n mus
be done
338 a s y n c o n o u s l y
339 Re u n : −
340 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
341 de a d e ( s e l , g oup_name , i n e n s i y , d u a io n , asy nc ) :
342 s e l . l e d s _ s e i c e . a d e ( g oup_name , i n e n s i y , d u a io n ,
_async = async )
343
344 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
345 Name : a de _ g b
346 Func i o n : s e s h e c o l o o a g oup o l e d s w i h i n a g i e n
i m e
347 n o us ed o e a s
348 Pa ame e s : g oup_name : one o h e c l a s s NAMES_LEDS_GROUPS
349 c o l o : s ee c l a s s COLORS
350 d u a i o n : i m e o a i e o he c ol o
351 async : b ool ean h a i n d i c a e s i h e a c i o n mus
be done
352 a s y n c o n o u s l y
353 Re u n : −
354 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
355 de a d e _ g b ( s e l , g oup_name , c o lo , d u a i o n , a sy nc ) :
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
356 s e l . l e d s _ s e i c e . adeRGB ( g oup_name , colo , d u a io n ,
_async = async )
357
358 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
359 Name: ade_lis _ gb
360 Func i o n : e x e c u e s a l i s o c o lo commands o a LED o a
g oup o LEDs
361 ( l i k e a i m e l i n e o LEDs ) .
362 n o us ed o e a s
363 Pa ame e s : g oup_name : one o h e c l a s s NAMES_LEDS_GROUPS
364 l i s _ g b : l i s wi h d i e e n c o l o s ( s e e c l a s s
COLORS)
365 l i s _ d u a i o n : l i s wi h h e i m e o show each
c ol o o l i s _ g b
366 async : b ool ean h a i n d i c a e s i h e a c i o n mus
be done
367 a s y n c o n o u s l y
368 Re u n : −
369 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
370 de a d e _ l i s _ g b ( s e l , g oup_name , l i s _ g b , l i s _ d u a i o n ,
async ) :
371 s e l . l e d s _ s e i c e . adeLis RGB ( g oup_name , l i s _ g b ,
l i s _ d u a i o n , _async = async )
372
373 ############################################
374 ## EARS FUNCTIONS ##
375 ############################################
376
377 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
378 Name : s e _ e a _ a n g l e
379 F u n c io n : an a n i m a i o n o show a d i e c i o n w i h h e e a s
380 P a am e e s : d eg e e : The a n gl e you wan o show i n d e g e e s (
i n ) . 0 i s up , 90
381 i s o wa ds , 180 i s down and 270 i s back
.
382 d u a i o n : d u a i o n i n seconds o h e a nim a ion
383 l ea e_on : I u e h e l a s l e d i s l e on a h e
end o h e
384 a n i m a i o n .
385 async : b ool ean h a i n d i c a e s i h e a c i o n mus
be done
386 a s y n c o n o u s l y
387 Re u n : −
388 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
389 de s e _ e a _ a n g l e ( s e l , deg ee , d u a i o n , lea e_on , as ync ) :
390 s e l . l e d s _ s e i c e . ea Leds S e A n g l e ( deg ee , d u a i o n ,
lea e_on , _async = async )
391
392 ############################################
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
393 ## EYES FUNCTIONS ##
394 ############################################
395
396 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
397 Name : e y e s _ o a i o n
398 Func i o n : o a i o n o h e e y e s o nao
399 Pa ame e s : c o l o : see c l a s s COLORS
400 o a i o n _ i m e : i m e o c om p le e a l oop
401 a n i m a i o n _ i m e : i m e o be d oi ng h e a n im a i on
402 async : b ool ean h a i n d i c a e s i h e a c i o n mus
be done
403 a s y n c o n o u s l y
404 Re u n : −
405 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
406 de e y e s _ o a i o n ( s e l , c o l o , o a i o n _ i m e , anima i o n _ im e
, asy nc ) :
407 s e l . l e d s _ s e i c e . o a e E y e s ( c o l o , o a i o n _ i m e ,
ani m a i o n _ im e , _async = a sync )
408
409 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
410 Name: andom_eyes_anima ion
411 F u n c io n : l a un c h a andom a n i m a i o n i n e y e s
412 Pa ame e s : d u a i o n : d u a i o n o he a ni ma ion i n s ec onds
413 async : b ool ean h a i n d i c a e s i h e a c i o n mus
be done
414 a s y n c o n o u s l y
415 Re u n : −
416 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
417 de and om _e yes _a ni ma io n ( s e l , d u a i o n , async ) :
418 s e l . l e d s _ s e i c e . andomEyes ( d u a io n , _async = async )
419
420 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
421 Name : e y e s _ b l i n k i n g
422 Func i o n : b l i n k i n g o nao ’ s e y e s
423 Pa ame e s : −
424 Re u n : −
425 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
426 de e y e s _ b l i n k i n g ( s e l ) :
427 p o b B l i n k i n g = 0. 4
428 p o b D ou b l e B l i nk i n g = 0 . 4
429
430 i andom . uni o m ( 0 . 0 , 1 . 0 ) < p o b B l i n k i n g :
431 s e l . ad e (NAMES_LEDS_GROUPS . EYES_FULL , 0 . 0 , 0 . 0 , F a l s e
)
432 im e . s l e e p ( 0 . 1 )
433 s e l . ade (NAMES_LEDS_GROUPS. EYES_FULL , 0 . 5 , 0 . 2 ,
F a l s e )
434 e l i andom . uni o m ( 0 . 0 , 1 . 0 ) < p o b D o ub l eB li nk i ng :
435 s e l . ade (NAMES_LEDS_GROUPS. EYES_FULL , 0 . 0 , 0 . 0 ,
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
F a l s e )
436 im e . s l e e p ( 0 . 1 )
437 s e l . ade (NAMES_LEDS_GROUPS. EYES_FULL , 0 . 5 , 0 . 2 ,
F a l s e )
438 s e l . ade (NAMES_LEDS_GROUPS. EYES_FULL , 0 . 0 , 0 . 0 ,
F a l s e )
439 im e . s l e e p ( 0 . 1 )
440 s e l . ade (NAMES_LEDS_GROUPS. EYES_FULL , 0 . 5 , 0 . 2 ,
F a l s e )
441
442 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
443 Name : wink_ eye
444 F u nc i on : wink o nao ’ s e ye
445 Pa ame e s : eye : i n d i c a e s he eye o wink : EYE_RIGHT o
EYE_LEFT o
446 NAMES_LEDS_GROUPS c l a s s
447 Re u n : −
448 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
449 de wink_eye ( s e l , eye ) :
450 s e l . a de ( eye , 0 . 0 , 0 . 0 , F a l s e )
451 im e . s l e e p ( 0 . 1 )
452 s e l . a de ( eye , 0 . 5 , 0 . 2 , F a l s e )
453
454 #################################################
455 ## ANIMATION FUNCTIONS ##
456 #################################################
457
458 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
459 Name: all_body_colo ed
460 F u n c io n : l a un c h a g ee n / y e l l o w / ed a s a a n i m a i o n on a l l
body .
461 Pa ame e s : d u a i o n : d u a i o n o he a ni ma ion i n s ec onds
462 async : b ool ean h a i n d i c a e s i h e a c i o n mus
be done
463 a s y n c o n o u s l y
464 Re u n : −
465 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
466 de a l l _ b o d y _ c o l o e d ( s e l , d u a i o n , async ) :
467 s e l . l e d s _ s e i c e . a s a ( d u a io n , _async = async )
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
File 5: nao_mo ion.py
1# ! / us / bin / en py h on
2# −*− enco ding : UTF−8 −*−
3"""
/////////////////////////////////////////////////////////////////////////////
4Name : nao_mo ion . py
5F u nc i o n : F i l e w i h h e c l a s s o make mo e h e o b o nao
6See ALAnima ionPlaye :
7h p s : / / d e e lo p e . s o b a n k o b o i c s . com / nao6 / naoqi −
d e e lo p e −g ui de / naoqi −a p i s / naoqi −m o i on /
a l a n i m a i o n p l a y e / a l a n i m a i o n p l a y e −api
8See ALMo ion :
9h p s : / / d e e lo p e . s o b a n k o b o i c s . com / nao6 / naoqi −
d e e lo p e −g u i de / naoqi −a p i s / naoqi −m o ion / a l m o i o n
10 See ALRobo Pos u e :
11 h p s : / / d e e lo p e . s o b a n k o b o i c s . com / nao6 / naoqi −
d e e lo p e −g ui de / naoqi −a p i s / naoqi −m o i on /
al obo pos u e#al obo pos u e
12 # See j o i n s :
13 h p s : / / d e e lo p e . s o b a n k o b o i c s . com / nao6 / nao−
d ocumen a ion / nao−d e e l ope −g ui d e / k i n e m a i c s −da a /
join s
14 C e a i o n d a e : 0 1 / 08 /2 0 2 2
15 L as m o d i i e d : 2 1 /08/2022
16 C ea e d by : SCV
17 /////////////////////////////////////////////////////////////////////////////
"""
18
19
20 " " "++++++++++++++++++++++++++++++++++++++
21 Lib a ies
22 ++++++++++++++++++++++++++++++++++++++" " "
23 impo q i
24 impo Mo emen s . mo emen s as mo e
25
26 " " "++++++++++++++++++++++++++++++++++++++
27 C o n s a n s C l a s s e s
28 ++++++++++++++++++++++++++++++++++++++" " "
29
30 """**************************************
31 Name : HEAD_TACTILE_GESTURES
32 Func i o n : c l a s s h a c o n a i n s h e a n ima io n ag s .
33 See : h p s : / / d e e l op e . s o b a n k o b o i c s . com / nao6 / naoqi −de elop e
−g ui de / naoqi −a p is / naoqi −mo ion / a l a n i m a i o n p l a y e /
a l a n i m a i o n p l a y e −ad anced # a n im a io np l ay e − l i s −b eh a io s −nao
34 ************************************** """
35 class ANIMATION_TAGS ( ) :
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).

36 AFFIRMATIVE_CONTEXT = " a i m a i e _ c o n e x "
37 ANTERIOR = " a n e i o "
38 COMPARISON = " compa ison "
39 CONFIRMATION = " c o n i m a i o n "
40 DISAPPOINTMENT = " d i s a p p o i n m e n "
41 DIVERSITY = " d i e s i y "
42 EXCLAMATION = " e x c l a m a i o n "
43 GLOBAL = " g l o b a l "
44 GROUP = " g oup "
45 HESITATION = " h e s i a i o n "
46 INTERROGATIVE = " i n e o g a i e "
47 JOY = " joy "
48 LEFT_SIDE = " l e _ s i d e "
49 LONGRANGE = " l o n g a n g e "
50 NEGATIVE_CONTEXT = " n e g a i e _ c o n e x "
51 OVERALL = " o e a l l "
52 PEOPLE = " p e o p l e "
53 REFUSAL = " e u s a l "
54 RIGHT_SIDE = " i g h _ s i d e "
55 SELF = " s e l "
56 SHORTRANGE = " s h o a n g e "
57 TOP = " op "
58 USER = " u s e "
59
60 """**************************************
61 Name : ROBOT_POSTURES
62 Func i o n : c l a s s h a c o n a i n s h e ob o p o s u e s .
63 See : h p : / / doc . aldeba a n . com /2 −8/ a m i l y / n a o _ e c h n i c a l /
p o s u e s _ n a o 6 . h ml # nao 6 −p o s u e s
64 ************************************** """
65 class ROBOT_POSTURES ( ) :
66 CROUCH = " C ouch "
67 LYING_BACK = " LyingBack "
68 LYING_BELLY = " LyingBelly "
69 SIT = " S i "
70 SIT_RELAX = " S i R e l a x "
71 STAND = " S and "
72 STAND_INIT = " S a n d I n i "
73 STAND_ZERO = " S a ndZe o "
74
75 """**************************************
76 Name : JOINTS
77 Func i o n : c l a s s h a c o n a i n s h e ob o j o i n s .
78 See : h p s : / / d e e l op e . s o b a n k o b o i c s . com / nao6 / nao−
d oc um e n a io n / nao−d e el op e −g uide / a c u a o −se nso − l i s # hand
79 h p s : / / d e e lo p e . s o b a n k o b o i c s . com / nao6 / nao−d o c u me n a i on /
nao−d e e l ope −guide / k i n e m a i c s −da a / j o i n s
80 ************************************** """
81 class JOINTS ( ) :
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
82 ##############
83 # HEAD #
84 ##############
85 HEAD_PITCH = " HeadPi ch "
86 HEAD_YAW = "HeadYaw"
87
88 ##############
89 # RARM #
90 ##############
91 R_SHOULDER_ROLL = " RS h o u lde Roll "
92 R_SHOULDER_PITCH = " R S h o u l d e P i c h "
93
94 R_ELBOW_YAW = "RElbowYaw"
95 R_ELBOW_ROLL = " RElbowRoll "
96
97 R_WRIST_YAW = " RW is Yaw "
98
99 R_HAND = "RHand"
100
101 ##############
102 # LARM #
103 ##############
104 L_SHOULDER_ROLL = " L S h o u l d e Ro l l "
105 L_SHOULDER_PITCH = " L S h o u l d e P i c h "
106
107 L_ELBOW_YAW = "LElbowYaw"
108 L_ELBOW_ROLL = " LElbowRoll "
109
110 L_WRIST_YAW = " LW is Yaw "
111
112 L_HAND = "LHand"
113
114 ##############
115 # RLEG #
116 ##############
117 R_HIP_YAW_PITCH = " RHipYawPi ch "
118 R_HIP_PITCH = " RHipPi ch "
119 R_HIP_ROLL = " RHipRoll "
120
121 R_KNEE_PITCH = " RKneePi ch "
122
123 R_ANKLE_PITCH = " RAnklePi ch "
124 R_ANKLE_ROLL = " RAnkleRoll "
125
126 ##############
127 # LLEG #
128 ##############
129 L_HIP_YAW_PITCH = " LHipYawPi ch "
130 L_HIP_PITCH = " L HipP i ch "
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
131 L_HIP_ROLL = " LHipRoll "
132
133 L_KNEE_PITCH = " LKneePi ch "
134
135 L_ANKLE_PITCH = " LAnklePi ch "
136 L_ANKLE_ROLL = " LAnkleRoll "
137
138 """**************************************
139 Name : DEFINED_MOVEMENTS_CHOREGRAPH
140 Func i o n : c l a s s h a c o n a i n s mo emen s
141 s o e d om Cho eg aph .
142 ************************************** """
143 class DEFINED_MOVEMENTS_CHOREGRAPH( ) :
144 # Moods
145 ## P o s i i e
146 HAPPY = "HAPPY"
147 KISSES = "KISSES"
148 EXCITED = "EXCITED"
149 ## Neu al
150 THINKING = "THINKING"
151
152 # E n e a i n m e n
153 ## Dances
154 DISCO = "DISCO"
155 HEADBANG = "HEADBANG"
156 ## Fun
157 MYSTICAL = "MYSTICAL"
158 TAKE_PICTURE = "TAKE_PICTURE"
159 ## Music
160 SAXOPHONE = "SAXOPHONE"
161 GUITAR = "GUITAR"
162
163 # O he
164 ## G e e i n g
165 WAVE = "WAVE"
166 ## U4
167 SAMBA_U4 = "SAMBA_U4"
168 INITIAL_MOVE_INTERACTION = "INITIAL_MOVE_INTERACTION"
169
170 " " "++++++++++++++++++++++++++++++++++++++
171 Class
172 ++++++++++++++++++++++++++++++++++++++" " "
173 class Nao_Mo ion () :
174 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
175 Name : _ _ i n i _ _
176 Func i o n : i n i o h e c l a s s
177 Pa ame e s : s e s s i o n : nao s e s s i o n
178 Re u n : −
179 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
180 de _ _ i n i _ _ ( s e l , s e s s i o n ) :
181 s e l . s e s s i o n = s e s s i o n
182
183 # I n i a c i l e _ g e s u e s _ s e i c e
184 s e l . a n i m a i o n _ s e i c e = s e l . s e s s i o n . s e i c e ( "
ALAnima ionPlaye ")
185
186 # I n i h e m o i o n _ s e i c e
187 s e l . m o i o n _ s e i c e = s e l . s e s s i o n . s e i c e ( " ALMo ion " )
188
189 # I n i h e o b o _ p o s u e _ s e i c e
190 s e l . o b o _ p o s u e _ s e i c e = s e l . s e s s i o n . s e i c e ( "
ALRobo Pos u e")
191
192 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
193 Name : unAnima ionF omTag
194 F u n c io n : u ns a andom a n i m a i o n d ep e nd i ng on h e a g
195 Pa ame e s : a g : s e e c l a s s ANIMATION_TAGS
196 a sy nc : i h e a n i m a i o n mus be done
a s y n c o n o u s l y
197 Re u n : −
198 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
199 de unAnima ionF omTag ( s e l , ag , asy nc ) :
200 s e l . a n i m a i o n _ s e i c e . unTag ( ag , _async=async )
201
202 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
203 Name : goToP os u e
204 Fun c ion : Goes o a p o s u e
205 Pa ame e s : p o s u e : see ROBOT_POSTURES
206 Re u n : −
207 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
208 de goT oPos u e ( s e l , p o s u e ) :
209 s e l . o b o _ p o s u e _ s e i c e . goT oPos u e ( po s u e , 0 . 5 )
210
211 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
212 Name: se S i ness
213 Func i o n : s e s h e S i n e s s o h e o b o .
214 0 . 0 h e mo o s a e o . BE CAREFUL ! ! h e o b o can
a l l
215 1 . 0 h e mo o s a e on .
216 In e mediu m a l u e s a e a ll owe d
217 Pa ame e s : s i n e s s : al u e o s e
218 n e e d _ p o e c i o n : ( d e a u l T ue ) bool ean h a i
i s a l u e i s T ue , s e s h e o b o i n
ROBOT_POSTURES .CROUCH
219 Re u n : −
220 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
221 de s e S i n e s s ( s e l , s i n e s s , n e e d _ p o e c i o n = T ue ) :
222 i need_p o ec ion :
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
a a i l a b l e . I
38 # s o p s as soon as h e y a e a sk ed by a n o h e a n i m a i o n (
launched by
39 # ALAnima edSpeech o ALA nima ionPlaye o example ) .
