List of available motions#

Multiple pre-recorded motion are available on ARI. You can use them either ‘stand-alone’ (see example at the bottom of this page), or as part of multi-modal speech.

Action name	Action ID	Description
`alive_1`	`alive_1`	This movement makes the robot move both arms softly, at the same time, to the back and a bit to the side.
`alive_2`	`alive_2`	This movement makes the robot stretch down both arms.
`alive_3`	`alive_3`	This movement makes the robot’s head turn to the left, and the left arm stretches down.
`alive_4`	`alive_4`	This movement makes the robot’s head turn to the right, and the right arm stretches down, the same as `alive_3` but with the other side.
`alive_5`	`alive_5`	This movement makes the robot stretch down both arms and a bit to the side.
`alive_6`	`alive_6`	This movement makes the robot moves its arms as it was walking, moving them to the from and back.
`alive_7`	`alive_7`	This movement makes the robot moves its head first a bit to the left and then a bit to the right. If it was looking around but in from of it.
`Wave`	`wave`	This movement makes the robot’s arms move it was trying to say hello. It goes up and the elbow bends, then the arm goes down again.
`Start ARI`	`start_ari`	This movement makes the robot’s arms move a bit to the front and to the side.
`Bow`	`bow`	This movement makes the robot head down, bowing it. Then, the head looks to the front again.
`Nod`	`nod`	This movement makes the robot head up and down as it tries to say yes.
`Shake Left`	`shake_left`	This movement makes the robot’s left arm moves to the front and the part from the elbow until the hand goes up and down like it tries to greet with its left hand.
`Shake Right`	`shake_right`	This movement makes the robot’s right arm moves to the front and the part from the elbow until the hand goes up and down like it tries to greet with its right hand.
`Show Left`	`show_left`	This movement makes the robot’s left arm move to the side as it was trying to show you something on the left.
`Show Right`	`show_right`	This movement makes the robot’s right arm move to the side as it was trying to show you something on the right.
`Look Around`	`look_around`	This movement makes the robot moves its head from side to side slowly, starting for the right side, like it is looking for something.

How to perform a motion using the play_motion capability#

from play_motion_msgs.msg import PlayMotionAction, PlayMotionGoal
from actionlib import SimpleActionClient

def perform_motion():

  self.motion_client = SimpleActionClient('/play_motion', PlayMotionAction)
  self.motion_client.wait_for_server()

  goal = PlayMotionGoal()

  # use here the desired motion ID from the table above
  goal.motion_name = "start_ari"
  goal.skip_planning = False
  self.motion_client.send_goal_and_wait(goal)
  rospy.loginfo("Movement done")