Use official Reachy dance and rage motions
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app/public/robot/reachy/emotions/dance1.json
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{"description":"You do a few dance moves because you're happy or excited. Also good when someone asks if you can dance, or when music 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app/public/robot/reachy/emotions/dance1.ogg
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app/public/robot/reachy/emotions/rage1.json
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{"description":"You growl loudly, could be in response to injustice or extreme anger. Can be adapted to a desperate 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.091994,-0.006064],[-0.094111,0.995011,-0.033125,0.00198],[-0.094742,0.024171,0.995208,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.990865,0.097645,0.093021,-0.005906],[-0.094732,0.994879,-0.035241,0.000603],[-0.095986,0.026107,0.99504,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.990738,0.098293,0.093681,-0.00604],[-0.09519,0.994769,-0.037049,-0.000216],[-0.096833,0.027788,0.994913,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.990761,0.098037,0.093709,-0.006218],[-0.094948,0.994799,-0.036887,-0.000671],[-0.096837,0.027648,0.994916,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.990837,0.097499,0.093466,-0.006463],[-0.094177,0.994778,-0.039334,-0.001347],[-0.096813,0.030171,0.994845,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.990962,0.096839,0.092828,-0.006697],[-0.093116,0.994698,-0.04364,-0.002183],[-0.096562,0.034602,0.994725,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.991102,0.095729,0.09248,-0.006743],[-0.091683,0.994676,-0.04706,-0.003395],[-0.096493,0.038162,0.994602,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.991174,0.094825,0.09264,-0.006785],[-0.090576,0.994681,-0.049048,-0.004084],[-0.096799,0.040224,0.994491,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.991237,0.094644,0.092146,-0.00668],[-0.090131,0.994573,-0.051968,-0.004822],[-0.096564,0.043208,0.994388,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.991349,0.093752,0.091854,-0.006666],[-0.089098,0.994583,-0.053535,-0.00569],[-0.096376,0.044888,0.994332,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.991377,0.093706,0.091601,-0.006721],[-0.088971,0.994543,-0.054481,-0.006202],[-0.096206,0.045861,0.994304,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.991464,0.092293,0.092097,-0.006919],[-0.087505,0.994659,-0.054742,-0.00622],[-0.096658,0.046216,0.994244,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.991574,0.09041,0.09277,-0.007208],[-0.085607,0.994836,-0.054521,-0.006322],[-0.09722,0.04612,0.994194,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.991665,0.088814,0.093336,-0.007269],[-0.083936,0.994955,-0.054956,-0.006273],[-0.097746,0.046663,0.994117,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.991737,0.088071,0.093277,-0.007198],[-0.083198,0.995019,-0.054907,-0.006745],[-0.097648,0.046693,0.994125,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.991708,0.087736,0.093907,-0.00731],[-0.082904,0.995083,-0.054183,-0.0066],[-0.098199,0.045949,0.994105,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.991717,0.087586,0.093942,-0.007307],[-0.082816,0.995126,-0.053534,-0.006467],[-0.098173,0.04531,0.994137,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.991706,0.086868,0.094728,-0.007164],[-0.082035,0.995177,-0.053784,-0.006182],[-0.098943,0.045567,0.994049,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.991743,0.085934,0.095189,-0.007231],[-0.080981,0.995212,-0.054737,-0.005719],[-0.099437,0.046576,0.993953,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.991967,0.08342,0.095096,-0.007364],[-0.078502,0.995432,-0.054342,-0.005484],[-0.099195,0.04644,0.993984,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.992188,0.082229,0.093817,-0.007639],[-0.077422,0.995547,-0.053779,-0.005481],[-0.097821,0.046095,0.994136,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.992279,0.082404,0.092698,-0.007707],[-0.077698,0.995552,-0.053279,-0.005789],[-0.096676,0.045665,0.994268,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.992198,0.082825,0.093185,-0.007805],[-0.078143,0.995542,-0.052818,-0.005451],[-0.097145,0.045124,0.994247,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.992116,0.083077,0.093828,-0.007821],[-0.078378,0.99553,-0.052703,-0.005121],[-0.097787,0.044933,0.994192,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.992129,0.083093,0.093676,-0.007998],[-0.07854,0.99559,-0.051297,-0.004799],[-0.097525,0.043536,0.99428,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.992131,0.081757,0.094826,-0.007847],[-0.077116,0.995685,-0.05162,-0.004897],[-0.098637,0.043901,0.994155,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.99218,0.080584,0.095317,-0.007826],[-0.075884,0.995762,-0.05195,-0.004466],[-0.099099,0.044311,0.99409,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.992151,0.079897,0.096192,-0.00781],[-0.075221,0.995846,-0.051299,-0.004259],[-0.099891,0.043661,0.99404,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false},{"head":[[0.992057,0.079346,0.097602,-0.007902],[-0.074727,0.995944,-0.050114,-0.003682],[-0.101182,0.042422,0.993963,0.02],[0.0,0.0,0.0,1.0]],"antennas":[0.258746,0.145293],"body_yaw":0.0,"check_collision":false}]}