40 CONTEXTUAL = { " bodyLanguageMode " : " c o n e x u a l " }
41 # d i s a b l e d − The obo does n o mo e
42 DISABLED = { " bodyLanguageMode " : " d i s a b l e d " }
43 # andom − The o b o a ndo ml y l a u n c h e s some s h o n e u a l
a n i m a i o n s which
44 # a e e x e c u e d one a e a n o h e .
45 RANDOM = { " bodyLanguageMode " : " andom " }
46
47 """**************************************
48 Name : LANGUAGES
49 Func i o n : c o n a i n s h e l an g u ages h a nao can a l k
50 ************************************** """
51 class LANGUAGES( ) :
52 SPANISH = " Span i s h "
53 ENGLISH = " E n g l i s h "
54
55 " " "++++++++++++++++++++++++++++++++++++++
56 Class
57 ++++++++++++++++++++++++++++++++++++++" " "
58 class Nao_Speech () :
59 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
60 Name : _ _ i n i _ _
61 Func i o n : i n i o h e c l a s s
62 Pa ame e s : s e s s i o n : nao s e s s i o n
63 Re u n : −
64 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
65 de _ _ i n i _ _ ( s e l , s e s s i o n ) :
66 s e l . s e s s i o n = s e s s i o n
67
68 # I n i s _ s e i c e
69 s e l . s _ s e i c e = s e l . s e s s i o n . s e i c e ( " ALTex ToSpeech "
)
70 #Ini anim_ s_se ice
71 s e l . a n i m _ s _ s e i c e = s e l . s e s s i o n . s e i c e ( "
ALAnima edSpeech " )
72 # I n i d i a l o g _ s e i c e
73 s e l . d i a l o g _ s e i c e = s e l . s e s s i o n . s e i c e ( " ALDialog " )
74 # I n i d i a l o g _ l i s o ha e a c o n o l o h e d i a l o g s
launched
75 s e l . d i a l o g _ l i s = [ ]
76
77 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
78 Name : s e _ l a n g u a g e
79 Func i o n : s e nao ’ s language
80 Pa ame e s : language : langu age h a nao w i l l a l k ( s e e
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).

LANGUAGES c l a s s )
81 Re u n : −
82 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
83 de s e _ l a n g u a g e ( s e l , language = LANGUAGES. SPANISH ) :
84 s e l . s _ s e i c e . s e Language ( l an g u ag e )
85 s e l . d i a l o g _ s e i c e . se La n g u a ge ( la n g u a g e )
86
87 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
88 Name : s e _ s p e e c h _ s p e e d
89 Func i o n : s e nao sp e ech ’ s speed
90 Pa ame e s : speed : s e s nao spee c h ’ s speed
91 Re u n : −
92 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
93 de s e _ s p e e c h _ s p e e d ( s e l , spe ed ) :
94 s e l . s _ s e i c e . s e P a a m e e ( " speed " , speed )
95
96 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
97 Name: se _speech_pauses
98 Func i o n : s e nao sp e ech ’ s paus es
99 Pa ame e s : pau seMid dle : s e s nao spe e ch ’ s p auseM iddle
100 pauseLong : s e s nao spe ech ’ s pauseLong
101 p a u s e S e n e n c e : s e s nao sp e ec h ’ s p a u s e S e n e n c e
102 Re u n : −
103 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
104 de s e _ s p e e c h _ p a u s e s ( s e l , pauseMiddle , pauseLong ,
pauseSen ence) :
105 s e l . s _ s e i c e . s e P a a m e e ( " pauseMiddle " , pauseMiddle
)
106 s e l . s _ s e i c e . s e P a a m e e ( " pauseLong " , pauseLong )
107 s e l . s _ s e i c e . s e P a a m e e ( " p a u s e S e n e n c e " ,
pauseSen ence)
108
109 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
110 Name : s ay
111 Func i o n : nao s p ea ks
112 Pa ame e s : message : message o say
113 asy nc : i h e message mus be s a i d a s y n c o n o u s l y
114 Re u n : −
115 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
116 de say ( s e l , message , async ) :
117 s e l . s _ s e i c e . say ( message , _async = async )
118 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
119 Name : anim_say
120 F u n c io n : nao s p e a k s u s i n g an a n i m a i o n ( mo ing i s body )
121 Pa ame e s : message : message o say
122 asy nc : i h e message mus be s a i d a s y n c o n o u s l y
123 c o n i g u a i o n : mo emen o e x p e s s h e message (
see CONFIGURATION c l a s s )
124 Re u n : −
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
125 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
126 de anim_say ( s e l , message , async = T ue , c o n i g u a i o n =
CONFIGURATION .CONTEXTUAL) :
127 s e l . a n i m _ s _ s e i c e . say ( message , c o n i g u a i o n , _async
= asy nc )
128
129 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
130 Name : s o p _ a l k i n g
131 F u nc io n : nao s o p s s p e a k i n g
132 Pa ame e s : −
133 Re u n : −
134 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
135 de s o p _ a l k i n g ( s e l ) :
136 s e l . s _ s e i c e . s o p A l l ( )
137
138 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
139 Name : s a _ d i a l o g
140 Fu nc ion : un s a d i a l o g o p i c on nao
141 Pa ame e s : i l e : i l e whe e h e o p i c i s d e a i l e d . Fo mo e
in o ma ion
142 on how h e o p i c wo ks i s i :
143 h p s : / / d e e lo p e . s o b a n k o b o i c s . com /
nao6 / naoqi −d e e l op e −guide / naoqi −a p i s /
naoqi −i n e a c i o n −e n gi n es / a l d i a l o g /
q i ch a − a b l e −c o n en −0# d ialog − u l e s
144 dialog_name : s i n g wi h h e name h a
i d e n i i e s h e d i a l o g .
145 example : ’ my_dia log_example ’
146 Re u n : l i s o l i s s w i h he o p i c s s e n o nao . The l i s s
i n s i d e c o n a i n s
147 h e d i a l o g name ( o u n s u b s c i b e ) and h e o p i c name
( o desac i a e
148 h e o p i c and unload i )
149 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
150 de s a _ d i a l o g ( s e l , ile , dialog_name ) :
151 # Read h e i l e
152 = open ( ile , " " )
153 o p i c _ c o n e n = . e a d ( )
154
155 o pi c_ na me = s e l . d i a l o g _ s e i c e . l o a d T o p i c C o n e n (
opic_con en )
156
157 # A c i a i n g h e l oaded o p i c
158 s e l . d i a l o g _ s e i c e . a c i a e T o p i c ( opic_name )
159
160 # S a i n g h e d i a l o g e n g in e − we need o y p e an
a b i a y s i n g as he i d e n i i e
161 # We s u b s c i b e o n l y ONCE, e g a d l e s s o he numbe o
o p i c s we ha e a c i a e d
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
162 s e l . d i a l o g _ s e i c e . s u b s c i b e ( dialog_name )
163
164 # append he o p i c u n n i n g on nao i n ou l i s
165 s e l . d i a l o g _ l i s . append ( [ dialog_name , opi c_n ame ] )
166
167 # e u n h e new l i s
168 e u n sel . dialog_lis
169
170 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
171 Name : s o p _ d i a l o g
172 Fu nc ion : s o p s a d i a l o g o p i c on nao
173 Pa ame e s : dialog_name : s i n g w i h h e name h a
i d e n i i e s h e d i a l o g .
174 example : ’ my_dia log_example ’
175 opic_na me : name o h e o p i c
176 R e u n : h e l i s w i h o u h e s o p p e d o p i c
177 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
178 de s o p _ d i a l o g ( s e l , dialog_name , opi c_name ) :
179 # s o p p i n g h e d i a l o g e ngi ne
180 s e l . d i a l o g _ s e i c e . u n s u b s c i b e ( dialog_name )
181
182 # D e a c i a i n g h e o p i c
183 s e l . d i a l o g _ s e i c e . d e a c i a e T o p i c ( op ic_ name )
184
185 # now h a h e d i a l o g e n g in e i s s o p p e d and h e e a e no
mo e a c i a e d o p i c s ,
186 # we can unload ou o p i c and e e h e a s s o c i a e d memo y
187 s e l . d i a l o g _ s e i c e . unloa d T o pic ( opic_ nam e )
188
189 # e a s e om l i s h e o p i c s o p p e d
190 s e l . d i a l o g _ l i s . emo e ( [ dialog_name , opic_n ame ] )
191
192 # e u n h e new l i s
193 e u n sel . dialog_lis
194
195 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
196 Name : s o p _ a l l _ d i a l o g s
197 Func i o n : s o p s a l l d i a l o g s o p i c s on nao
198 Pa ame e s : −
199 Re u n : −
200 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
201 de s op_all_dialogs ( sel ):
202 # o each o p i c unning on nao
203 o opic in sel . dialog_lis :
204 # s o p i
205 s e l . s o p _ d i a l o g ( o p i c [ 0 ] , o p i c [ 1 ] )
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
File 8: nao_ ision.py
1# ! / us / bin / en py h on
2# −*− enco ding : UTF−8 −*−
3"""
/////////////////////////////////////////////////////////////////////////////
4Name : n a o _ i s i o n . py
5Func i o n : F i l e wi h h e c l a s s o c o n o l he i s i o n o ob o nao
6C e a i o n d a e : 2 2 / 07 /2 0 2 2
7L as m o d i i e d : 2 2 /07/2022
8C ea e d by : CRR
9/////////////////////////////////////////////////////////////////////////////
"""
10
11 " " "++++++++++++++++++++++++++++++++++++++
12 Lib a ies
13 ++++++++++++++++++++++++++++++++++++++" " "
14 impo q i
15 impo numpy as np
16
17 # PIL mode
18 om PIL impo Image
19 impo m a p l o l i b . p y p lo as p l
20
21 # Openc mode
22 impo c 2
23
24 " " "++++++++++++++++++++++++++++++++++++++
25 Cons an s
26 ++++++++++++++++++++++++++++++++++++++" " "
27 # Nao o b o IP a d e s s
28 IP_ADRESS = " 1 7 2 . 1 6 . 2 . 1 5 5 "
29
30 # Came a c o n i g u a i o n
31 NAME = "demo "
32 #Cama a d e l cap
33 CAMERA_INDEX = 0
34 #Cama a de l a boca
35 #CAMERA_INDEX = 1
36 RESOLUTION = 2
37 COLOR_SPACE = 13
38 FPS = 30
39
40 " " "++++++++++++++++++++++++++++++++++++++
41 Class
42 ++++++++++++++++++++++++++++++++++++++" " "
43 class Nao_Vision () :
44 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
45 Name : _ _ i n i _ _
46 Func i o n : i n i o h e c l a s s
47 Pa ame e s : s e s s i o n : nao s e s s i o n
48 # h p : / / doc . aldeba a n . com /2 −5/ n aoqi / i s i o n /
a l i d e o d e i c e −api . h ml # ALVideoDe iceP oxy : :
subsc ibeCame a__ssCR . iCR . iCR . iCR . iCR
49 name : name o h e s u b s c i b i n g module
50 ca me a_i nde x : i n d e x o h e came a i n h e i d e o
s ys em ( s ee Came a I n d e x e s ) .
51 e s o l u i o n : e s o l u i o n e q u e s e d ( s e e Suppo e d
e s o l u i o n s ) .
52 c o l o _ s p a c e : c o l o s p a c e e q u e s e d ( s ee S uppo e d
colo spaces) .
53 p s : p s ( am es pe second ) e q u e s e d o h e
ide o s ou c e ( s ee S up po ed a m e a e s ) .
54 Re u n : −
55 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
56 de _ _ i n i _ _ ( s e l , s e s s i o n , name = " demo " , c ame a_index = 0 ,
e s o l u i o n = 2 , c o l o _ s p a c e = 13 , p s = 30) :
57 s e l . s e s s i o n = s e s s i o n
58 s e l . a c e _ d e e c i o n _ s e i c e = s e l . s e s s i o n . s e i c e ( "
ALFaceDe ec ion")
59 s e l . i d e o _ s e i c e = s e l . s e s s i o n . s e i c e ( " ALVideoDe ice
" )
60 s e l . s u b s c i b e = s e l . i d e o _ s e i c e . subsc ibe C a m e a (
name , ca me a_i ndex , e s o l u i o n , c o l o _ s p a c e , p s )
61
62 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
63 Name: se PeopleRecogni ion
64 Func i o n : u n s on o o h e a c e d e e c o o nao
65 Pa ame e s : on_NOTo : T ue : On , F a l s e : O
66 Re u n : ima g e (< c l a s s : numpy . numpy . nda ay >)
67 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
68 de s e P e o p l e R e c o g n i i o n ( s e l , on_NOTo ) :
69 s e l . a c e _ d e e c i o n _ s e i c e . s e R e c o g n i i o n E n a b l e d (
on_NOTo )
70 s e l . a c e _ d e e c i o n _ s e i c e . s e T a c k i n g E n a b l e d ( on_NOTo
)
71
72 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
73 Name : ge _ op en c _im ag e
74 Func i o n : o b e n i l a ima g e c a p u ada p el o b o nao pe
e b a l l a amb c 2
75 Pa ame e s : −
76 Re u n : ima g e (< c l a s s : numpy . numpy . nda ay >)
77 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
78 de ge _openc _image ( s e l ) :
79 imageNAO = s e l . i d e o _ s e i c e . ge ImageRemo e ( s e l .
subsc ibe )
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).

80 i imageNAO i s None :
81 pass
82 else :
83 imageWid h = imageNAO [ 0 ]
84 imageHeigh = imageNAO [ 1 ]
85 a a y = imageNAO [ 6 ]
86
87 img_c 2 = ( np . e s h a p e ( np . o m b u e ( a a y , d ype = ’%
i u i n 8 ’ % imageNAO [ 2 ] ) , ( imageHeigh , imageWid h ,
imageNAO [ 2 ] ) ) )
88 # h p s : / / s a c k o e l o w . com / q u e s i o n s /22593451/ how−
o −impo −openc −on−nao−in −p y hon
89 e u n img_c 2
90 e u n None
91
92 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
93 Name : g e _ p i l _ i m a g e
94 Func i o n : o b e n i l a ima g e c a p u ada p el o b o nao pe
e b a l l a amb p i l
95 Pa ame e s : −
96 Re u n : ima g e (< c l a s s : PIL . Image . Image >)
97 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
98 de g e _ p i l _ i m a g e ( s e l ) :
99 imageNAO = s e l . i d e o _ s e i c e . ge ImageRemo e ( s e l .
subsc ibe )
100 i imageNAO i s None :
101 pass
102 else :
103 imageWid h = imageNAO [ 0 ]
104 imageHeigh = imageNAO [ 1 ]
105 a a y = imageNAO [ 6 ]
106
107 # Use PIL o c e a e an image om h e new a ay o
pixels
108 i m g _ p i l = Image . o m b y e s ( "RGB" , ( imageWid h ,
im ageHeigh ) , a a y )
109 e u n img_pil
110 e u n None
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
1.1 Mo emen s
File 9: __ini __.py
1 om .impo *
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
File 10: mo emen s.py
1# ! / us / bin / en py h on
2# −*− enco ding : UTF−8 −*−
3"""
/////////////////////////////////////////////////////////////////////////////
4Name : mo emen s . py
5Func i o n : F i l e w i h some o h e p e d e i n e d mo emen s om
Cho eg aph
6See : h p : / / doc . aldeba a n . com /2 −4/ s o w a e / cho eg aphe
/ p a n e ls / i m e l i n e _ p a n e l . h ml
7In h i s web i i s e x p l a i n e d how o e x a c he
mo emen s om Cho eg aph .
8No e : Once you i n d i c a e he language you wan o
e x p o h e mo emen ,
9i i s sa ed i n he c l i p b o a d . T he e o e , you j u s ha e
o p a s e i
10 whe e e you wan i .
