Add explaining function with ramp effect

Implement gesture explaining function with speed configurations and ramp systems for arms, head, and hands.

Author: hairygael

gestures/explaining.py

@@ -0,0 +1,254 @@
+def explaining():
+
+    # ----------------------------------
+    # SPEED CONFIG (natural + controlled)
+    # ----------------------------------
+
+    i01.setHandSpeed("left", 30,30,30,30,30,30)
+    i01.setHandSpeed("right",30,30,30,30,30,30)
+
+    i01.setArmSpeed("left",50,50,50,50)
+    i01.setArmSpeed("right",50,50,50,50)
+
+    i01.setHeadSpeed(50,45,50)
+    i01.setTorsoSpeed(50,50,50)
+
+    # ----------------------------------
+    # ARM + HEAD RAMP SYSTEM
+    # ----------------------------------
+
+    def rampArm(side, a, b, steps=8, delay=0.05):
+        for i in range(steps):
+            t = i / float(steps - 1)
+            k = t * t * (3 - 2 * t)
+
+            x = a[0] + (b[0] - a[0]) * k
+            y = a[1] + (b[1] - a[1]) * k
+            z = a[2] + (b[2] - a[2]) * k
+            r = a[3] + (b[3] - a[3]) * k
+
+            i01.moveArm(side, x, y, z, r)
+            sleep(delay)
+
+    def rampHead(yawStart, yawEnd, pitch, steps=10, delay=0.04):
+        for i in range(steps):
+            t = i / float(steps - 1)
+            k = t * t * (3 - 2 * t)
+
+            yaw = yawStart + (yawEnd - yawStart) * k
+            i01.moveHead(yaw, pitch, 90)
+            sleep(delay)
+
+    # ----------------------------------
+    # ✋ HAND RAMP SYSTEM
+    # ----------------------------------
+
+    def rampHand(side, a, b, steps=6, delay=0.04):
+        for i in range(steps):
+            t = i / float(steps - 1)
+            k = t * t * (3 - 2 * t)
+
+            f1 = a[0] + (b[0] - a[0]) * k
+            f2 = a[1] + (b[1] - a[1]) * k
+            f3 = a[2] + (b[2] - a[2]) * k
+            f4 = a[3] + (b[3] - a[3]) * k
+            f5 = a[4] + (b[4] - a[4]) * k
+            twist = a[5] + (b[5] - a[5]) * k
+
+            i01.moveHand(side, f1,f2,f3,f4,f5,twist)
+            sleep(delay)
+
+    # ----------------------------------
+    # START POSITION
+    # ----------------------------------
+
+    relax()
+    sleep(0.6)
+
+    rampArm("left",  [70,78,40,15], [75,82,42,15])
+    rampArm("right", [70,78,40,15], [75,82,42,15])
+
+    # ✋ relaxed attentive hands (not rigid open)
+    rampHand("left",
+             [35,35,35,35,35,150],
+             [20,25,30,30,25,120])
+
+    rampHand("right",
+             [35,35,35,35,35,11],
+             [20,25,30,30,25,30])
+
+    rampHead(90, 110, 110)
+    rampHead(110, 75, 75)
+    rampHead(75, 90, 90)
+
+    # ----------------------------------
+    # INTRODUCTION
+    # ----------------------------------
+
+    rampArm("right", [75,82,42,15], [55,72,38,15])
+
+    # ✋ presenting gesture (soft cup)
+    rampHand("right",
+             [30,25,25,25,25,40],
+             [70,45,40,40,35,25])
+
+    sleep(0.4)
+
+    rampArm("right", [55,72,48,15], [70,80,40,15])
+
+    # ----------------------------------
+    # POINT 1
+    # ----------------------------------
+
+    rampArm("right", [70,80,40,15], [45,68,35,15])
+
+    # ✋ pointing emphasis (not rigid)
+    rampHand("right",
+             [30,30,30,30,30,30],
+             [160,45,150,150,150,40])
+
+    sleep(0.8)
+
+    rampArm("right", [45,68,35,15], [70,80,40,15])
+
+    rampHand("right",
+             [160,45,150,150,150,20],
+             [30,30,30,30,30,11])
+
+    # small expressive pulse
