< not up and running yet >
Introduction
The emotion_expression service can be used to manipulate common neutral gestures into more affective gestures for the Nao. It will take the neutral gesture in .json format and wanted affect as input and gives the affective gesture as an output.
...
The overview is provided with all gestures out of Choregraph tested on several affects (0 = instable, 1 = stable). The affects are determined by the use of the Circumplex Model of Affect: nine intersection points are selected to cover a variation of affects. The Circumplex Model of Affect and the selected points are shown in Figure 1 below.
...
Category | Neutral | Angry | Happy | |
|---|---|---|---|---|
FastGatherBothHandsOnChest_LeanRight | Affirmation | 1 | ||
GatherBothHandsInFront | Affirmation | 1 | ||
GoToStance_Affirmation_Center | Affirmation | 1 | ||
GoToStance_Affirmation_LeanLeft | Affirmation | 1 | ||
GoToStance_Affirmation_LeanRight | Affirmation | 1 | ||
LittleBothArmsUp_DuckEnd | Affirmation | 1 | ||
OfferBothHands_HeadNod_LeanLeft | Affirmation | 1 | ||
SlowBowWithArms | Affirmation | 1 | ||
StrongLeftArmsInFront_LeanLeft | Affirmation | 1 | ||
WideOpenBothHands | Affirmation | 1 | ||
GoToStance_Affirmation_Flex | Affirmation | 0 | ||
StrongArmsAndLegsBump_LeanRight | Affirmation | 0 | ||
WideGatherBothHandsOnChest_LeanRight | Affirmation | 0 | ||
DoubleLeftHandBump_LeanRight | Enumeration | 1 | ||
DoubleRightHandBump_LeanRight | Enumeration | 1 | ||
GoToStance_Enumeration_Center | Enumeration | 1 | ||
GoToStance_Enumeration_LeanRight | Enumeration | 1 | ||
LeftArmBump_LeanRight | Enumeration | 1 | ||
LeftArmSpreadAndBack | Enumeration | 1 | ||
LittleFancyBothArmsInFront | Enumeration | 1 | ||
OfferLeftHandThenRightHand | Enumeration | 1 | ||
OpenBothHandsInFrontWithBump | Enumeration | 1 | ||
CircleBothArmsLeaningFront | Exclamation | 1 | ||
FastBothArmsInFront | Exclamation | 1 | ||
GoToStance_Exclamation_Center | Exclamation | 1 | ||
GoToStance_Exclamation_LeanBack | Exclamation | 1 | ||
GoToStance_Exclamation_LeanLeft | Exclamation | 1 | ||
GoToStance_Exclamation_LeanRight | Exclamation | 1 | ||
LeftArmOnChest_LeanRight | Exclamation | 1 | ||
SpreadArms_FlexEnd | Exclamation | 1 | ||
StrongNodArmsUpAndDownLeaningBack | Exclamation | 1 | ||
WideBothArmsCircle_LeanLeft | Exclamation | 1 | ||
BothArmsShowGround_LeanBack | Exclamation | 0 | ||
GoToStance_Exclamation_Flex | Exclamation | 0 | ||
LittleArmsUpAndDownWithBump | Exclamation | 0 | ||
BothArmsUpAndDown_HeadShake | Negation | 1 | ||
DoubleHorizontalBumpRightArm | Negation | 1 | ||
GoToStance_Negation_Center | Negation | 1 | ||
GoToStance_Negation_LeanLeft | Negation | 1 | ||
LittleSpreadRightArm_HeadShake | Negation | 1 | ||
StrongBothArmsUpAndDown_LeanLeft | Negation | 1 | ||
WideHorizontalRightArm_LeanLeft_HeadShake | Negation | 1 | ||
RightArmUpAndDownWithBump_HeadShake | Negation | 0 | ||
FancyRightArmCircle_LeanRight | Question | 1 | ||
GoToStance_Question_Center | Question | 1 | ||
GoToStance_Question_Flex | Question | 1 | ||
GoToStance_Question_LeanFront | Question | 1 | ||
GoToStance_Question_LeanRight | Question | 1 | ||
LittleArmsBump | Question | 1 | ||
LittleArmsBumpInFront_LeanRight | Question | 1 | ||
LittleBowAndSpreadArms | Question | 1 | ||
SlowlyOfferBothHands | Question | 1 | ||
StrongHeadShakeSpreadArms_FlexEnd | Question | 1 | ||
WideSpreakArms_FlexEnd | Question | 1 | ||
BothHandsBumpWithBump | Self&Others | 1 | ||
FastPointAtUserLeftARm | Self&Others | 1 | ||
GoToStance_Self&Others_Center | Self&Others | 1 | ||
GoToStance_Self&Others_Flex | Self&Others | 1 | ||
GoToStance_Self&Others_LeanBack | Self&Others | 1 | ||
GoToStance_Self&Others_LeanFront | Self&Others | 1 | ||
GoToStance_Self&Others_LeanRight | Self&Others | 1 | ||
OpenArmInFrontWithBump | Self&Others | 1 | ||
PointAtSelfRightArm | Self&Others | 1 | ||
PointAtUserBothHands | Self&Others | 1 | ||
StrictPointAtUserRightArm | Self&Others | 1 | ||
WidePointAtUserRIghtArm_LeanRight | Self&Others | 1 | ||
BothArmsBump_LeanRight | Spacetime | 0 | ||
StrongrmsOpen_FlexEnd | Spacetime | 0 | ||
BothArmsBumpInFront | Spacetime | 1 | ||
GoToStance_Space&Time_Center | Spacetime | 1 | ||
GoToStance_Space&Time_LeanLeft | Spacetime | 1 | ||
GoToStance_Space&Time_LeanRight | Spacetime | 1 | ||
PointFromLeftArm_LeanLeft | Spacetime | 1 | ||
ShowFarDistanceLeft | Spacetime | 1 | ||
ShowNearDistanceLeft | Spacetime | 1 | ||
ShowNearDistanceRight | Spacetime | 1 |
...