11 C e a i o n d a e : 2 9 / 12 /2 0 2 2
12 L as m o d i i e d : 2 9 /12/2022
13 C ea e d by : SCV
14 /////////////////////////////////////////////////////////////////////////////
"""
15
16
17 " " "++++++++++++++++++++++++++++++++++++++
18 Lib a ies
19 ++++++++++++++++++++++++++++++++++++++" " "
20 impo q i
21
22 " " "++++++++++++++++++++++++++++++++++++++
23 Func ions:
24
25 Summa y o h e mo emen s :
26
27 −−−−−−−−−−−−−−−−−−−
28 Moods
29 −−−−−−−−−−−−−−−−−−−
30 ////////
31 Posi i e
32 ////////
33 happy
34 kisses
35 exci ed
36 ////////
37 Neu al
38 ////////
39 hinking
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
40
41 −−−−−−−−−−−−−−−−−−−
42 En e ainmen
43 −−−−−−−−−−−−−−−−−−−
44 ////////
45 Dances
46 ////////
47 disco
48 headbang
49
50 ////////
51 Fun
52 ////////
53 mys ical
54 akePic u e
55
56 ////////
57 Music
58 ////////
59 saxophone
60 gui a
61
62 −−−−−−−−−−−−−−−−−−−
63 O he
64 −−−−−−−−−−−−−−−−−−−
65 ////////
66 G ee ing
67 ////////
68 wa e
69
70 ////////
71 U4
72 ////////
73 sambaU4
74 ini ialMo eIn e ac ion
75
76
77 ++++++++++++++++++++++++++++++++++++++" " "
78
79 """**************************************
80 Name : happy
81 Func i o n : Makes a happy mo emen .
82 ************************************** """
83 de happy ( ) :
84 names = l i s ( )
85 i m e s = l i s ( )
86 keys = l i s ( )
87
88 names . append ( " H eadP i ch " )
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
326 names . append ( "RElbowYaw" )
327 i m es . append ( [ 0 . 8 , 1 . 0 8 , 1 . 3 2 , 1 . 6 , 1 . 9 2 ] )
328 keys . append ( [ 1 . 3 3 9 1 4 , 1.3 3914 , 1.33914 , 1.33914 , 1 . 3 39 1 4 ])
329
330 names . append ( " RHand" )
331 i m es . append ( [ 0 . 6 8 , 0 . 8 , 0 . 9 6 , 1 . 0 8 , 1 . 2 4 , 1 . 3 2 , 1 . 4 8 , 1 . 6 ,
1 . 7 6 , 1 . 9 2 , 2 . 0 8 ] )
332 keys . append ( [ 0 . 6 3 , 0 . 2 7 , 0 . 0 2 , 0 . 2 4 , 0 . 0 2 , 0 . 2 8 , 0 . 0 2 , 0 . 2 6 ,
0 . 0 2 , 0 . 2 4 , 0 . 0 2 ] )
333
334 names . append ( " R S h o u l d e P i c h " )
335 i m es . append ( [ 0 . 6 , 0 . 7 6 , 0 . 9 2 , 1 . 0 4 , 1 . 1 6 , 1 . 2 8 , 1 . 4 , 1 . 5 6 ,
1 . 6 8 , 1 . 8 4 , 2 ] )
336 keys . append ( [ 0 . 9 4 5 9 6 8 , 1.15541 , 1 .21475 , 1 .1 5541 , 1 .2 1475 ,
1.15541, 1.21475, 1.15541, 1.21475, 1.15541, 1.21475])
337
338 names . append ( " R S h o ulde Rol l " )
339 i m es . append ( [ 0 . 6 , 0 . 7 6 , 1 . 0 4 , 1 . 2 8 , 1 . 5 6 , 1 . 8 4 ] )
340 keys . append ([ −0.223402 , −0.00872665 , −0.00872665 ,
−0.00872665 , −0.00872665 , −0.00872665])
341
342 names . append ( " RW is Yaw " )
343 i m es . append ( [ 0 . 6 8 , 0 . 8 , 1 . 0 8 , 1 . 3 2 , 1 . 6 , 1 . 9 2 ] )
344 keys . append ( [ 0 . 6 3 0 0 6 4 , 0.1 10 406 , 0 .1 104 06 , 0 .11 04 06 ,
0.110 406 , 0 . 1 1 0 4 0 6 ] )
345
346 e u n names , keys , i m e s
347
348 """**************************************
349 Name : h i n k i n g
350 Func i o n : Makes a h i n k i n g mo emen .
351 ************************************** """
352 de hinking () :
353 names = l i s ( )
354 i m e s = l i s ( )
355 keys = l i s ( )
356
357 names . append ( " H eadP i ch " )
358 i m es . append ( [ 0 . 7 2 , 1 . 2 , 3 . 1 6 , 4 . 7 2 , 5 . 2 , 5 . 5 6 , 7 . 1 2 , 7 . 6 8 ,
8 . 0 8 , 1 0 . 9 6 , 1 1 . 6 8 , 1 2 . 2 , 1 4 . 4 4 ] )
359 keys . append ([ −0.1134 4 6 , 0 .22499 6 , 0.200 7 13 , 0 .240855 ,
0.125 6 64 , −0.20886 , −0.235619 , −0.106465 , 0.14 8 4 48 ,
0 .1 8 67 5 , 0 .0 76 79 45 , 0 .2 6458 1 , 0 . 2 8 9 7 2 5 ] )
360
361 names . append ( "HeadYaw" )
362 i m es . append ( [ 1 . 2 , 4 . 7 2 , 5 . 5 6 , 7 . 1 2 , 8 . 0 8 , 1 0. 96 , 1 2 . 2 ,
1 4 . 4 4 ] )
363 keys . append ( [ 0 . 1 5 4 8 9 5 , 0.1 57 081 , −0.305068 , −0.312414 ,
0.269 4 72 , 0 .28623 4 , −0.124212 , − 0.1309])
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).

364
365 names . append ( " H i p P i c h " )
366 i m es . append ( [ 1 . 0 8 , 4 . 6 , 5 . 4 4 , 7 , 7 . 9 6 , 1 0 . 84 , 1 2 . 0 8 ,
1 4 . 3 2 ] )
367 keys . append ([ − 0 . 0599121 , −0.0599156 , −0.0599151 , −0.0599156 ,
−0. 05991 33 , − 0.059 9156 , 0 .0 0 59 0 22 , 0 . 0 0 6 9 8 1 3 2 ] )
368
369 names . append ( " H ipR oll " )
370 i m es . append ( [ 1 . 0 8 , 4 . 6 , 5 . 4 4 , 7 , 7 . 9 6 , 1 0 . 84 , 1 2 . 0 8 ,
1 4 . 3 2 ] )
371 keys . append ([ − 0 . 0 5 58505 , −0.0575959 , −0.000865071 , 0 ,
−0.0542387 , −0.0558505 , −0.00089844 , 0 ] )
372
373 names . append ( " K neeP i ch " )
374 i m es . append ( [ 1 . 0 8 , 4 . 6 , 5 . 4 4 , 7 , 7 . 9 6 , 1 0 . 84 , 1 2 . 0 8 ,
1 4 . 3 2 ] )
375 keys . append ([ − 0 . 0499039 , −0.0499079 , −0.0499075 , −0.0499079 ,
−0.0499056 , −0.0499079 , −0.0499155 , −0.0 499084] )
376
377 names . append ( " L Ankl ePi ch " )
378 i m es . append ( [ 1 . 0 8 , 4 . 6 , 5 . 4 4 , 7 , 7 . 9 6 , 1 0 . 84 , 1 2 . 0 8 ,
1 4 . 3 2 ] )
379 keys . append ( [ 0 . 1 2 1 1 4 4 , 0.1 22 678 , 0 .12728 , 0.12728 , 0.093 532 ,
0 .0 9 35 3 2 , 0 .0 62 8 52 1 , 0 . 0 6 2 8 5 2 1 ] )
380
381 names . append ( " LAnkleRoll " )
382 i m es . append ( [ 1 . 0 8 , 4 . 6 , 5 . 4 4 , 7 , 7 . 9 6 , 1 0 . 84 , 1 2 . 0 8 ,
1 4 . 3 2 ] )
383 keys . append ([ − 0 .00302 6 0 2 , −0.00302602 , 0 .06293 6 , 0.06447 ,
0 .0 5 21 9 79 , 0 . 05 3 73 1 9 , 0 .0 0 31 09 9 3 , 0 . 0 0 3 1 0 9 9 3 ] )
384
385 names . append ( " LElbowRoll " )
386 i m es . append ( [ 0 . 6 4 , 1 . 1 2 , 4 . 6 4 , 5 . 1 2 , 5 . 4 8 , 7 . 0 4 , 7 . 6 , 8 ,
1 0 . 8 8 , 1 1 . 6 , 1 2 . 1 2 , 1 4 . 3 6 ] )
387 keys . append ([ −0.799361 , −1.48487 , −1.51669 , −1.53414 ,
−1.37739 , −1.36485 , −1.07861 , −1.4818 , −1.54462 ,
−1.39277 , −1.49101 , −1 .5171 7 ])
388
389 names . append ( " LElbowYaw" )
390 i m es . append ( [ 0 . 6 4 , 1 . 1 2 , 4 . 6 4 , 5 . 4 8 , 7 . 0 4 , 7 . 6 , 8 , 1 0 . 8 8 ,
1 1 . 6 , 1 2 . 1 2 , 1 4 . 3 6 ] )
391 keys . append ( [ − 1 . 40 324 , −0.955723 , −0.909316 , −1.54856 ,
−1.55509 , −0.720821 , −0.474047 , −0.474047 , −0.303687 ,
−0.713353 , −0. 736278])
392
393 names . append ( " LHand " )
394 i m es . append ( [ 0 . 6 4 , 1 . 1 2 , 1 . 6 8 , 2 . 0 8 , 2 . 6 8 , 3 . 0 8 , 3 . 7 6 ,
4 . 1 6 , 4 . 6 4 , 5 . 1 2 , 5 . 4 8 , 7 . 0 4 , 7 . 6 , 8 , 1 0 . 8 8 , 1 1 . 6 , 1 2 .1 2 ,
1 4 . 3 6 ] )
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
395 keys . append ( [ 0 . 9 6 , 0 . 7 03 6 , 0 . 4 4 , 0 . 7 3 , 0 . 4 4 , 0 . 7 3 , 0 . 4 4 ,
0 . 7 3 , 0 . 6 5 , 0 . 5 2 , 0 .84 4074 , 0 . 8 7 , 0 . 6 1 , 0 . 3 18 8 , 0 . 29 56 ,
0 .6 9 , 0.503 2 , 0 . 4 9 3 2 ] )
396
397 names . append ( " L HipPi ch " )
398 i m es . append ( [ 1 . 0 8 , 4 . 6 , 5 . 4 4 , 7 , 7 . 9 6 , 1 0 . 84 , 1 2 . 0 8 ,
1 4 . 3 2 ] )
399 keys . append ( [ 0 . 1 2 5 8 3 , 0.1 2583 , 0 .1 22 76 2 , 0.122 76 2 , 0.1795 19 ,
0.179 519 , 0 .2 6695 9 , 0 . 2 6 6 9 5 9 ] )
400
401 names . append ( " LHipRoll " )
402 i m es . append ( [ 1 . 0 8 , 4 . 6 , 5 . 4 4 , 7 , 7 . 9 6 , 1 0 . 84 , 1 2 . 0 8 ,
1 4 . 3 2 ] )
403 keys . append ([ − 0 .00609 3 9 7 , −0.00609397 , −0.0674542 ,
−0.0674542 , −0.0475121 , −0.0475121 , 0.010 7799 ,
0.0107799])
404
405 names . append ( " LHipYawPi ch " )
406 i m es . append ( [ 1 . 0 8 , 4 . 6 , 5 . 4 4 , 7 , 7 . 9 6 , 1 0 . 84 , 1 2 . 0 8 ,
1 4 . 3 2 ] )
407 keys . append ([ −0.239262 , −0.239262 , −0.239262 , −0.237728 ,
−0.237728 , −0.237728 , −0.236194 , −0. 2361 94])
408
409 names . append ( " LKneePi ch " )
410 i m es . append ( [ 1 . 0 8 , 4 . 6 , 5 . 4 4 , 7 , 7 . 9 6 , 1 0 . 84 , 1 2 . 0 8 ,
1 4 . 3 2 ] )
411 keys . append ([ −0.090548 , −0.0890141 , −0.0923279 , −0.0923279 ,
−0.0890141 , −0.0890141 , −0.0890141 , −0.0 890141] )
412
413 names . append ( " L S h o u l d e P i c h " )
414 i m es . append ( [ 1 . 1 2 , 4 . 6 4 , 5 . 1 2 , 5 . 4 8 , 7 . 0 4 , 8 , 1 0 . 8 8 , 1 2 . 1 2 ,
1 4 . 3 6 ] )
415 keys . append ([ −0.512397 , −0.581195 , 0.09 9483 8 , 0.44047 ,
0.467 748 , 0 .4 187 39 , 0 .3 61 981 , 1 .82235 , 1 . 8 3 6 2 4 ] )
416
417 names . append ( " L S h o ul de Ro l l " )
418 i m es . append ( [ 1 . 1 2 , 4 . 6 4 , 5 . 4 8 , 7 . 0 4 , 8 , 1 0 . 8 8 , 1 1 . 6 , 1 2 . 1 2 ,
1 4 . 3 6 ] )
419 keys . append ( [ 0 . 3 2 8 2 3 4 , 0.3 42 085 , 0 .2 338 74 , 0 .23 38 76 ,
−0.217869 , −0.243948 , 0 .80 4597 , 0 .530 721 , 0 . 5 3 6 9 4 2 ] )
420
421 names . append ( " LW is Yaw " )
422 i m es . append ( [ 0 . 6 4 , 1 . 1 2 , 4 . 6 4 , 5 . 4 8 , 7 . 0 4 , 8 , 1 0 . 8 8 , 1 2 . 1 2 ,
1 4 . 3 6 ] )
423 keys . append ([ −0.895354 , −0.833004 , −0.862194 , 0.019 2082 ,
0.0 33160 6 , −0.60904 , −0.65506 , −0.182588 , −0.17176 6])
424
425 names . append ( " RAnklePi ch " )
426 i m es . append ( [ 1 . 0 8 , 4 . 6 , 5 . 4 4 , 7 , 7 . 9 6 , 1 0 . 84 , 1 2 . 0 8 ,
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
1 4 . 3 2 ] )
427 keys . append ( [ 0 . 1 1 5 0 9 2 , 0.1 16 626 , 0 .1 3 35 , 0 . 13 35 , 0.099 75 2 ,
0 .0 9 97 5 2 , 0 .0 53 7 31 9 , 0 . 0 5 5 2 6 5 9 ] )
428
429 names . append ( " RAnkleRoll " )
430 i m es . append ( [ 1 . 0 8 , 4 . 6 , 5 . 4 4 , 7 , 7 . 9 6 , 1 0 . 84 , 1 2 . 0 8 ,
1 4 . 3 2 ] )
431 keys . append ([ −0.0183661 , −0.0183661 , 0.035 3239 , 0.03 5323 9 ,
0.030 7 22 , 0 .03072 2 , −0.00302602 , −0.00302602])
432
433 names . append ( " RElbowRoll " )
434 i m es . append ( [ 0 . 5 6 , 1 . 0 4 , 4 . 5 6 , 5 . 0 4 , 5 . 4 , 6 . 9 6 , 7 . 5 2 , 7 . 9 2 ,
1 0 . 8 , 1 2 . 0 4 , 1 4 . 2 8 ] )
435 keys . append ( [ 0 . 5 7 4 2 1 3 , 0.3 82 009 , 0 .3 612 83 , 0 .37 52 46 ,
0.25889, 0.249582, 1.50273, 1.49109, 1.51717, 1.48495,
1.51717])
436
437 names . append ( "RElbowYaw" )
438 i m es . append ( [ 0 . 5 6 , 1 . 0 4 , 4 . 5 6 , 5 . 4 , 6 . 9 6 , 7 . 9 2 , 1 0 . 8 ,
1 2 .04 , 1 4 . 2 8 ] )
439 keys . append ( [ 1 . 4 7 8 2 9 , 1.2 3483 , 1 .2 217 , 1 .2 217 , 1 .2 217 ,
0.768 491 , 0 .7 3627 8 , 0 .716 335 , 0 . 7 3 6 2 7 8 ] )
440
441 names . append ( " RHand" )
442 i m es . append ( [ 0 . 5 6 , 1 . 0 4 , 4 . 5 6 , 5 . 0 4 , 5 . 4 , 6 . 9 6 , 7 . 5 2 , 7 . 9 2 ,
1 0 . 8 , 1 2 . 0 4 , 1 4 . 2 8 ] )
443 keys . append ( [ 0 . 5 4 , 0 . 3 50 4 , 0 . 3 3 , 0 . 3 1 , 0 .41 2984 , 0 . 4 3 , 0 . 6 9 ,
0 .5 2 , 0.493 2 , 0 . 5 08 , 0 . 4 9 3 2 ] )
444
445 names . append ( " RHipPi ch " )
446 i m es . append ( [ 1 . 0 8 , 4 . 6 , 5 . 4 4 , 7 , 7 . 9 6 , 1 0 . 84 , 1 2 . 0 8 ,
1 4 . 3 2 ] )
447 keys . append ( [ 0 . 1 3 4 9 5 , 0. 13 64 84 , 0.11961 , 0 .1 19 61 , 0.17 79 01 ,
0.179 436 , 0 .2 7761 2 , 0 . 2 7 6 0 7 8 ] )
448
449 names . append ( " RHipRoll " )
450 i m es . append ( [ 1 . 0 8 , 4 . 6 , 5 . 4 4 , 7 , 7 . 9 6 , 1 0 . 84 , 1 2 . 0 8 ,
1 4 . 3 2 ] )
451 keys . append ( [ 0 . 0 2 4 5 8 5 9 , 0 .0 24 585 9 , −0.0275701 , −0.0275701 ,
−0.0275701 , −0.0275701 , −0.00302602 , −0. 00302602])
452
453 names . append ( " RHipYawPi ch " )
454 i m es . append ( [ 1 . 0 8 , 4 . 6 , 5 . 4 4 , 7 , 7 . 9 6 , 1 0 . 84 , 1 2 . 0 8 ,
1 4 . 3 2 ] )
455 keys . append ([ −0.239262 , −0.239262 , −0.239262 , −0.237728 ,
−0.237728 , −0.237728 , −0.236194 , −0. 2361 94])
456
457 names . append ( " RKneePi ch " )
458 i m es . append ( [ 1 . 0 8 , 4 . 6 , 5 . 4 4 , 7 , 7 . 9 6 , 1 0 . 84 , 1 2 . 0 8 ,
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
1 4 . 3 2 ] )
459 keys . append ([ − 0 . 0923279 , −0.0923279 , −0.0923279 , −0.0923279 ,
−0.0923279 , −0.0923279 , −0.0923279 , −0.0 923279] )
460
461 names . append ( " R S h o u l d e P i c h " )
462 i m es . append ( [ 1 . 0 4 , 4 . 5 6 , 5 . 4 , 6 . 9 6 , 7 . 9 2 , 1 0 . 8 , 1 2 . 0 4 ,
1 4 . 2 8 ] )
463 keys . append ( [ 1 . 5 4 7 8 5 , 1 . 5 7 , 1.43506 , 1 .43292 , 1 .8071 ,
1.83624 , 1 .8 1476 , 1 . 8 3 6 2 4 ] )
464
465 names . append ( " R S h o ulde Rol l " )
466 i m es . append ( [ 1 . 0 4 , 4 . 5 6 , 5 . 4 , 6 . 9 6 , 7 . 5 2 , 7 . 9 2 , 1 0 . 8 ,
1 2 .04 , 1 4 . 2 8 ] )
467 keys . append ([ −0.108956 , −0.12 , −0.119999 , −0.12 , −0.640536 ,
−0.533873 , −0.536942 , −0.526205 , −0. 5369 42])
468
469 names . append ( " RW is Yaw " )
470 i m es . append ( [ 0 . 5 6 , 1 . 0 4 , 4 . 5 6 , 5 . 4 , 6 . 9 6 , 7 . 9 2 , 1 0 . 8 ,
1 2 .04 , 1 4 . 2 8 ] )
471 keys . append ( [ 0 . 4 9 7 4 1 9 , 0.0 30 638 , −0.0331613 , −0.033162 ,
−0.0331613 , 0 .1 4568 8 , 0 .171 766 , 0 .1 7636 7 , 0 . 1 7 1 7 6 6 ] )
472
473 e u n names , keys , i m e s
474
475 """**************************************
476 Name : d i s c o
477 Func i o n : Dances l i k e i i i s i n h e
478 d i s c o .
