Spaces:
Running
Running
File size: 1,591 Bytes
03317af |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 |
"""Demonstrate and play all available moves from a dataset for Reachy Mini.
Run :
python3 recorded_moves_example.py -l [dance, emotions]
"""
import argparse
from reachy_mini import ReachyMini
from reachy_mini.motion.recorded_move import RecordedMove, RecordedMoves
def main(dataset_path: str) -> None:
"""Connect to Reachy and run the main demonstration loop."""
recorded_moves = RecordedMoves(dataset_path)
print("Connecting to Reachy Mini...")
with ReachyMini(use_sim=False, media_backend="no_media") as reachy:
print("Connection successful! Starting dance sequence...\n")
try:
while True:
for move_name in recorded_moves.list_moves():
move: RecordedMove = recorded_moves.get(move_name)
print(f"Playing move: {move_name}: {move.description}\n")
# print(f"params: {move.move_params}")
reachy.play_move(move, initial_goto_duration=1.0)
except KeyboardInterrupt:
print("\n Sequence interrupted by user. Shutting down.")
if __name__ == "__main__":
parser = argparse.ArgumentParser(
description="Demonstrate and play all available dance moves for Reachy Mini."
)
parser.add_argument(
"-l", "--library", type=str, default="dance", choices=["dance", "emotions"]
)
args = parser.parse_args()
dataset_path = (
"pollen-robotics/reachy-mini-dances-library"
if args.library == "dance"
else "pollen-robotics/reachy-mini-emotions-library"
)
main(dataset_path)
|