+    rampHand("right",
+             [30,30,30,30,30,11],
+             [80,50,60,60,50,11], steps=4)
+
+    rampHand("right",
+             [80,50,60,60,50,11],
+             [30,30,30,30,30,20], steps=4)
+
+    # ----------------------------------
+    # POINT 2
+    # ----------------------------------
+
+    rampArm("left", [75,82,52,15], [55,70,38,15])
+
+    # ✋ “two ideas” gesture
+    rampHand("left",
+             [30,30,30,30,30,130],
+             [160,20,20,160,160,150])
+
+    sleep(0.7)
+
+    rampArm("left", [55,70,38,15], [75,82,42,15])
+
+    rampHand("left",
+             [160,20,20,160,160,150],
+             [30,30,30,30,30,80])
+
+    rampHead(90,90,90)
+
+    # ----------------------------------
+    # COMPARISON
+    # ----------------------------------
+
+    rampArm("left",  [75,80,40,15], [60,72,38,15])
+    rampArm("right", [75,80,40,15], [60,72,38,15])
+
+    rampHead(90,80,90)
+    rampArm("left", [60,72,38,15], [50,66,35,15])
+
+    rampHand("left",
+             [30,30,30,30,30,90],
+             [70,45,50,50,45,150])
+
+    rampHead(80,110,90)
+    rampArm("right", [60,72,38,15], [50,66,35,15])
+
+    rampHand("right",
+             [30,30,30,30,30,30],
+             [70,45,50,50,45,11])
+
+    rampHead(110,90,90)
+
+    # ----------------------------------
+    # EXPANSION
+    # ----------------------------------
+
+    rampArm("left",  [70,82,40,15], [62,74,38,15], steps=10)
+    rampArm("right", [70,82,40,15], [62,74,38,15], steps=10)
+
+    rampHand("left",
+             [40,40,40,40,40,120],
+             [15,15,15,15,15,150])
+
+    rampHand("right",
+             [40,40,40,40,40,11],
+             [15,15,15,15,15,30])
+
+    sleep(0.3)
+
+    rampArm("left",  [62,74,38,15], [72,84,52,15], steps=10)
+    rampArm("right", [62,74,38,15], [72,84,52,15], steps=10)
+
+    # ----------------------------------
+    # EMPHASIS LOOP
+    # ----------------------------------
+
+    for _ in range(3):
+
+        rampHead(85,95,88,steps=6)
+        rampArm("right", [70,80,40,15], [55,70,38,15], steps=6)
+
+        rampHand("right",
+                 [30,30,30,30,30,11],
+                 [90,60,70,70,60,25], steps=4)
+
+        rampHead(95,85,88,steps=6)
+        rampArm("left", [70,80,40,15], [55,70,38,15], steps=6)
+
+        rampHand("left",
+                 [30,30,30,30,30,110],
+                 [90,60,70,70,60,150], steps=4)
+
+    rampHead(90,90,90)
+
+    # ----------------------------------
+    # AUDIENCE SWEEP
+    # ----------------------------------
+
+    rampHead(80,110,90,steps=14)
+    rampHead(110,90,90,steps=14)
+
+    rampHand("left",
+             [20,20,20,20,20,110],
+             [10,10,10,10,10,150])
+
+    rampHand("right",
+             [20,20,20,20,20,11],
+             [10,10,10,10,10,25])
+
+    sleep(0.8)
+
+    # ----------------------------------
+    # CONCLUSION
+    # ----------------------------------
+
+    rampArm("left",  [72,80,42,15], [68,76,40,15], steps=8)
+    rampArm("right", [72,80,42,15], [68,76,40,15], steps=8)
+
+    rampHead(90,80,90,steps=10)
+
+    rampHand("left",
+             [35,35,35,35,35,110],
+             [40,40,40,40,40,160])
+
+    rampHand("right",
+             [35,35,35,35,35,11],
+             [40,40,40,40,40,50])
+
+    sleep(1.0)
+
+    # gentle return
+    rampArm("left",  [68,76,40,15], [80,80,50,15], steps=10)
+    rampArm("right", [68,76,40,15], [80,80,50,15], steps=10)
+
+    relax()
+    i01.finishedGesture()