479 ************************************** """
480 de d i s c o ( ) :
481 names = l i s ( )
482 i m e s = l i s ( )
483 keys = l i s ( )
484
485 names . append ( " H eadP i ch " )
486 i m es . append ( [ 1 . 6 4 , 2 . 4 4 , 3 . 3 6 , 4 . 1 6 , 5 . 0 4 , 5 . 8 4 , 6 . 7 6 ,
7 . 5 6 , 8 . 6 4 , 9 . 4 4 , 1 0. 36 , 1 1 . 1 6 , 12 , 1 2 . 8 , 1 3. 6 8 , 1 4 .4 8 ,
15.8])
487 keys . append ([ −0.476475 , 0 . 338594 , −0.476475 , 0.3385 9 4 ,
−0.476475 , 0 . 338594 , −0.476475 , 0.338 5 9 4 , −0.476475 ,
0.338 5 94 , −0.476475 , 0 .33859 4 , −0.476475 , 0 . 338594 ,
−0.476475 , 0 . 338594 , −0 . 17185 ] )
488
489 names . append ( "HeadYaw" )
490 i m es . append ( [ 1 . 6 4 , 2 . 4 4 , 3 . 3 6 , 4 . 1 6 , 5 . 0 4 , 5 . 8 4 , 6 . 7 6 ,
7 . 5 6 , 8 . 6 4 , 9 . 4 4 , 1 0. 36 , 1 1 . 1 6 , 12 , 1 2 . 8 , 1 3. 6 8 , 1 4 .4 8 ,
15.8])
491 keys . append ([ −0.745256 , 0 . 289725 , −0.745256 , 0.2897 2 5 ,
−0.745256 , 0 . 289725 , −0.745256 , 0.289 7 2 5 , 0.7452 5 6 ,
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
−0.289725 , 0 . 745256 , −0.289725 , 0.745 2 5 6 , −0.289725 ,
0 .7 4 5 25 6 , − 0.289 725 , 0 . 0 0 9 1 6 1 9 5 ] )
492
493 names . append ( " L Ankl ePi ch " )
494 i m es . append ( [ 0 . 6 8 , 1 . 5 6 , 2 . 3 6 , 3 . 2 8 , 4 . 0 8 , 4 . 9 6 , 5 . 7 6 ,
6 . 6 8 , 7 . 4 8 , 8 . 5 6 , 9 . 3 6 , 1 0 . 28 , 1 1 . 0 8 , 1 1 . 9 2 , 1 2 . 7 2 , 1 3 . 6 ,
1 4 . 4 , 1 5 . 7 2 ] )
495 keys . append ([ − 0 . 0 4 6 0 6 2 , 0.04 44441 , 0.161 0 28 , 0 .044 4441 ,
0.161 0 28 , 0 .044 4441 , 0 . 161028 , 0.04 44441 , 0.161 0 28 ,
0.092082, 0.082878, 0.092082, 0.082878, 0.092082,
0 .0 8 28 7 8 , 0 .0 9 20 8 2 , 0 .0 8 28 7 8 , 0 . 0 8 7 3 9 6 1 ] )
496
497 names . append ( " LAnkleRoll " )
498 i m es . append ( [ 0 . 6 8 , 1 . 5 6 , 2 . 3 6 , 3 . 2 8 , 4 . 0 8 , 4 . 9 6 , 5 . 7 6 ,
6 . 6 8 , 7 . 4 8 , 8 . 5 6 , 9 . 3 6 , 1 0 . 28 , 1 1 . 0 8 , 1 1 . 9 2 , 1 2 . 7 2 , 1 3 . 6 ,
1 4 . 4 , 1 5 . 7 2 ] )
499 keys . append ([ − 0 . 0 1 83661 , 0.06293 6 , −0.248467 , 0 . 062936 ,
−0.248467 , 0 . 062936 , −0.248467 , 0.062 9 3 6 , −0.248467 ,
−0.26389 , 0.090 4641 , −0.26389 , 0 .0904 641 , −0.26389 ,
0.0904641, −0.26389, 0.0904641, −0.121144])
500
501 names . append ( " LElbowRoll " )
502 i m es . append ( [ 0 . 8 , 1 . 2 4 , 1 . 6 4 , 2 . 4 4 , 3 . 3 6 , 4 . 1 6 , 5 . 0 4 , 5 . 8 4 ,
6 . 7 6 , 7 . 5 6 , 8 . 1 2 , 8 . 7 2 , 9 . 1 2 , 9 . 5 2 , 10 , 1 0 . 44 , 1 0 . 8 4 ,
1 1 . 2 4 , 1 1 . 7 2 , 1 2 . 0 8 , 1 2 . 4 8 , 1 2 . 8 8 , 1 3 . 3 6 , 1 3 . 7 6 , 1 4 . 1 6 ,
1 4 . 5 6 , 1 5 . 0 4 , 1 5 . 8 8 ] )
503 keys . append ( [ − 1 . 37 289 , −1.12923 , −0.369652 , −0.202446 ,
−0.369652 , −0.202446 , −0.369652 , −0.202446 , −0.369652 ,
−0.202446 , −1.54462 , −0.138102 , −1.309 , −0.257754 ,
−1.4591 , −0.138102 , −1.309 , −0.257754 , −1.4591 ,
−0.138102 , −1.309 , −0.257754 , −1.4591 , −0.138102 , −1.309 ,
−0.257754 , −1.4591 , − 0.424876] )
504
505 names . append ( " LElbowYaw" )
506 i m es . append ( [ 0 . 8 , 1 . 2 4 , 1 . 6 4 , 2 . 4 4 , 3 . 3 6 , 4 . 1 6 , 5 . 0 4 , 5 . 8 4 ,
6 . 7 6 , 7 . 5 6 , 8 . 1 2 , 8 . 7 2 , 9 . 1 2 , 9 . 5 2 , 10 , 1 0 . 44 , 1 0 . 8 4 ,
1 1 . 2 4 , 1 1 . 7 2 , 1 2 . 0 8 , 1 2 . 4 8 , 1 2 . 8 8 , 1 3 . 3 6 , 1 3 . 7 6 , 1 4 . 1 6 ,
1 4 . 5 6 , 1 5 . 0 4 , 1 5 . 8 8 ] )
507 keys . append ( [ − 0 . 65 506 , −1.76453 , −0.380475 , −0.618244 ,
−0.380475 , −0.618244 , −0.380475 , −0.618244 , −0.380475 ,
−0.618244 , −1.65632 , 0.851 4 12 , 0 .0750 492 , 0.0 0157596 ,
0.460 7 67 , 0 .85141 2 , 0 .0750 492 , 0.00 157596 , 0.46076 7 ,
0.851 4 12 , 0.075 0492 , 0.00 157596 , 0 .46076 7 , 0.851 4 12 ,
0.0 75049 2 , 0 .001575 96 , −0.682424 , − 1.210 3 7])
508
509 names . append ( " LHand " )
510 i m es . append ( [ 0 . 8 , 1 . 2 4 , 1 . 6 4 , 2 . 4 4 , 3 . 3 6 , 4 . 1 6 , 5 . 0 4 , 5 . 8 4 ,
6 . 7 6 , 7 . 5 6 , 8 . 1 2 , 8 . 7 2 , 9 . 1 2 , 9 . 5 2 , 10 , 1 0 . 44 , 1 0 . 8 4 ,
1 1 . 2 4 , 1 1 . 7 2 , 1 2 . 0 8 , 1 2 . 4 8 , 1 2 . 8 8 , 1 3 . 3 6 , 1 3 . 7 6 , 1 4 . 1 6 ,
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).

1 4 . 5 6 , 1 5 . 0 4 , 1 5 . 8 8 ] )
511 ke ys . append ( [ 0 . 2 , 0 . 6 , 0 . 2 64 8 , 0 . 2 6 4 , 0 . 2 6 4 8 , 0 . 2 6 4 , 0 . 2 6 4 8 ,
0 . 2 6 4 , 0 .2 64 8 , 0 . 2 6 4 , 0 . 1 3 , 0 . 6 7 8 , 0 . 3 , 0 . 6 7 8 4 , 0 . 3 ,
0 .67 8 , 0 . 3 , 0.6 78 4 , 0 . 3 , 0 .67 8 , 0 . 3 , 0.6784 , 0 . 3 , 0 .67 8 ,
0 . 3 , 0.67 8 4 , 0 . 3 , 0 . 2 9 6 8 ] )
512
513 names . append ( " L HipPi ch " )
514 i m es . append ( [ 0 . 6 8 , 1 . 5 6 , 2 . 3 6 , 3 . 2 8 , 4 . 0 8 , 4 . 9 6 , 5 . 7 6 ,
6 . 6 8 , 7 . 4 8 , 8 . 5 6 , 9 . 3 6 , 1 0 . 28 , 1 1 . 0 8 , 1 1 . 9 2 , 1 2 . 7 2 , 1 3 . 6 ,
1 4 . 4 , 1 5 . 7 2 ] )
515 keys . append ([ −0.1533 5 8 , 0 .18565 6 , 0.147 3 06 , 0 .185656 ,
0.147306, 0.185656, 0.147306, 0.185656, 0.147306,
0.101202, 0.259204, 0.101202, 0.259204, 0.101202,
0.259 204 , 0 .1 0120 2 , 0 .259 204 , 0 . 1 3 9 6 3 6 ] )
516
517 names . append ( " LHipRoll " )
518 i m es . append ( [ 0 . 6 8 , 1 . 5 6 , 2 . 3 6 , 3 . 2 8 , 4 . 0 8 , 4 . 9 6 , 5 . 7 6 ,
6 . 6 8 , 7 . 4 8 , 8 . 5 6 , 9 . 3 6 , 1 0 . 28 , 1 1 . 0 8 , 1 1 . 9 2 , 1 2 . 7 2 , 1 3 . 6 ,
1 4 . 4 , 1 5 . 7 2 ] )
519 keys . append ( [ 0 . 0 0 4 6 4 3 9 5 , −0.144154 , 0 .32 9 85 2 , −0 .1 44 15 4 ,
0.329 8 52 , −0.144154 , 0 .32985 2 , −0.144154 , 0 . 329852 ,
0.297 5 54 , −0.14117 , 0 . 297554 , −0.14117 , 0.29755 4 ,
−0.14117 , 0 .2 97 554 , −0.14117 , 0 . 1 0 2 8 2 ] )
520
521 names . append ( " LHipYawPi ch " )
522 i m es . append ( [ 0 . 6 8 , 1 . 5 6 , 2 . 3 6 , 3 . 2 8 , 4 . 0 8 , 4 . 9 6 , 5 . 7 6 ,
6 . 6 8 , 7 . 4 8 , 8 . 5 6 , 9 . 3 6 , 1 0 . 28 , 1 1 . 0 8 , 1 1 . 9 2 , 1 2 . 7 2 , 1 3 . 6 ,
1 4 . 4 , 1 5 . 7 2 ] )
523 keys . append ([ −0.443284 , −0.37272 , −0.357381 , −0.37272 ,
−0.357381 , −0.37272 , −0.357381 , −0.37272 , −0.357381 ,
−0.37272 , −0.357381 , −0.37272 , −0.357381 , −0.37272 ,
−0.357381 , −0.37272 , −0.357381 , −0. 17023 2])
524
525 names . append ( " LKneePi ch " )
526 i m es . append ( [ 0 . 6 8 , 1 . 5 6 , 2 . 3 6 , 3 . 2 8 , 4 . 0 8 , 4 . 9 6 , 5 . 7 6 ,
6 . 6 8 , 7 . 4 8 , 8 . 5 6 , 9 . 3 6 , 1 0 . 28 , 1 1 . 0 8 , 1 1 . 9 2 , 1 2 . 7 2 , 1 3 . 6 ,
1 4 . 4 , 1 5 . 7 2 ] )
527 keys . append ( [ 0 . 4 0 4 9 3 4 , −0.090548 , −0.0798099 , −0.090548 ,
−0.0798099, −0.090548, −0.0798099, −0.090548, −0.0798099,
−0.0904641, −0.0904641, −0.0904641, −0.0904641,
−0.0904641, −0.0904641, −0.0904641, −0.0904641,
−0.0782759])
528
529 names . append ( " L S h o u l d e P i c h " )
530 i m es . append ( [ 0 . 8 , 1 . 6 4 , 2 . 4 4 , 3 . 3 6 , 4 . 1 6 , 5 . 0 4 , 5 . 8 4 , 6 . 7 6 ,
7 . 5 6 , 8 . 1 2 , 8 . 7 2 , 9 . 5 2 , 1 0 . 44 , 1 1 . 2 4 , 1 2 . 0 8 , 1 2 . 8 8 ,
1 3 . 7 6 , 1 4 . 5 6 , 1 5 . 3 6 , 1 5 . 8 8 ] )
531 keys . append ( [ 0 . 6 3 9 6 3 5 , 1.74718 , 1 .85611 , 1 .7 4718 , 1 .8 5611 ,
1.74718, 1.85611, 1.74718, 1.85611, 1.21475, −1.19188,
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
0.995 6 07 , −1.19188 , 0 . 995607 , −1.19188 , 0.99560 7 ,
−1.19188 , 0 .9 95 607 , 1 .06465 , 1 . 4 7 1 0 6 ] )
532
533 names . append ( " L S h o ul de Ro l l " )
534 i m es . append ( [ 0 . 8 , 1 . 6 4 , 2 . 4 4 , 3 . 3 6 , 4 . 1 6 , 5 . 0 4 , 5 . 8 4 , 6 . 7 6 ,
7 . 5 6 , 8 . 1 2 , 8 . 7 2 , 9 . 1 2 , 9 . 5 2 , 10 , 1 0 . 44 , 10 .8 4 , 1 1 . 2 4 ,
1 1 . 7 2 , 1 2 . 0 8 , 1 2 . 4 8 , 1 2 . 8 8 , 1 3 . 3 6 , 1 3 . 7 6 , 1 4 . 1 6 , 1 4 . 5 6 ,
1 5 .04 , 1 5 . 8 8 ] )
535 keys . append ( [ 0 . 3 4 0 5 0 7 , 0.24233 , 0 .1 963 09 , 0 .24 233 , 0.196 309 ,
0.24233 , 0 .19630 9 , 0.24233 , 0 .19630 9 , 0.16 5 8 06 ,
0.328 3 17 , 0 .59515 7 , −0.314159 , 0 .595157 , 0.328 3 1 7 ,
0.595 1 57 , −0.314159 , 0 .59515 7 , 0.328 3 17 , 0 .595157 ,
−0.314159 , 0 . 595157 , 0 . 328317 , 0 . 595157 , −0.314159 ,
0.595 157 , 0 . 1 5 3 3 5 8 ] )
536
537 names . append ( " LW is Yaw " )
538 i m es . append ( [ 0 . 8 , 1 . 2 4 , 1 . 6 4 , 2 . 4 4 , 3 . 3 6 , 4 . 1 6 , 5 . 0 4 , 5 . 8 4 ,
6 . 7 6 , 7 . 5 6 , 8 . 7 2 , 9 . 5 2 , 1 0 . 44 , 1 1 . 2 4 , 1 2 . 0 8 , 1 2 . 8 8 ,
1 3 . 7 6 , 1 4 . 5 6 , 1 5 . 8 8 ] )
539 keys . append ( [ 0 . 1 1 9 6 1 , −1.45037 , −0.395814 , −0.420357 ,
−0.395814 , −0.420357 , −0.395814 , −0.420357 , −0.395814 ,
−0.420357 , −0.107338 , −0.400331 , −0.107338 , −0.400331 ,
−0. 10733 8 , −0 .4003 31 , − 0.107338 , − 0. 40033 1 , 0 . 0 8 2 7 9 3 9 ] )
540
541 names . append ( " RAnklePi ch " )
542 i m es . append ( [ 0 . 6 8 , 1 . 5 6 , 2 . 3 6 , 3 . 2 8 , 4 . 0 8 , 4 . 9 6 , 5 . 7 6 ,
6 . 6 8 , 7 . 4 8 , 8 . 5 6 , 9 . 3 6 , 1 0 . 28 , 1 1 . 0 8 , 1 1 . 9 2 , 1 2 . 7 2 , 1 3 . 6 ,
1 4 . 4 , 1 5 . 7 2 ] )
543 keys . append ([ −0.0521 1 4 , 0 .09208 2 , 0.082 8 78 , 0 .092082 ,
0.082878, 0.092082, 0.082878, 0.092082, 0.082878,