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app/public/robot/reachy/emotions/rage1.ogg
ADDED
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Binary file (13.7 kB). View file
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app/src/game/emotions/emotions.js
ADDED
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@@ -0,0 +1,33 @@
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| 1 |
+
import { Matrix4 } from "three";
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| 2 |
+
import { interpolateTarget } from "../reachy/reachyKinematics.js";
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| 3 |
+
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| 4 |
+
export const EMOTIONS = Object.freeze({
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| 5 |
+
joy: { sentence: "Oh, you're happy! Me too!", motion: "dance1" },
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| 6 |
+
sadness: { sentence: "Oh, you're sad! Me too!", motion: "sad1" },
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| 7 |
+
anger: { sentence: "Oh, you're angry! Me too!", motion: "rage1" },
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| 8 |
+
});
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| 9 |
+
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| 10 |
+
const matrixFromRows = (rows) => new Matrix4().set(...rows.flat());
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| 11 |
+
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| 12 |
+
export async function loadReachyEmotion(name) {
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| 13 |
+
const response = await fetch(`./robot/reachy/emotions/${name}.json`);
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| 14 |
+
if (!response.ok) throw new Error(`Unable to load Reachy emotion ${name}`);
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| 15 |
+
const source = await response.json();
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| 16 |
+
const frames = source.time.map((time, i) => {
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| 17 |
+
const frame = source.set_target_data[i];
|
| 18 |
+
return { time, target: { head: matrixFromRows(frame.head), antennas: [...frame.antennas], bodyYaw: frame.body_yaw } };
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| 19 |
+
});
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| 20 |
+
const duration = frames.at(-1)?.time ?? 0;
|
| 21 |
+
return {
|
| 22 |
+
duration,
|
| 23 |
+
sample(seconds) {
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| 24 |
+
if (!frames.length) throw new Error(`Empty Reachy emotion ${name}`);
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| 25 |
+
if (seconds <= frames[0].time) return frames[0].target;
|
| 26 |
+
if (seconds >= duration) return frames.at(-1).target;
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| 27 |
+
let hi = 1;
|
| 28 |
+
while (hi < frames.length && frames[hi].time < seconds) hi++;
|
| 29 |
+
const a = frames[hi - 1], b = frames[hi];
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| 30 |
+
return interpolateTarget(a.target, b.target, (seconds - a.time) / (b.time - a.time));
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| 31 |
+
},
|
| 32 |
+
};
|
| 33 |
+
}
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app/src/game/microduck/microduckEmotions.js
CHANGED
|
@@ -1,6 +1,7 @@
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| 1 |
import { abortError } from "../simulationTimeline.js";
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| 2 |
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| 3 |
const sleep = (timeline, duration, signal) => timeline.wait(duration, signal);
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| 4 |
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| 5 |
export async function playMicroduckEmotion(emotion, runtime, signal) {
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| 6 |
const { timeline } = runtime;
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|
@@ -8,7 +9,7 @@ export async function playMicroduckEmotion(emotion, runtime, signal) {
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|
| 8 |
try {
|
| 9 |
if (emotion === "joy") {
|
| 10 |
runtime.mode("walk");
|
| 11 |
-
await timeline.run({ duration:
|
| 12 |
runtime.drive(0.22, Math.sin(t * 3.1) * 0.22);
|
| 13 |
runtime.head([Math.sin(t * 2.2) * 0.16, Math.sin(t * 1.7) * 0.1, Math.sin(t * 2.2) * 0.3, 0]);
|
| 14 |
if (Math.floor(t * 2.4) !== Math.floor((t - 1 / 50) * 2.4)) runtime.quack();
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|
@@ -16,19 +17,21 @@ export async function playMicroduckEmotion(emotion, runtime, signal) {
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|
| 16 |
runtime.drive(0, 0); runtime.head([0, 0, 0, 0]);
|
| 17 |
} else if (emotion === "sadness") {
|
| 18 |
runtime.drive(0, 0); runtime.mode("sit");
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|
|
|
| 19 |
await timeline.until(() => runtime.sitFlag === 1, 3, signal);
|
| 20 |
// Stay seated with the neck bowed while the head slowly rocks left and
|
| 21 |
// right. The three long quacks happen during that continuous motion.