0.0 44444 1 , 0 . 161028 , 0 .044 4441 , 0 . 161028 , 0 .0444 441 ,
0.161 028 , 0 .0 44 44 41 , 0 .1 6102 8 , 0 . 0 9 3 6 1 6 ] )
544
545 names . append ( " RAnkleRoll " )
546 i m es . append ( [ 0 . 6 8 , 1 . 5 6 , 2 . 3 6 , 3 . 2 8 , 4 . 0 8 , 4 . 9 6 , 5 . 7 6 ,
6 . 6 8 , 7 . 4 8 , 8 . 5 6 , 9 . 3 6 , 1 0 . 28 , 1 1 . 0 8 , 1 1 . 9 2 , 1 2 . 7 2 , 1 3 . 6 ,
1 4 . 4 , 1 5 . 7 2 ] )
547 keys . append ( [ 0 . 0 9 6 6 8 3 9 , 0 . 26 389 , −0.0904641 , 0 . 26 389 ,
−0.0904641 , 0 . 2 6 3 8 9 , −0.0904641 , 0 . 2 6389 , −0.0904641 ,
−0.062936 , 0 . 248467 , −0.062936 , 0.248 4 6 7 , −0.062936 ,
0.248 467 , −0.062936 , 0 .2 4846 7 , 0 . 1 1 9 6 9 4 ] )
548
549 names . append ( " RElbowRoll " )
550 i m es . append ( [ 0 . 8 8 , 1 . 3 2 , 1 . 7 2 , 2 . 1 2 , 2 . 5 2 , 3 , 3 . 4 4 , 3 . 8 4 ,
4.24 , 4.72 , 5.12 , 5.52 , 5.92 , 6.4 , 6.84 , 7.24 , 7.64 ,
8 . 1 2 , 8 . 6 4 , 9 . 4 4 , 1 0. 36 , 1 1 . 1 6 , 12 , 1 2 . 8 , 1 3. 6 8 , 1 4 .4 8 ,
1 5 . 08 , 15 . 4 , 1 5 . 8 ] )
551 keys . append ( [ 1 . 3 4 6 8 9 , 1.120 5 , 0.1381 02 , 1 .30 9 , 0 .2 57 75 4 ,
1. 4 5 9 1 , 0 .138102 , 1 .30 9 , 0 . 257754 , 1 . 45 91 , 0 .13810 2 ,
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
1 . 3 0 9 , 0 . 2 57 7 54 , 1 . 4 5 91 , 0 . 13 8 10 2 , 1 . 3 0 9 , 0 . 25 7 75 4 ,
1.54462 , 0 .36965 2 , 0.202 4 46 , 0 .36965 2 , 0.202 4 4 6 ,
0.369 6 52 , 0 .20244 6 , 0.369 6 52 , 0 .20244 6 , 0.82205 ,
0.886 627 , 0 . 4 2 9 5 6 2 ] )
552
553 names . append ( "RElbowYaw" )
554 i m es . append ( [ 0 . 8 8 , 1 . 3 2 , 1 . 7 2 , 2 . 1 2 , 2 . 5 2 , 3 , 3 . 4 4 , 3 . 8 4 ,
4.24 , 4.72 , 5.12 , 5.52 , 5.92 , 6.4 , 6.84 , 7.24 , 7.64 ,
8 . 1 2 , 8 . 6 4 , 9 . 4 4 , 1 0. 36 , 1 1 . 1 6 , 12 , 1 2 . 8 , 1 3. 6 8 , 1 4 .4 8 ,
1 5 . 08 , 15 . 4 , 1 5 . 8 ] )
555 keys . append ( [ 0 . 5 9 5 1 5 , 0. 56 72 32 , −0.851412 , −0.0750492 ,
−0.00157596 , −0.460767 , −0.851412 , −0.0750492 ,
−0.00157596 , −0.460767 , −0.851412 , −0.0750492 ,
−0.00157596 , −0.460767 , −0.851412 , −0.0750492 ,
−0.00157596 , 1 . 65632 , 0 . 3 80475 , 0 . 618244 , 0 . 380475 ,
0.618244, 0.380475, 0.618244, 0.380475, 0.618244,
1.57952 , 1 .0 3323 , 1 . 2 1 0 2 8 ] )
556
557 names . append ( " RHand" )
558 i m es . append ( [ 0 . 8 8 , 1 . 3 2 , 1 . 7 2 , 2 . 1 2 , 2 . 5 2 , 3 , 3 . 4 4 , 3 . 8 4 ,
4.24 , 4.72 , 5.12 , 5.52 , 5.92 , 6.4 , 6.84 , 7.24 , 7.64 ,
8 . 1 2 , 8 . 6 4 , 9 . 4 4 , 1 0. 36 , 1 1 . 1 6 , 12 , 1 2 . 8 , 1 3. 6 8 , 1 4 .4 8 ,
1 5 .4 , 1 5 . 8 ] )
559 keys . append ( [ 0 . 2 , 0 . 5 , 0. 678 , 0 . 3 , 0 .6784 , 0 . 3 , 0 .67 8 , 0 . 3 ,
0. 67 84 , 0 . 3 , 0 .67 8 , 0 . 3 , 0.6 78 4 , 0 . 3 , 0 .67 8 , 0 . 3 , 0.678 4 ,
0 . 1 3 , 0 . 2 64 8 , 0 . 2 6 4 , 0 . 2 6 4 8 , 0 . 2 6 4 , 0 . 2 6 4 8 , 0 . 2 6 4 ,
0. 2 64 8 , 0.2 64 , 0. 24 , 0 . 2 9 7 6 ] )
560
561 names . append ( " RHipPi ch " )
562 i m es . append ( [ 0 . 6 8 , 1 . 5 6 , 2 . 3 6 , 3 . 2 8 , 4 . 0 8 , 4 . 9 6 , 5 . 7 6 ,
6 . 6 8 , 7 . 4 8 , 8 . 5 6 , 9 . 3 6 , 1 0 . 28 , 1 1 . 0 8 , 1 1 . 9 2 , 1 2 . 7 2 , 1 3 . 6 ,
1 4 . 4 , 1 5 . 7 2 ] )
563 keys . append ([ −0.1779 8 5 , 0 .10120 2 , 0.259 2 04 , 0 .101202 ,
0.259204, 0.101202, 0.259204, 0.101202, 0.259204,
0.185656, 0.147306, 0.185656, 0.147306, 0.185656,
0.147 306 , 0 .1 8565 6 , 0 .147 306 , 0 . 1 3 1 8 8 2 ] )
564
565 names . append ( " RHipRoll " )
566 i m es . append ( [ 0 . 6 8 , 1 . 5 6 , 2 . 3 6 , 3 . 2 8 , 4 . 0 8 , 4 . 9 6 , 5 . 7 6 ,
6 . 6 8 , 7 . 4 8 , 8 . 5 6 , 9 . 3 6 , 1 0 . 28 , 1 1 . 0 8 , 1 1 . 9 2 , 1 2 . 7 2 , 1 3 . 6 ,
1 4 . 4 , 1 5 . 7 2 ] )
567 keys . append ( [ − 0 . 11 961 , −0.297554 , 0.14117 , −0.297554 ,
0.14117 , −0.297554 , 0 . 1 4117 , −0.297554 , 0 . 1 4 1 1 7 ,
0.144 1 54 , −0.329852 , 0 .14415 4 , −0.329852 , 0 . 144154 ,
−0.329852 , 0 . 144154 , −0.329852 , −0. 0966001 ])
568
569 names . append ( " RHipYawPi ch " )
570 i m es . append ( [ 1 . 5 6 , 3 . 2 8 , 4 . 9 6 , 6 . 6 8 , 8 . 5 6 , 1 0. 28 , 11 .9 2 ,
1 3 . 6 , 1 5 . 7 2 ] )
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
571 keys . append ( [ − 0 . 37 272 , −0.37272 , −0.37272 , −0.37272 ,
−0.37272 , −0.37272 , −0.37272 , −0.37272 , − 0.170 232] )
572
573 names . append ( " RKneePi ch " )
574 i m es . append ( [ 0 . 6 8 , 1 . 5 6 , 2 . 3 6 , 3 . 2 8 , 4 . 0 8 , 4 . 9 6 , 5 . 7 6 ,
6 . 6 8 , 7 . 4 8 , 8 . 5 6 , 9 . 3 6 , 1 0 . 28 , 1 1 . 0 8 , 1 1 . 9 2 , 1 2 . 7 2 , 1 3 . 6 ,
1 4 . 4 , 1 5 . 7 2 ] )
575 keys . append ( [ 0 . 4 2 6 4 9 4 , −0.0904641 , −0.0904641 , −0.0904641 ,
−0.0904641, −0.0904641, −0.0904641, −0.0904641,
−0.0904641, −0.090548, −0.0798099, −0.090548, −0.0798099,
−0.090548 , −0.0798099 , −0.090548 , −0.0798099 ,
−0.091998])
576
577 names . append ( " R S h o u l d e P i c h " )
578 i m es . append ( [ 0 . 8 8 , 1 . 7 2 , 2 . 5 2 , 3 . 4 4 , 4 . 2 4 , 5 . 1 2 , 5 . 9 2 ,
6 . 8 4 , 7 . 6 4 , 8 . 1 2 , 8 . 6 4 , 9 . 4 4 , 1 0. 3 6 , 1 1. 1 6 , 12 , 1 2 . 8 ,
1 3 . 6 8 , 1 4 . 4 8 , 1 5 . 4 , 1 5 . 8 ] )
579 keys . append ( [ 0 . 9 1 5 8 4 1 , −1.19188 , 0 .9 956 07 , −1.19188 ,
0.995 6 07 , −1.19188 , 0 . 995607 , −1.19188 , 0.99560 7 ,
1.21475, 1.74718, 1.85611, 1.74718, 1.85611, 1.74718,
1.85611, 1.74718, 1.85611, 1.18508, 1.47268])
580
581 names . append ( " R S h o ulde Rol l " )
582 i m es . append ( [ 0 . 8 8 , 1 . 3 2 , 1 . 7 2 , 2 . 1 2 , 2 . 5 2 , 3 , 3 . 4 4 , 3 . 8 4 ,
4.24 , 4.72 , 5.12 , 5.52 , 5.92 , 6.4 , 6.84 , 7.24 , 7.64 ,
8 . 1 2 , 8 . 6 4 , 9 . 4 4 , 1 0. 36 , 1 1 . 1 6 , 12 , 1 2 . 8 , 1 3. 6 8 , 1 4 .4 8 ,
1 5 . 08 , 1 5 . 8 ] )
583 keys . append ([ −0.266959 , −0.670206 , −0.328317 , −0.595157 ,
0.314 1 59 , −0.595157 , −0.328317 , −0.595157 , 0.3141 5 9 ,
−0.595157 , −0.328317 , −0.595157 , 0 .31415 9 , −0.595157 ,
−0.328317 , −0.595157 , 0 . 314159 , −0.165806 , −0.24233 ,
−0.196309 , −0.24233 , −0.196309 , −0.24233 , −0.196309 ,
−0.24233 , −0.196309 , −0.455531 , −0.16 4 18])
584
585 names . append ( " RW is Yaw " )
586 i m es . append ( [ 0 . 8 8 , 1 . 3 2 , 1 . 7 2 , 2 . 5 2 , 3 . 4 4 , 4 . 2 4 , 5 . 1 2 ,
5 . 9 2 , 6 . 8 4 , 7 . 6 4 , 8 . 6 4 , 9 . 4 4 , 1 0. 3 6 , 1 1. 1 6 , 12 , 1 2 . 8 ,
1 3 . 68 , 1 4.48 , 1 5 . 8 ] )
587 keys . append ( [ − 0 . 4 0 1 9 4 9 , 1 . 3 9 2 7 7 , 0 . 107338 , 0 . 400331 ,
0.107338, 0.400331, 0.107338, 0.400331, 0.107338,
0.400331, 0.395814, 0.420357, 0.395814, 0.420357,
0.395 814 , 0 .4 2035 7 , 0 .395 814 , 0 .4 2035 7 , 0 . 1 0 8 8 7 2 ] )
588
589 e u n names , keys , i m e s
590
591 """**************************************
592 Name : headbang
593 Func i o n : Dances l i k e a headbang .
594 ************************************** """
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
783 names . append ( " RHand" )
784 i m es . append ( [ 3 . 1 2 , 4 . 4 8 , 5 . 9 6 , 7 . 8 ] )
785 keys . append ( [ 0 . 6 5 0 9 0 9 , 0.8 54 545 , 0 .8 520 24 , 0 . 3 0 1 6 ] )
786
787 names . append ( " RHipPi ch " )
788 i m es . append ( [ 3 . 1 6 , 4 .5 2 , 6 , 7 . 8 4 ] )
789 keys . append ( [ 0 . 4 4 1 7 5 , 0 .485 624 , 0 .4 8470 2 , 0 . 1 8 7 1 0 6 ] )
790
791 names . append ( " RHipRoll " )
792 i m es . append ( [ 3 . 1 6 , 4 .5 2 , 6 , 7 . 8 4 ] )
793 keys . append ([ −0.130348 , −0.144154 , −0.151824 , −0. 0689 88])
794
795 names . append ( " RKneePi ch " )
796 i m es . append ( [ 3 . 1 6 , 4 .5 2 , 6 , 7 . 8 4 ] )
797 keys . append ([ −0.103083 , −0.0966 , −0.0904641 , −0.0 735901] )
798
799 names . append ( " R S h o u l d e P i c h " )
800 i m es . append ( [ 1 . 2 , 3 . 1 2 , 4 . 4 8 , 5 . 9 6 , 7 . 8 ] )
801 keys . append ( [ 1 . 4 3 1 2 6 , −0.705598 , −0.710201 , −0.808375 ,
1.52637])
802
803 names . append ( " R S h o ulde Rol l " )
804 i m es . append ( [ 1 . 2 , 2 . 2 4 , 3 . 1 2 , 4 . 4 8 , 5 . 9 6 , 7 . 8 ] )
805 keys . append ([ −0.362067 , −1.15192 , −0.745566 , −0.322183 ,
−0.26389 , −0. 0813 44])
806
807 names . append ( " RW is Yaw " )
808 i m es . append ( [ 3 . 1 2 , 4 . 4 8 , 5 . 9 6 , 6 . 9 6 , 7 . 8 ] )
809 keys . append ( [ 0 . 4 3 6 3 3 2 , 1.01229 , 1 .00933 , 1 .1 1701 , 0 . 1 7 3 3 ] )
810
811 e u n names , keys , i m e s
812
813 """**************************************
814 Name: akePic u e
815 Func i o n : I s i m u l a e s h a i a k e s a
816 pic u e .
817 ************************************** """
818 de akePic u e () :
819 names = l i s ( )
820 i m e s = l i s ( )
821 keys = l i s ( )
822
823 names . append ( " H eadP i ch " )
824 im es . append ( [ 0 . 5 2 , 1 , 1 . 8 , 2 . 4 , 3 . 16 , 3 . 8 ] )
825 keys . append ( [ 0 . 1 1 8 6 8 2 , −0.0568 , −0.136136 , −0.0982179 ,
0.0890118, −0.174919])
826
827 names . append ( "HeadYaw" )
828 im es . append ( [ 1 , 1 . 8 , 2 . 4 , 3 . 8 ] )
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).

829 keys . append ([ − 0 . 0 4 29939 , −0.04913 , −0.0521979 , −0.01998 4])
830
831 names . append ( " L Ankl ePi ch " )
832 i m es . append ( [ 0 . 4 4 , 0 . 9 2 , 2 . 3 6 , 2 . 7 2 , 3 . 2 , 3 . 8 4 ] )
833 keys . append ( [ 0 . 0 8 5 8 6 2 2 , 0 .0 68 988 2 , 0 .07 33 03 8 , 0 .0 73 30 38 ,
0 .0 85 8 62 2 , 0 . 0 9 8 1 3 4 1 ] )
834
835 names . append ( " LAnkleRoll " )
836 i m es . append ( [ 0 . 4 4 , 0 . 9 2 , 2 . 3 6 , 2 . 7 2 , 3 . 2 , 3 . 8 4 ] )
837 keys . append ([ −0.128814 , −0.151824 , −0.116542 , −0.116542 ,
−0.128814 , −0. 115008])
838
839 names . append ( " LElbowRoll " )
840 i m es . append ( [ 0 . 4 4 , 0 . 9 2 , 1 . 7 2 , 2 . 1 6 , 2 . 5 6 , 3 . 1 2 , 3 . 7 2 ] )
841 keys . append ([ −0.940732 , −1.54462 , −1.54462 , −1.54462 ,
−1.53242 , −1.4207 , −0.44 4818 ])
842
843 names . append ( " LElbowYaw" )
844 i m es . append ( [ 0 . 9 2 , 1 . 7 2 , 2 . 1 6 , 2 . 5 6 , 3 . 7 2 ] )
845 keys . append ([ −0.679603 , −0.475581 , −0.466378 , −0.461776 ,
−1.16742])
846
847 names . append ( " LHand " )
848 i m es . append ( [ 0 . 4 4 , 0 . 9 2 , 1 . 7 2 , 2 . 1 6 , 2 . 2 8 , 2 . 4 , 2 . 5 6 ,
3.72])
849 keys . append ( [ 1 , 1 , 1 , 0 . 9 09 6 , 0 . 4 5 , 0 . 9 1 , 0 . 9 092 , 0 . 3 0 2 4 ] )
850
851 names . append ( " L HipPi ch " )
852 i m es . append ( [ 0 . 4 4 , 0 . 9 2 , 2 . 3 6 , 2 . 7 2 , 3 . 2 , 3 . 8 4 ] )
853 keys . append ([ −0.3036 9 1 , 0 .17645 3 , 0.179 5 19 , 0 .179519 ,
−0.303691 , 0 . 1 3 6 5 6 8 ] )
854
855 names . append ( " LHipRoll " )
856 i m es . append ( [ 0 . 4 4 , 0 . 9 2 , 2 . 3 6 , 2 . 7 2 , 3 . 2 , 3 . 8 4 ] )
857 keys . append ( [ 0 . 0 9 6 6 8 3 9 , 0 .15 9578 , 0 .12 1228 , 0 .12 1228 ,
0.0 966 83 9 , 0 . 1 1 5 0 9 2 ] )
858
859 names . append ( " LHipYawPi ch " )
860 i m es . append ( [ 0 . 4 4 , 0 . 9 2 , 2 . 3 6 , 2 . 7 2 , 3 . 2 , 3 . 8 4 ] )
861 keys . append ([ −0.239262 , −0.174835 , −0.171766 , −0.171766 ,
−0.239262 , −0. 171766])
862
863 names . append ( " LKneePi ch " )
864 i m es . append ( [ 0 . 4 4 , 0 . 9 2 , 2 . 3 6 , 2 . 7 2 , 3 . 2 , 3 . 8 4 ] )
865 keys . append ( [ 0 . 2 4 6 9 3 3 , −0.0828778 , −0.0923279 , −0.0923279 ,
0.246 9 33 , − 0.090548] )
866
867 names . append ( " L S h o u l d e P i c h " )
868 i m es . append ( [ 0 . 9 2 , 1 . 7 2 , 2 . 1 6 , 2 . 5 6 , 3 . 7 2 ] )
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
869 keys . append ([ −0.262356 , −0.357464 , −0.285367 , −0.27923 ,
1.50635])
870
871 names . append ( " L S h o ul de Ro l l " )
872 i m es . append ( [ 0 . 4 4 , 0 . 9 2 , 1 . 7 2 , 2 . 1 6 , 2 . 5 6 , 3 . 7 2 ] )
873 keys . append ( [ 0 . 6 5 4 4 9 8 , 0.2 91 418 , 0 .6 994 62 , 0 .74 70 17 ,
0.728 609 , 0 . 1 1 6 5 4 2 ] )
874
875 names . append ( " LW is Yaw " )
876 i m es . append ( [ 0 . 4 4 , 0 . 9 2 , 1 . 7 2 , 2 . 1 6 , 2 . 5 6 , 3 . 7 2 ] )
877 keys . append ( [ − 1 . 16 064 , −0.521602 , −0.702614 , −0.684206 ,
−0.690342 , 0 . 1 3 0 3 4 8 ] )
878
879 names . append ( " RAnklePi ch " )
880 i m es . append ( [ 0 . 4 4 , 0 . 9 2 , 2 . 3 6 , 2 . 7 2 , 3 . 2 , 3 . 8 4 ] )
881 keys . append ( [ 0 . 1 4 8 8 4 , 0. 07 36 74 , 0 .07330 38 , 0 .07330 38 ,
0 .1 4 88 4 , 0 . 0 9 9 7 5 2 ] )
882
883 names . append ( " RAnkleRoll " )
884 i m es . append ( [ 0 . 4 4 , 0 . 9 2 , 2 . 3 6 , 2 . 7 2 , 3 . 2 , 3 . 8 4 ] )
885 keys . append ( [ 0 . 1 1 0 4 9 , 0 .08748 01 , 0.08 13 44 , 0 .0 81 344 ,
0 .11 0 4 9 , 0 . 0 7 6 7 4 1 9 ] )
886
887 names . append ( " RElbowRoll " )
888 i m es . append ( [ 0 . 3 6 , 0 . 8 4 , 1 . 6 4 , 2 . 1 6 , 2 . 5 6 , 3 . 1 2 , 3 . 6 4 ] )
889 keys . append ( [ 1 . 0 3 6 7 3 , 1.5 4462 , 1.54462 , 1.54462 , 1 .5 325 1 ,
1 .4 3 46 6 , 0 . 4 1 8 8 2 3 ] )
890
891 names . append ( "RElbowYaw" )
892 i m es . append ( [ 0 . 8 4 , 1 . 6 4 , 2 . 1 6 , 2 . 5 6 , 3 . 6 4 ] )
893 keys . append ( [ 0 . 6 5 6 5 1 1 , 0.4 67 829 , 0 .4 985 08 , 0 .47 54 97 ,
1.15353])
894
895 names . append ( " RHand" )
896 i m es . append ( [ 0 . 3 6 , 0 . 8 4 , 1 . 6 4 , 2 . 1 6 , 2 . 2 8 , 2 . 4 , 2 . 5 6 ,
3.64])
897 keys . append ( [ 1 , 0 . 9 0 04 , 0 . 9 0 12 , 0.8996 , 0 .3 7 , 0 . 9 , 0.9004 ,
0.3052])
898
899 names . append ( " RHipPi ch " )
900 i m es . append ( [ 0 . 4 4 , 0 . 9 2 , 2 . 3 6 , 2 . 7 2 , 3 . 2 , 3 . 8 4 ] )
901 keys . append ([ −0.2654 2 4 , 0 .17483 5 , 0.179 4 36 , 0 .179436 ,
−0.265424 , 0 . 1 3 3 4 1 6 ] )
902
903 names . append ( " RHipRoll " )
904 i m es . append ( [ 0 . 4 4 , 0 . 9 2 , 2 . 3 6 , 2 . 7 2 , 3 . 2 , 3 . 8 4 ] )
905 keys . append ([ −0.061318 , −0.05058 , −0.075124 , −0.075124 ,
−0.061318 , −0.06 5 92])
906
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
907 names . append ( " RHipYawPi ch " )
908 i m e s . append ( [ 0 . 4 4 , 0 . 9 2 , 3 . 2 ] )
909 keys . append ([ −0.239262 , −0.174835 , −0.23 9262 ])
910
911 names . append ( " RKneePi ch " )
912 i m es . append ( [ 0 . 4 4 , 0 . 9 2 , 2 . 3 6 , 2 . 7 2 , 3 . 2 , 3 . 8 4 ] )
913 keys . append ( [ 0 . 1 4 2 7 0 4 , −0.0904641 , −0.0904641 , −0.0904641 ,
0.142 7 04 , − 0.091998] )
914
915 names . append ( " R S h o u l d e P i c h " )
916 i m es . append ( [ 0 . 8 4 , 1 . 6 4 , 2 . 1 6 , 2 . 5 6 , 3 . 6 4 ] )
917 keys . append ([ −0.251533 , −0.358915 , −0.291418 , −0.285283 ,
1.5049])
918
919 names . append ( " R S h o ulde Rol l " )
920 i m es . append ( [ 0 . 3 6 , 0 . 8 4 , 1 . 6 4 , 2 . 1 6 , 2 . 5 6 , 3 . 6 4 ] )
921 keys . append ([ −0.640536 , −0.420357 , −0.785451 , −0.767043 ,
−0.763974 , −0. 127364])
922
923 names . append ( " RW is Yaw " )
924 i m es . append ( [ 0 . 3 6 , 0 . 8 4 , 1 . 6 4 , 2 . 1 6 , 2 . 5 6 , 3 . 6 4 ] )
925 keys . append ( [ 0 . 9 9 4 8 3 8 , 0.5 47 595 , 0 .7 516 17 , 0 .73 62 78 ,
0.736 278 , 0 . 1 7 7 9 0 1 ] )
926
927 e u n names , keys , i m e s
928
929 """**************************************
930 Name : saxophone
931 Func i o n : I s i m u l a e s h a i p l a y s a
932 saxophone .
933 ************************************** """
934 de saxophone ( ) :
935 names = l i s ( )
936 i m e s = l i s ( )
937 keys = l i s ( )
938
939 names . append ( " H eadP i ch " )
940 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2.56 , 2.8 , 3.04 , 3.28 , 3.52 , 3.76 , 4, 4.24 , 4.48 , 4.72 ,
4 . 9 6 , 5 . 2 , 5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 ,
7 . 3 6 , 7 . 6 , 7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 8 4 ] )
941 keys . append ([ −0.523136 , −0.303464 , −0.0301958 , −0.303464 ,
−0.0301958, −0.303464, −0.0301958, −0.303464, −0.0301958,
−0.303464 , −0.0301958 , −0.303464 , −0.0301958 , −0.303464 ,
−0.0301958, −0.303464, −0.0301958, −0.303464,
−0.0301958, −0.303464, −0.0301958, −0.303464, −0.0301958,
−0.303464 , −0.0301958 , −0.303464 , −0.0301958 , −0.303464 ,
−0.0301958, −0.303464, −0.0301958, −0.303464,
−0.0301958 , −0. 19025 8])
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
942
943 names . append ( "HeadYaw" )
944 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2.56 , 2.8 , 3.04 , 3.28 , 3.52 , 3.76 , 4, 4.24 , 4.48 , 4.72 ,
4 . 9 6 , 5 . 2 , 5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 ,
7 . 3 6 , 7 . 6 , 7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 8 4 ] )
945 keys . append ([ −0.128898 , −0.186771 , −0.186771 , −0.186771 ,
−0.186771 , −0.186771 , −0.186771 , −0.186771 , −0.186771 ,
−0.186771 , −0.186771 , −0.186771 , −0.186771 , −0.186771 ,
−0.186771 , −0.186771 , −0.186771 , −0.186771 , −0.186771 ,
−0.186771 , −0.186771 , −0.186771 , −0.186771 , −0.186771 ,
−0.186771 , −0.186771 , −0.186771 , −0.186771 , −0.186771 ,
−0.186771 , −0.186771 , −0.186771 , −0.186771 , −0.0123 138])
946
947 names . append ( " L Ankl ePi ch " )
948 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2 . 5 6 , 2 . 8 , 3 . 0 4 , 3 . 2 8 , 3 . 5 2 , 3 . 7 6 , 4 , 4 . 4 8 , 4 . 9 6 , 5 . 2 ,
5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 , 7 . 3 6 , 7 . 6 ,
7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 1 6 , 9 . 8 4 ] )
949 keys . append ([ −0.128898 , −0.331386 , −0.365133 , −0.331386 ,
−0.365133 , −0.331386 , −0.365133 , −0.331386 , −0.365133 ,
−0.331386 , −0.365133 , −0.331386 , −0.365133 , −0.331386 ,
−0.365133 , −0.145772 , 0 . 400415 , 0.2761 6 2 , 0.4004 1 5 ,
0.276162, 0.400415, 0.276162, 0.400415, 0.276162,
0.400415, 0.276162, 0.400415, 0.276162, 0.400415,
0 .2 7 61 6 2 , 0 .4 0 04 1 5 , −0.1288 98 , 0 . 0 9 9 6 6 8 1 ] )
950
951 names . append ( " LAnkleRoll " )
952 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2 . 5 6 , 2 . 8 , 3 . 0 4 , 3 . 2 8 , 3 . 5 2 , 3 . 7 6 , 4 , 4 . 4 8 , 4 . 9 6 , 5 . 2 ,
5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 , 7 . 3 6 , 7 . 6 ,
7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 1 6 , 9 . 8 4 ] )
953 keys . append ([ − 0 . 0 9 04641 , 0.13043 2 , 0.026 1199 , 0.130 4 32 ,
0.0 26119 9 , 0 . 130432 , 0 .026 1199 , 0 . 130432 , 0 .0261 199 ,
0.130 4 32 , 0 .026 1199 , 0 . 130432 , 0.02 61199 , 0.130 4 32 ,
0.0 26119 9 , −0.239262 , −0.331386 , −0.342125 , −0.331386 ,
−0.342125 , −0.331386 , −0.342125 , −0.331386 , −0.342125 ,
−0.331386 , −0.342125 , −0.331386 , −0.342125 , −0.331386 ,
−0.342125 , −0.331386 , −0.0904641 , − 0.12 8814] )
954
955 names . append ( " LElbowRoll " )
956 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2.56 , 2.8 , 3.04 , 3.28 , 3.52 , 3.76 , 4, 4.24 , 4.48 , 4.72 ,
4 . 9 6 , 5 . 2 , 5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 ,
7 . 3 6 , 7 . 6 , 7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 8 4 ] )
957 keys . append ( [ − 1 . 17 193 , −1.2051 , −1.2051 , −1.2051 , −1.2051 ,
−1.2051 , −1.2051 , −1.2051 , −1.2051 , −1.2051 , −1.2051 ,
−1.2051 , −1.2051 , −1.2051 , −1.2051 , −1.2051 , −1.2051 ,
−1.2051 , −1.2051 , −1.2051 , −1.2051 , −1.2051 , −1.2051 ,
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
−1.2051 , −1.2051 , −1.2051 , −1.2051 , −1.2051 , −1.2051 ,
−1.2051 , −1.2051 , −1.2051 , −1.2051 , − 0.437 147] )
958
959 names . append ( " LElbowYaw" )
960 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2.56 , 2.8 , 3.04 , 3.28 , 3.52 , 3.76 , 4, 4.24 , 4.48 , 4.72 ,
4 . 9 6 , 5 . 2 , 5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 ,
7 . 3 6 , 7 . 6 , 7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 8 4 ] )
961 keys . append ( [ − 1 . 15 821 , −0.46639 , −0.265904 , −0.46639 ,
−0.265904 , −0.46639 , −0.265904 , −0.46639 , −0.265904 ,
−0.46639 , −0.265904 , −0.46639 , −0.265904 , −0.46639 ,
−0.265904 , −0.46639 , −0.265904 , −0.46639 , −0.265904 ,
−0.46639 , −0.265904 , −0.46639 , −0.265904 , −0.46639 ,
−0.265904 , −0.46639 , −0.265904 , −0.46639 , −0.265904 ,
−0.46639 , −0.265904 , −0.46639 , −0.265904 , − 1.159 7 5])
962
963 names . append ( " LHand " )
964 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2.56 , 2.8 , 3.04 , 3.28 , 3.52 , 3.76 , 4, 4.24 , 4.48 , 4.72 ,
4 . 9 6 , 5 . 2 , 5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 ,
7 . 3 6 , 7 . 6 , 7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 8 4 ] )
965 keys . append ( [ 0 . 8 , 0 . 4 1 , 0 . 2 , 0 . 4 1 , 0 . 2 , 0 . 4 1 , 0 . 2 , 0 . 4 1 ,
0 . 2 , 0 . 4 1 , 0 . 2 , 0 . 4 1 , 0 . 2 , 0 . 4 1 , 0 . 2 , 0 . 4 1 , 0 . 2 , 0 . 4 1 ,
0 . 2 , 0 . 4 1 , 0 . 2 , 0 . 4 1 , 0 . 2 , 0 . 4 1 , 0 . 2 , 0 . 4 1 , 0 . 2 , 0 . 4 1 ,
0 . 2 , 0 . 4 1 , 0 . 2 , 0 . 4 1 , 0 . 2 , 0 . 3 1 3 6 ] )
966
967 names . append ( " L HipPi ch " )
968 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2 . 5 6 , 2 . 8 , 3 . 0 4 , 3 . 2 8 , 3 . 5 2 , 3 . 7 6 , 4 , 4 . 4 8 , 4 . 9 6 , 5 . 2 ,
5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 , 7 . 3 6 , 7 . 6 ,
7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 1 6 , 9 . 8 4 ] )
969 keys . append ([ − 0 . 4 7 3 9 63 , 0 . 0 6 4 4 7 , 0.153 4 42 , 0 . 06447 ,
0.153 4 42 , 0 . 0 6 4 4 7 , 0.153 4 42 , 0 . 0 6 4 4 7 , 0.153 4 42 , 0 . 0 6 4 4 7 ,
0.153 4 42 , 0 . 0 6 4 4 7 , 0.153 4 42 , 0 . 0 6 4 4 7 , 0.153 4 42 ,
−0.562937 , 0.01 99001 , 0.23 0 0 57 , 0 .019 9001 , 0 . 230057 ,
0.0 19900 1 , 0 . 230057 , 0 .019 9001 , 0 . 230057 , 0 .0199 001 ,
0.230 0 57 , 0 .019 9001 , 0 . 230057 , 0.01 99001 , 0.230 0 57 ,
0.0 199 00 1 , −0.473963 , 0 . 1 3 9 6 3 6 ] )
970
971 names . append ( " LHipRoll " )
972 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2 . 5 6 , 2 . 8 , 3 . 0 4 , 3 . 2 8 , 3 . 5 2 , 3 . 7 6 , 4 , 4 . 4 8 , 4 . 9 6 , 5 . 2 ,
5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 , 7 . 3 6 , 7 . 6 ,
7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 1 6 , 9 . 8 4 ] )
973 keys . append ( [ 0 . 0 7 0 6 0 6 1 , −0.182504 , −0.0183661 , −0.182504 ,
−0.0183661, −0.182504, −0.0183661, −0.182504, −0.0183661,
−0.182504 , −0.0183661 , −0.182504 , −0.0183661 , −0.182504 ,
−0.0183661 , 0 . 2 5 622 , 0.449 4 21 , 0 .44942 1 , 0.449 4 21 ,
0.449421, 0.449421, 0.449421, 0.449421, 0.449421,
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).