|
|
|
|
| 22 |
let lastSadBeat = -1;
|
| 23 |
-
await timeline.run({ duration:
|
| 24 |
-
runtime.head([-0.62, -0.48, Math.sin(t *
|
| 25 |
-
const beat = Math.floor(t /
|
| 26 |
if (beat < 3 && beat !== lastSadBeat) { lastSadBeat = beat; runtime.quack(); }
|
| 27 |
} });
|
| 28 |
runtime.head([-0.62, -0.48, 0, 0]);
|
| 29 |
} else if (emotion === "anger") {
|
| 30 |
runtime.mode("walk");
|
| 31 |
-
await timeline.run({ duration:
|
| 32 |
// A short, furious stamp: alternate tiny steps and turns in place,
|
| 33 |
// while the head snaps side to side with frequent sharp quacks.
|
| 34 |
const beat = Math.floor(t * 5.5);
|
|
|
|
| 1 |
import { abortError } from "../simulationTimeline.js";
|
| 2 |
|
| 3 |
const sleep = (timeline, duration, signal) => timeline.wait(duration, signal);
|
| 4 |
+
const REACHY_DURATIONS = Object.freeze({ joy: 3.24, sadness: 9.02, anger: 5.08 });
|
| 5 |
|
| 6 |
export async function playMicroduckEmotion(emotion, runtime, signal) {
|
| 7 |
const { timeline } = runtime;
|
|
|
|
| 9 |
try {
|
| 10 |
if (emotion === "joy") {
|
| 11 |
runtime.mode("walk");
|
| 12 |
+
await timeline.run({ duration: REACHY_DURATIONS.joy, signal, update(t) {
|
| 13 |
runtime.drive(0.22, Math.sin(t * 3.1) * 0.22);
|
| 14 |
runtime.head([Math.sin(t * 2.2) * 0.16, Math.sin(t * 1.7) * 0.1, Math.sin(t * 2.2) * 0.3, 0]);
|
| 15 |
if (Math.floor(t * 2.4) !== Math.floor((t - 1 / 50) * 2.4)) runtime.quack();
|
|
|
|
| 17 |
runtime.drive(0, 0); runtime.head([0, 0, 0, 0]);
|
| 18 |
} else if (emotion === "sadness") {
|
| 19 |
runtime.drive(0, 0); runtime.mode("sit");
|
| 20 |
+
const emotionStarted = performance.now();
|
| 21 |
await timeline.until(() => runtime.sitFlag === 1, 3, signal);
|
| 22 |
// Stay seated with the neck bowed while the head slowly rocks left and
|
| 23 |
// right. The three long quacks happen during that continuous motion.
|
| 24 |
+
const remaining = Math.max(0.1, REACHY_DURATIONS.sadness - (performance.now() - emotionStarted) / 1000);
|
| 25 |
let lastSadBeat = -1;
|
| 26 |
+
await timeline.run({ duration: remaining, signal, update(t) {
|
| 27 |
+
runtime.head([-0.62, -0.48, Math.sin(t * 1.35) * 0.36, 0]);
|
| 28 |
+
const beat = Math.floor(t / (remaining / 3));
|
| 29 |
if (beat < 3 && beat !== lastSadBeat) { lastSadBeat = beat; runtime.quack(); }
|
| 30 |
} });
|
| 31 |
runtime.head([-0.62, -0.48, 0, 0]);
|
| 32 |
} else if (emotion === "anger") {
|
| 33 |
runtime.mode("walk");
|
| 34 |
+
await timeline.run({ duration: REACHY_DURATIONS.anger, signal, update(t) {
|
| 35 |
// A short, furious stamp: alternate tiny steps and turns in place,
|
| 36 |
// while the head snaps side to side with frequent sharp quacks.
|
| 37 |
const beat = Math.floor(t * 5.5);
|