0.449421, 0.449421, 0.449421, 0.449421, 0.449421,
0.449 421 , 0 .4 4942 1 , 0 .0 706 06 1 , 0 . 1 1 6 6 2 6 ] )
974
975 names . append ( " LHipYawPi ch " )
976 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2 . 5 6 , 2 . 8 , 3 . 0 4 , 3 . 2 8 , 3 . 5 2 , 3 . 7 6 , 4 , 4 . 4 8 , 4 . 9 6 , 5 . 2 ,
5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 , 7 . 3 6 , 7 . 6 ,
7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 1 6 , 9 . 8 4 ] )
977 keys . append ([ −0.223922 , −0.516916 , −0.472429 , −0.516916 ,
−0.472429 , −0.516916 , −0.472429 , −0.516916 , −0.472429 ,
−0.516916 , −0.472429 , −0.516916 , −0.472429 , −0.516916 ,
−0.472429 , −0.239262 , −0.516916 , −0.472429 , −0.516916 ,
−0.472429 , −0.516916 , −0.472429 , −0.516916 , −0.472429 ,
−0.516916 , −0.472429 , −0.516916 , −0.472429 , −0.516916 ,
−0.472429 , −0.516916 , −0.223922 , −0. 1686 98])
978
979 names . append ( " LKneePi ch " )
980 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2 . 5 6 , 2 . 8 , 3 . 0 4 , 3 . 2 8 , 3 . 5 2 , 3 . 7 6 , 4 , 4 . 4 8 , 4 . 9 6 , 5 . 2 ,
5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 , 7 . 3 6 , 7 . 6 ,
7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 1 6 , 9 . 8 4 ] )
981 keys . append ( [ 0 . 5 8 2 8 7 9 , 0.6 38 103 , 0 .6 350 35 , 0 .63 81 03 ,
0.635035, 0.638103, 0.635035, 0.638103, 0.635035,
0.638103, 0.635035, 0.638103, 0.635035, 0.638103,
0.635 0 35 , 0.659 5 77 , −0.0904641 , −0.0904641 , −0.0904641 ,
−0.0904641, −0.0904641, −0.0904641, −0.0904641,
−0.0904641, −0.0904641, −0.0904641, −0.0904641,
−0.0904641, −0.0904641, −0.0904641, −0.0904641, 0.582879 ,
−0.0874801])
982
983 names . append ( " L S h o u l d e P i c h " )
984 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2.56 , 2.8 , 3.04 , 3.28 , 3.52 , 3.76 , 4, 4.24 , 4.48 , 4.72 ,
4 . 9 6 , 5 . 2 , 5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 ,
7 . 3 6 , 7 . 6 , 7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 8 4 ] )
985 keys . append ( [ 0 . 4 5 8 6 2 4 , −0.0182518 , 0 .2 68 927 , −0.0182518 ,
0.268 9 27 , −0.0182518 , 0.26892 7 , −0.0182518 , 0 . 268927 ,
−0.0182518 , 0 . 268927 , −0.0182518 , 0.268 9 27 , −0.0182518 ,
0.268 9 27 , −0.0182518 , 0.26892 7 , −0.0182518 , 0 . 268927 ,
−0.0182518 , 0 . 268927 , −0.0182518 , 0.268 9 27 , −0.0182518 ,
0.268 9 27 , −0.0182518 , 0.26892 7 , −0.0182518 , 0 . 268927 ,
−0.0182518 , 0 .2 68 927 , −0.0182518 , 0 .2 68 927 , 1 . 4 4 1 9 2 ] )
986
987 names . append ( " L S h o ul de Ro l l " )
988 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2.56 , 2.8 , 3.04 , 3.28 , 3.52 , 3.76 , 4, 4.24 , 4.48 , 4.72 ,
4 . 9 6 , 5 . 2 , 5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 ,
7 . 3 6 , 7 . 6 , 7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 8 4 ] )
989 keys . append ( [ 0 . 2 9 1 4 1 8 , −0.0940347 , −0.0940347 , −0.0940347 ,
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
−0.0940347, −0.0940347, −0.0940347, −0.0940347,
−0.0940347, −0.0940347, −0.0940347, −0.0940347,
−0.0940347, −0.0940347, −0.0940347, −0.0940347,
−0.0940347, −0.0940347, −0.0940347, −0.0940347,
−0.0940347, −0.0940347, −0.0940347, −0.0940347,
−0.0940347, −0.0940347, −0.0940347, −0.0940347,
−0.0940347, −0.0940347, −0.0940347, −0.0940347,
−0.0940347 , 0 . 0 9 9 6 6 8 1 ] )
990
991 names . append ( " LW is Yaw " )
992 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2.56 , 2.8 , 3.04 , 3.28 , 3.52 , 3.76 , 4, 4.24 , 4.48 , 4.72 ,
4 . 9 6 , 5 . 2 , 5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 ,
7 . 3 6 , 7 . 6 , 7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 8 4 ] )
993 keys . append ( [ − 1 . 22 571 , −1.15957 , −1.15957 , −1.15957 ,
−1.15957 , −1.15957 , −1.15957 , −1.15957 , −1.15957 ,
−1.15957 , −1.15957 , −1.15957 , −1.15957 , −1.15957 ,
−1.15957 , −1.15957 , −1.15957 , −1.15957 , −1.15957 ,
−1.15957 , −1.15957 , −1.15957 , −1.15957 , −1.15957 ,
−1.15957 , −1.15957 , −1.15957 , −1.15957 , −1.15957 ,
−1.15957 , −1.15957 , −1.15957 , −1.15957 , 0 . 0 6 1 3 1 8 ] )
994
995 names . append ( " RAnklePi ch " )
996 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2 . 5 6 , 2 . 8 , 3 . 0 4 , 3 . 2 8 , 3 . 5 2 , 3 . 7 6 , 4 , 4 . 4 8 , 4 . 9 6 , 5 . 2 ,
5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 , 7 . 3 6 , 7 . 6 ,
7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 1 6 , 9 . 8 4 ] )
997 keys . append ([ −0.09 6 6 0 0 1 , 0.4004 1 5 , 0 . 276162 , 0 . 400415 ,
0.276162, 0.400415, 0.276162, 0.400415, 0.276162,
0.400415, 0.276162, 0.400415, 0.276162, 0.400415,
0.276 1 62 , −0.141086 , −0.331386 , −0.365133 , −0.331386 ,
−0.365133 , −0.331386 , −0.365133 , −0.331386 , −0.365133 ,
−0.331386 , −0.365133 , −0.331386 , −0.365133 , −0.331386 ,
−0.365133 , −0.331386 , −0.0966001 , 0 . 1 0 4 3 5 4 ] )
998
999 names . append ( " RAnkleRoll " )
1000 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2 . 5 6 , 2 . 8 , 3 . 0 4 , 3 . 2 8 , 3 . 5 2 , 3 . 7 6 , 4 , 4 . 4 8 , 4 . 9 6 , 5 . 2 ,
5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 , 7 . 3 6 , 7 . 6 ,
7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 1 6 , 9 . 8 4 ] )
1001 keys . append ( [ 0 . 1 0 8 9 5 6 , 0.3 31 386 , 0 .3 421 25 , 0 .3 31 38 6 ,
0.342125, 0.331386, 0.342125, 0.331386, 0.342125,
0.331386, 0.342125, 0.331386, 0.342125, 0.331386,
0.342 1 25 , 0 .18872 4 , −0.130432 , −0.0261199 , −0.130432 ,
−0.0261199, −0.130432, −0.0261199, −0.130432, −0.0261199,
−0.130432 , −0.0261199 , −0.130432 , −0.0261199 , −0.130432 ,
−0.0261199 , −0.130432 , 0 .1 0895 6 , 0 . 1 2 2 7 6 2 ] )
1002
1003 names . append ( " RElbowRoll " )
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
1004 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2.56 , 2.8 , 3.04 , 3.28 , 3.52 , 3.76 , 4, 4.24 , 4.48 , 4.72 ,
4 . 9 6 , 5 . 2 , 5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 ,
7 . 3 6 , 7 . 6 , 7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 8 4 ] )
1005 keys . append ( [ 1 . 2 4 7 1 8 , 1.3 6621 , 1.17461 , 1.36621 , 1 .1 746 1 ,
1.36621, 1.17461, 1.36621, 1.17461, 1.36621, 1.17461,
1.36621, 1.17461, 1.36621, 1.17461, 1.36621, 1.17461,
1.36621, 1.17461, 1.36621, 1.17461, 1.36621, 1.17461,
1.36621, 1.17461, 1.36621, 1.17461, 1.36621, 1.17461,
1.36621, 1.17461, 1.36621, 1.17461, 0.444902])
1006
1007 names . append ( "RElbowYaw" )
1008 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2.56 , 2.8 , 3.04 , 3.28 , 3.52 , 3.76 , 4, 4.24 , 4.48 , 4.72 ,
4 . 9 6 , 5 . 2 , 5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 ,
7 . 3 6 , 7 . 6 , 7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 8 4 ] )
1009 keys . append ( [ 1 . 1 9 8 0 1 , 1.2 4397 , 1.24397 , 1.24397 , 1 .2 439 7 ,
1.24397, 1.24397, 1.24397, 1.24397, 1.24397, 1.24397,
1.24397, 1.24397, 1.24397, 1.24397, 1.24397, 1.24397,
1.24397, 1.24397, 1.24397, 1.24397, 1.24397, 1.24397,
1.24397, 1.24397, 1.24397, 1.24397, 1.24397, 1.24397,
1.24397, 1.24397, 1.24397, 1.24397, 1.20261])
1010
1011 names . append ( " RHand" )
1012 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2.56 , 2.8 , 3.04 , 3.28 , 3.52 , 3.76 , 4, 4.24 , 4.48 , 4.72 ,
4 . 9 6 , 5 . 2 , 5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 ,
7 . 3 6 , 7 . 6 , 7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 8 4 ] )
1013 keys . append ( [ 0 . 8 , 0 . 5 4 , 0 . 6 6 , 0 . 5 4 , 0 . 6 6 , 0 . 5 4 , 0 . 6 6 , 0 . 5 4 ,
0.66 , 0.54 , 0.66 , 0.54 , 0.66 , 0.54 , 0.66 , 0.54 , 0.66 ,
0.54 , 0.66 , 0.54 , 0.66 , 0.54 , 0.66 , 0.54 , 0.66 , 0.54 ,
0 . 6 6 , 0 . 5 4 , 0 . 6 6 , 0 . 5 4 , 0 . 6 6 , 0 . 5 4 , 0 . 6 6 , 0 . 3 0 9 6 ] )
1014
1015 names . append ( " RHipPi ch " )
1016 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2 . 5 6 , 2 . 8 , 3 . 0 4 , 3 . 2 8 , 3 . 5 2 , 3 . 7 6 , 4 , 4 . 4 8 , 4 . 9 6 , 5 . 2 ,
5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 , 7 . 3 6 , 7 . 6 ,
7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 1 6 , 9 . 8 4 ] )
1017 keys . append ([ − 0 . 4 9 0 9 2 3 , 0.01 99001 , 0.230 0 57 , 0 .019 9001 ,
0.230 0 57 , 0 .019 9001 , 0 . 230057 , 0.01 99001 , 0.230 0 57 ,
0.0 19900 1 , 0 . 230057 , 0 .019 9001 , 0 . 230057 , 0 .0199 001 ,
0.230 0 57 , −0.521602 , 0 . 0 6 4 4 7 , 0.1534 4 2 , 0.06447 ,
0.153 4 42 , 0 . 0 6 4 4 7 , 0.153 4 42 , 0 . 0 6 4 4 7 , 0.153 4 42 , 0 . 0 6 4 4 7 ,
0.153 4 42 , 0 . 0 6 4 4 7 , 0.153 4 42 , 0 . 0 6 4 4 7 , 0.153 4 42 , 0 . 0 6 4 4 7 ,
−0.490923 , 0 . 1 3 4 9 5 ] )
1018
1019 names . append ( " RHipRoll " )
1020 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2 . 5 6 , 2 . 8 , 3 . 0 4 , 3 . 2 8 , 3 . 5 2 , 3 . 7 6 , 4 , 4 . 4 8 , 4 . 9 6 , 5 . 2 ,
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 , 7 . 3 6 , 7 . 6 ,
7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 1 6 , 9 . 8 4 ] )
1021 keys . append ([ − 0 . 0674542 , −0.449421 , −0.449421 , −0.449421 ,
−0.449421 , −0.449421 , −0.449421 , −0.449421 , −0.449421 ,
−0.449421 , −0.449421 , −0.449421 , −0.449421 , −0.449421 ,
−0.449421 , −0.139552 , 0 . 182504 , 0.01 83661 , 0.1825 0 4 ,
0.0 18366 1 , 0 . 182504 , 0 .018 3661 , 0 . 182504 , 0 .0183 661 ,
0.182 5 04 , 0 .018 3661 , 0 . 182504 , 0.01 83661 , 0.182 5 04 ,
0.0 18366 1 , 0.182 5 04 , −0.0674542 , −0.1 0120 2])
1022
1023 names . append ( " RHipYawPi ch " )
1024 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2 . 5 6 , 2 . 8 , 3 . 0 4 , 3 . 2 8 , 3 . 5 2 , 3 . 7 6 , 4 , 4 . 4 8 , 4 . 9 6 , 5 . 2 ,
5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 , 7 . 3 6 , 7 . 6 ,
7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 1 6 , 9 . 8 4 ] )
1025 keys . append ([ −0.223922 , −0.516916 , −0.472429 , −0.516916 ,
−0.472429 , −0.516916 , −0.472429 , −0.516916 , −0.472429 ,
−0.516916 , −0.472429 , −0.516916 , −0.472429 , −0.516916 ,
−0.472429 , −0.239262 , −0.516916 , −0.472429 , −0.516916 ,
−0.472429 , −0.516916 , −0.472429 , −0.516916 , −0.472429 ,
−0.516916 , −0.472429 , −0.516916 , −0.472429 , −0.516916 ,
−0.472429 , −0.516916 , −0.223922 , −0. 1686 98])
1026
1027 names . append ( " RKneePi ch " )
1028 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2 . 5 6 , 2 . 8 , 3 . 0 4 , 3 . 2 8 , 3 . 5 2 , 3 . 7 6 , 4 , 4 . 4 8 , 4 . 9 6 , 5 . 2 ,
5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 , 7 . 3 6 , 7 . 6 ,
7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 1 6 , 9 . 8 4 ] )
1029 keys . append ( [ 0 . 5 3 6 9 4 2 , −0.0904641 , −0.0904641 , −0.0904641 ,
−0.0904641, −0.0904641, −0.0904641, −0.0904641,
−0.0904641, −0.0904641, −0.0904641, −0.0904641,
−0.0904641 , −0.0904641 , −0.0904641 , 0 .62898 2 , 0 .63810 3 ,
0.635035, 0.638103, 0.635035, 0.638103, 0.635035,
0.638103, 0.635035, 0.638103, 0.635035, 0.638103,
0.635035, 0.638103, 0.635035, 0.638103, 0.536942,
−0.091998])
1030
1031 names . append ( " R S h o u l d e P i c h " )
1032 i m es . append ( [ 0 . 4 , 0 . 8 8 , 1 . 1 2 , 1 . 3 6 , 1 . 6 , 1 . 8 4 , 2 . 0 8 , 2 . 3 2 ,
2.56 , 2.8 , 3.04 , 3.28 , 3.52 , 3.76 , 4, 4.24 , 4.48 , 4.72 ,
4 . 9 6 , 5 . 2 , 5 . 4 4 , 5 . 6 8 , 5 . 9 2 , 6 . 1 6 , 6 . 4 , 6 . 6 4 , 6 . 8 8 , 7 . 1 2 ,
7 . 3 6 , 7 . 6 , 7 . 8 4 , 8 . 0 8 , 8 . 3 6 , 9 . 8 4 ] )
1033 keys . append ( [ 1 . 1 3 5 2 , 1 . 1 6 093 , 1 . 3 6 0 3 2 , 1 .16093 , 1 . 3 6 0 3 2 ,
1.16093, 1.36032, 1.16093, 1.36032, 1.16093, 1.36032,
1.16093, 1.36032, 1.16093, 1.36032, 1.16093, 1.36032,
1.16093, 1.36032, 1.16093, 1.36032, 1.16093, 1.36032,
1.16093, 1.36032, 1.16093, 1.36032, 1.16093, 1.36032,
1.16093, 1.36032, 1.16093, 1.36032, 1.47422])
1034
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
1189 keys . append ( [ 1 . 1 1 8 2 4 , 0. 92 80 28 , 0 .9403 , 0 .8 62 06 5 , 0.897 34 9 ,
0.842125])
1190
1191 names . append ( " L S h o ul de Ro l l " )
1192 i m es . append ( [ 0 . 7 2 , 1 . 4 8 , 2 . 1 6 , 2 . 7 2 , 3 . 4 , 4 . 5 2 ] )
1193 keys . append ( [ 0 . 3 6 3 5 1 5 , 0.2 26 991 , 0 .20398 , 0 .21 778 6 ,
0.248 467 , 0 . 2 2 6 9 9 1 ] )
1194
1195 names . append ( " LW is Yaw " )
1196 i m es . append ( [ 1 . 4 8 , 4 . 5 2 ] )
1197 keys . append ( [ 0 . 1 4 7 2 2 2 , 0 . 1 1 9 6 1 ] )
1198
1199 names . append ( " RElbowRoll " )
1200 i m es . append ( [ 0 . 6 4 , 1 . 4 , 1 . 6 8 , 2 . 0 8 , 2 . 4 , 2 . 6 4 , 3 . 0 4 , 3 . 3 2 ,
3 . 72 , 4 . 4 4 ] )
1201 keys . append ( [ 1 . 3 8 5 2 4 , 0. 24 24 14 , 0.349 06 6 , 0.9342 49 ,
0.680 6 78 , 0 .19198 6 , 0.261 7 99 , 0 .70721 6 , 1.01927 ,
1.26559])
1202
1203 names . append ( "RElbowYaw" )
1204 i m es . append ( [ 0 . 6 4 , 1 . 4 , 2 . 0 8 , 2 . 6 4 , 3 . 3 2 , 3 . 7 2 , 4 . 4 4 ] )
1205 keys . append ([ −0.312 9 7 8 , 0 .56447 1 , 0.391 1 28 , 0 .348176 ,
0.381 923 , 0 .9 7738 4 , 0 . 8 2 6 7 8 3 ] )
1206
1207 names . append ( " RHand" )
1208 i m es . append ( [ 1 . 4 , 3 . 32 , 4 . 4 4 ] )
1209 keys . append ( [ 0 . 8 5 3 4 7 8 , 0 .8 5493 3 , 0 . 4 2 5 1 1 6 ] )
1210
1211 names . append ( " R S h o u l d e P i c h " )
1212 i m es . append ( [ 0 . 6 4 , 1 . 4 , 2 . 0 8 , 2 . 6 4 , 3 . 3 2 , 4 . 4 4 ] )
1213 keys . append ( [ 0 . 2 4 7 0 1 6 , −1.17193 , −1.0891 , −1.26091 ,
−1.14892 , 1 . 0 2 0 1 5 ] )
1214
1215 names . append ( " R S h o ulde Rol l " )
1216 i m es . append ( [ 0 . 6 4 , 1 . 4 , 2 . 0 8 , 2 . 6 4 , 3 . 3 2 , 4 . 4 4 ] )
1217 keys . append ([ −0.242414 , −0.954191 , −0.460242 , −0.960325 ,
−0.328317 , −0. 250085])
1218
1219 names . append ( " RW is Yaw " )
1220 i m es . append ( [ 1 . 4 , 3 . 32 , 4 . 4 4 ] )
1221 keys . append ( [ − 0.312978 , −0.303775 , 0 . 1 8 2 5 0 4 ] )
1222
1223 e u n names , keys , i m e s
1224
1225 """**************************************
1226 Name : sambaU4
1227 Func i o n : Dances l i k e U4 c a l l s i samba .
1228 ************************************** """
1229 de sambaU4 ( ) :
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).

1230
1231 names = l i s ( )
1232 i m e s = l i s ( )
1233 keys = l i s ( )
1234
1235 names . append ( " H eadP i ch " )
1236 i m es . append ( [ 1 . 7 2 , 2 . 6 , 3 . 5 6 , 4 . 4 4 , 5 . 4 , 6 . 3 2 , 7 . 2 8 , 8 . 2 4 ,
9 . 2 , 1 0 . 1 6 , 1 1 . 1 2 , 1 1 . 9 6 ] )
1237 keys . append ( [ 0 , 0. 3 03687 , 0.293 8 07 , 0 .28373 1 , 0.2693 4 2 ,
0.252 7 07 , 0 .22972 1 , 0.199 2 02 , 0 .15710 1 , 0.0 96999 9 ,
0.0177092, 0])
1238
1239 names . append ( "HeadYaw" )
1240 i m es . append ( [ 1 . 7 2 , 2 . 6 , 3 . 5 6 , 4 . 4 4 , 5 . 4 , 6 . 3 2 , 7 . 2 8 , 8 . 2 4 ,
9 . 2 , 1 0 . 1 6 , 1 1 . 1 2 , 1 1 . 9 6 ] )
1241 keys . append ( [ 0 , 0 .87790 1 , −0.925025 , 0 . 9 2 6 7 7 , −0.925025 ,
0.925 0 25 , −0.925025 , 0 .92502 5 , −0.925025 , 0 . 925025 ,
−0.925025 , 0 ] )
1242
1243 names . append ( " LElbowRoll " )
1244 i m es . append ( [ 1 . 7 2 , 2 . 6 , 4 . 4 4 , 6 . 3 2 , 8 . 2 4 , 1 0 . 1 6 ] )
1245 keys . append ([ −0.181514 , −0.221657 , −0.221657 , −0.221657 ,
−0.221657 , −0. 221657])
1246
1247 names . append ( " LElbowYaw" )
1248 i m es . append ( [ 1 . 7 2 , 2 . 6 , 3 . 5 6 , 4 . 4 4 , 5 . 4 , 6 . 3 2 , 7 . 2 8 , 8 . 2 4 ,
9 . 2 , 10 . 16 , 1 1 . 1 2 ] )
1249 keys . append ([ −1 . 4 5 2 11 , 0 . 589921 , −1.50971 , 0 . 589921 ,
−1.50971 , 0 . 589921 , −1.50971 , 0.5899 2 1 , −1.50971 ,
0.589921, −1.50971])
1250
1251 names . append ( " L S h o ul de Ro l l " )
1252 i m es . append ( [ 1 . 7 2 , 2 . 6 , 3 . 5 6 , 4 . 4 4 , 5 . 4 , 6 . 3 2 , 7 . 2 8 , 8 . 2 4 ,
9 . 2 , 10 . 16 , 1 1 . 1 2 ] )
1253 keys . append ( [ 1 . 5 6 2 0 7 , 1.5 6207 , 1.56207 , 1.56207 , 1 .5 620 7 ,
1.56207, 1.56207, 1.56207, 1.56207, 1.56207, 1.56207])
1254
1255 names . append ( " LW is Yaw " )
1256 i m es . append ( [ 1 . 7 2 ] )
1257 keys . append ( [ − 0 . 6 4 2 2 8 1 ] )
1258
1259 names . append ( " RElbowRoll " )
1260 i m es . append ( [ 1 . 7 2 ] )
1261 keys . append ( [ 0 . 4 6 3 3 1 ] )
1262
1263 names . append ( "RElbowYaw" )
1264 i m es . append ( [ 1 . 7 2 , 2 . 6 , 3 . 5 6 , 4 . 4 4 , 5 . 4 , 6 . 3 2 , 7 . 2 8 , 8 . 2 4 ,
9 . 2 , 10 . 16 , 1 1 . 1 2 ] )
1265 keys . append ( [ 0 . 9 8 4 3 6 6 , 0.9 84 366 , −1.01404 , 0.98 436 6 ,
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
−1.01404 , 0 . 984366 , −1.01404 , 0.9843 6 6 , −1.01404 ,
0.984366, −1.01404])
1266
1267 names . append ( " R S h o ulde Rol l " )
1268 i m es . append ( [ 1 . 7 2 , 3 . 5 6 , 5 . 4 , 7 . 2 8 , 9 . 2 , 1 1 . 1 2 ] )
1269 keys . append ( [ − 1 . 32 645 , −1.56207 , −1.56207 , −1.56207 ,
−1.56207 , −1.56 2 07])
1270
1271 names . append ( " RW is Yaw " )
1272 i m es . append ( [ 1 . 7 2 ] )
1273 keys . append ( [ 0 . 1 1 0 4 0 6 ] )
1274
1275 e u n names , keys , i m e s
1276
1277
1278 """**************************************
1279 Name: ini ialMo eIn e ac ion
1280 Func i o n : Mo es he h i p o l l o i s l e
1281 ************************************** """
1282 de ini ialMo eIn e ac ion () :
1283
1284 names = l i s ( )
1285 i m e s = l i s ( )
1286 keys = l i s ( )
1287
1288 names . append ( " H eadP i ch " )
1289 i m es . append ( [ 1 . 5 6 , 4 . 7 6 ] )
1290 keys . append ( [ 0 . 3 3 3 3 5 8 , 0 . 0 1 5 7 0 8 ] )
1291
1292
1293 names . append ( "HeadYaw" )
1294 i m es . append ( [ 1 . 5 6 , 4 . 7 6 ] )
1295 keys . append ([ − 0 . 2 6 3 5 4 5 , −0.022689 3])
1296
1297 e u n names , keys , i m e s
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
1.2 Senso s
File 11: __ini __.py
1 om .impo *
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
File 12: nao_head_ ac ile_ges u es.py
1# ! / us / bin / en py h on
2# −*− enco ding : UTF−8 −*−
3"""
/////////////////////////////////////////////////////////////////////////////
4Name : n a o _ h e a d _ a c i l e _ g e s u e s . py
5Func i o n : F i l e w i h h e c l a s s o g e i n o m a i o n om h e head
s e n s o s o ob o nao
6See A L T a c i l e G e s u e :
7h p s : / / d e e lo p e . s o b a n k o b o i c s . com / nao6 / naoqi −
d e e lo p e −g ui de / naoqi −a p i s / naoqi −s e ns o s − l e d s /
al ac ileges u e#al ac ileges u e
8
9COMMENT: I does n o wo k ! !
10
11 C e a i o n d a e : 1 5 / 08 /2 0 2 2
12 L as m o d i i e d : 1 5 /08/2022
13 C ea e d by : SCV
14 /////////////////////////////////////////////////////////////////////////////
"""
15
16
17 " " "++++++++++++++++++++++++++++++++++++++
18 Lib a ies
19 ++++++++++++++++++++++++++++++++++++++" " "
20 impo q i
21
22 " " "++++++++++++++++++++++++++++++++++++++
23 C o n s a n s C l a s s e s
24 ++++++++++++++++++++++++++++++++++++++" " "
25
26 """**************************************
27 Name : HEAD_TACTILE_GESTURES
28 Func i o n : c l a s s h a c o n a i n s h e head g e s u e s . See : h p s : / /
d e e lo p e . s o b a n k o b o i c s . com / nao6 / naoqi −de elo p e −guide /
naoqi −a p i s / naoqi −se n s o s − l e d s / a l a c i l e g e s u e # d e a u l −
a c i l e −g e s u e
29 ************************************** """
30 class HEAD_TACTILE_GESTURES ( ) :
31 SINGLE_FRONT = ’ S i n g l e F o n ’
32 SINGLE_MIDDLE = ’ Si n g l eMidd l e ’
33 SINGLE_REAR = ’ S i n g l e R e a ’
34 DOUBLE_FRONT = ’ Dou bleF on ’
35 DOUBLE_MIDDLE = ’ DoubleMiddle ’
36 DOUBLE_REAR = ’ DoubleRea ’
37 SINGLE_TAP = ’ S i n g leTap ’
38 DOUBLE_TAP = ’ DoubleTap ’
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
39 CARESS_FRONT_TO_REAR = ’ Ca essF oR ’
40 CARESS_REAR_TO_FRONT = ’ Ca essR oF ’
41 ZOOM_IN = ’ ZoomIn ’
42 ZOOM_OUT = ’ZoomOu ’
43 THE_CLAW = ’ TheClaw ’
44 SINGLE_FRONT_HOLD = ’ S i n g l e F o n H o l d ’
45 SINGLE_MIDDLE_HOLD = ’ Si ngleMi d dleHol d ’
46 SINGLE_REAR_HOLD = ’ SingleRea Hold ’
47 SINGLE_TAP_HOLD = ’ Singl eTapHold ’
48 THE_CLAW_HOLD = ’ TheClawHold ’
49
50 " " "++++++++++++++++++++++++++++++++++++++
51 Class
52 ++++++++++++++++++++++++++++++++++++++" " "
53 class Nao_HeadTac ileGes u es () :
54 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
55 Name : _ _ i n i _ _
56 Func i o n : i n i o h e c l a s s
57 Pa ame e s : s e s s i o n : nao s e s s i o n
58 c o n o l l e : c o n o l l e o a d i s e when an e e n
happens
59 Re u n : −
60 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
61 de _ _ i n i _ _ ( s e l , s e s s i o n ) :
62
63 s e l . s e s s i o n = s e s s i o n
64
65 # I n i a c i l e _ g e s u e s _ s e i c e
66 s e l . a c i l e _ g e s u e s _ s e i c e = s e l . s e s s i o n . s e i c e ( "
ALTac ileGes u e")
67
68 # I n i e a c o ouch
69 s e l . e a c _ o _ o u c h = Reac ToTouch ( s e l . s e s s i o n , s e l )
70
71 #HEAD i n i s
72 #−−−−−−−−−−
73 # I n i l i s o o h e g e s u e s
74 s e l . h e a d _ n e w_ g e s u e s = [ ]
75
76 # I n i l i s o g e s u e s o che ck
77 sel . head_check_ges u es = []
78
79 # Connec a c i l e g e s u e h andl e o onG es u e s i g n a l
80 s e l . s1 = s e l . a c i l e _ g e s u e s _ s e i c e . onGes u e .
c o n n ec ( s e l . h e a d _ a c i l e _ g e s u e _ h a n d l e )
81
82 # Connec a c i l e g e s u e e l e a s e h an d le o o nR el e a se
signal
83 s e l . s2 = s e l . a c i l e _ g e s u e s _ s e i c e . onRelease .
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).

c o n n ec ( s e l . h e a d _ a c i l e _ g e s u e _ e l e a s e _ h a n d l e )
84
85 # B oo le an ’ l o c k ’ u s e u l o e s p o n d i n g o ’ h o ld ’
g e s u e s i n a mo e c o n o l l e d manne
86 sel . head_ges u e_hold_lock = False
87
88 ############################################
89 ## HEAD FUNCTIONS ##
90 ############################################
91 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
92 Name: head_add_new_ges u es
93 Func i o n : adds new head a c i l e g e s u e s
94 Pa ame e s : s e s s i o n : nao s e s s i o n
95 Re u n : −
96 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
97 de head_a d d _ new_ges u es ( s e l , g e s u e ) :
98 # C ea e a new g e s u e
99 y :
100 s e l . h e a d _ n e w _ g e s u e s . append ( s e l .
a c i l e _ g e s u e s _ s e i c e . c e a e G e s u e ( g e s u e ) )
101 exce p Run i meE o as e :
102 p in e
103
104 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
105 Name : h e a d _ a d d _ g e s u e s _ o _ c h e c k
106 Func i o n : c e a e s a l i s wi h h e g e s u e s o check
107 Pa ame e s : a d d_new _ ges u e s : bool ean . T ue i he l i s o
new g e s u e s has
108 o be added .
109 l i s _ e x i s i n g _ g e s u e s : l i s o g e s u e s h a
e x i s and wan o
110 check ( s e e c l a s s
HEAD_TACTILE_GESTURES
)
111 Re u n : −
112 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
113 de h e a d _ a d d _ g e s u e s _ o _ c h e c k ( s e l , add _n ew _g es u e s ,
lis _exis ing_ges u es ):
114 i add_new_ges u es :
115 o ges u e in s e l . head _ n e w _ g e s u e s :
116 s e l . h e a d _ c h e c k _ g e s u e s . append ( g e s u e )
117 o ges u e in lis _exis ing_ges u es :
118 s e l . h e a d _ c h e c k _ g e s u e s . append ( g e s u e )
119
120 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
121 Name : h e a d _ a c i l e _ g e s u e _ h a n d l e
122 Func i o n : h and l e o head g e s u e s
123 Pa ame e s : a l ue : g e s u e d e e c e d
124 Re u n : −
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
125 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
126 de head_ ac ile_ges u e_handle (sel , alue):
127 o ges u e in s e l . he a d _ n e w _ g e s u e s :
128 i alu e == g e s u e :
129 s e l . c o n o l l e . h e a d _ g e s u e _ h a p p e n e d ( g e s u e )
130
131 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
132 Name : h e a d _ a c i l e _ g e s u e _ h a n d l e
133 Func i o n : Enable s ’ l o c k i n g o u ’ o m u l i p l e ’ h old g e s u e ’
s i g n a l e s p o n s e s
134 Pa ame e s : −
135 Re u n : −
136 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
137 de h e a d _ a c i l e _ g e s u e _ e l e a s e _ h a n d l e ( s e l ) :
138 s e l . g e s u e _ h o l d _ l o c k = F a l s e
139
140 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
141 Name : hea d_clean_u p
142 F unc ion : c l e a n s up h e h a n d l e s
143 Pa ame e s : −
144 Re u n : −
145 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
146 de head_cl e a n _up ( s e l ) :
147 """
148 D i s c o n n e c a c i l e g e s u e h a n d l e om s i g n a l
149 """
150 s e l . g . o nGes u e . d i s c o n n e c ( s e l . s1 )
151 s e l . g . o nRelease . d i s c o n n e c ( s e l . s2 )
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
File 13: nao_ ouch.py
1# ! / us / bin / en py h on
2# −*− enco ding : UTF−8 −*−
3"""
/////////////////////////////////////////////////////////////////////////////
4Name : na o_ ouc h . py
5Func i o n : F i l e w i h h e c l a s s o g e i n o m a i o n om h e ou ch
s e n s o s o ob o nao
6See ALTouch :
7h p s : / / d e e lo p e . s o b a n k o b o i c s . com / nao6 / naoqi −
d e e lo p e −g ui de / naoqi −a p i s / naoqi −s e ns o s − l e d s /
al ouch#al ouch
8h p s : / / d e e lo p e . s o b a n k o b o i c s . com / nao6 / naoqi −
d e e lo p e −g ui de / naoqi −a p i s / naoqi −s e ns o s − l e d s /
a l o u c h / a l ou ch −a pi
9C e a i o n d a e : 1 5 / 08 /2 0 2 2
10 L as m o d i i e d : 1 5 /08/2022
11 C ea e d by : SCV
12 /////////////////////////////////////////////////////////////////////////////
"""
13
14
15 " " "++++++++++++++++++++++++++++++++++++++
16 Lib a ies
17 ++++++++++++++++++++++++++++++++++++++" " "
18 impo q i
19 impo unc ools
20
21 " " "++++++++++++++++++++++++++++++++++++++
22 C o n s a n s C l a s s e s
23 ++++++++++++++++++++++++++++++++++++++" " "
24
25 """**************************************
26 Name : TOUCH_SENSORS
27 Fun c ion : c l a s s h a c o n a i n s ou ch s e n s o s .
28 ************************************** """
29 class TOUCH_SENSORS ( ) :
30 HEAD_FRONT = " Head / Touch / F o n "
31 HEAD_MIDDLE = " Head / Touch / Middle "
32 HEAD_REAR = " Head / Touch / Rea "
33 LEFT_HAND_GREY_ZONE = "LHand / Touch / Back "
34 LEFT_HAND_EXTERNAL_WHITE_ZONE = "LHand / Touch / L e "
35 LEFT_HAND_INTERNAL_WHITE_ZONE = "LHand / Touch / Righ "
36 RIGHT_HAND_GREY_ZONE = " RHand / Touch / Back "
37 RIGHT_HAND_EXTERNAL_WHITE_ZONE = "RHand / Touch / R i g h "
38 RIGHT_HAND_INTERNAL_WHITE_ZONE = "RHand / Touch / L e "
39 LEFT_FOOD_EXTERNAL_BUMPER = " LFoo / Bumpe / L e "
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).
40 LEFT_FOOD_INTERNAL_BUMPER = " LFoo / Bumpe / Righ "
41 RIGHT_FOOD_EXTERNAL_BUMPER = " RFoo / Bumpe / R i g h "
42 RIGHT_FOOD_INTERNAL_BUMPER = " RFoo / Bumpe / L e "
43
44 """**************************************
45 Name : TOUCH_EVENTS
46 Func i o n : c l a s s h a c o n a i n s ouch e e n s .
47 ************************************** """
48 class TOUCH_EVENTS( ) :
49 TOUCH_CHANGED = " TouchChanged "
50 RIGHT_BUMPER_PRESSED = " Righ Bumpe P essed "
51 LEFT_BUMPER_PRESSED = " Le Bumpe P es sed "
52 # BACK_BUMPER_PRESSED = " BackBumpe P essed " # Peppe o n l y
53 FRONT_TACTIL_TOUCH = " F o n T a c i l T o u c h e d "
54 MIDDLE_TACTIL_TOUCH = " Middl e T a c ilTouc h e d "
55 REAR_TACTIL_TOUCH = " R e a T a c i l T o u c h e d "
56 HAND_RIGHT_BACK_TOUCHED = " HandRigh BackTouched "
57 HAND_RIGHT_LEFT_TOUCHED = " HandRigh Le Touched "
58 HAND_RIGHT_RIGHT_TOUCHED = " HandRigh Righ Touched "
59 HAND_LEFT_BACK_TOUCHED = " HandLe BackTouched "
60 HAND_LEFT_LEFT_TOUCHED = " HandLe Le Touched "
61 HAND_LEFT_RIGHT_TOUCHED = " HandLe Righ Touched "
62
63
64
65 " " "++++++++++++++++++++++++++++++++++++++
66 Class
67 ++++++++++++++++++++++++++++++++++++++" " "
68 class Nao_Touch () :
69 " " "−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
70 Name : _ _ i n i _ _
71 Func i o n : i n i o h e c l a s s
72 Pa ame e s : s e s s i o n : nao s e s s i o n
73 n e e d _ c a l l b a c k : boo le an o i n d i c a e i a c a l l b a c k
i s needed
74 c o n o l l e : c o n o l l e o a d i s e when an e e n
happens
75 m em o y _s e ic e : i n c a se a h a n d l e i s need ed
76 Re u n : −
77 −−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−" " "
78 de _ _ i n i _ _ ( s e l , s e s s i o n , n e e d _ c a l l b a c k = F al se ,
c o n o l l e = None , memo y_se ice = None ) :
79
80 i n e e d _ c a l l b a c k :
81 sel . con olle = con olle
82 s e l . memo y_se ice = memo y_se ice
83 # Connec o an Naoqi1 E e n .
84 s e l . ouch = s e l . memo y_se ice . s u b s c i b e (
TOUCH_EVENTS.TOUCH_CHANGED)
This esea ch was suppo ed by he Spanish Na ional P og am o P ojec s o
Knowledge Gene a ion 2022 wi h he e e ence PID2022-140284OB-I00, o he
P og am o Boos Scien i ic and Technical Resea ch and i s T ans e , om he
Spanish Na ional Plan o Scien i ic, Technical, and Inno a ion Resea ch
2021-2023, i led “Uses o obo ics o imp o e he ins umen al skills o s uden s
wi h au ism spec um diso de h ough he de elopmen o new inclusi e
con ex s. (Di InTech)”. (AEI/FEDER, UE).