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The emotion_expression service can be used to manipulate common gestures on the Nao into more affective gestures. It will take the neutral gesture in .json format and wanted affect as input and gives the affective gesture as an output.
For the manipulation of neutral gestures into emotion-based gestures, this page will provide an overview of the gestures with evaluation (e.g. stability). Please note that if a gesture is not tested yet, the stability of that gesture is not ensured and do NOT use it for NAO’s safety.
The overview is provided with all gestures out of Choregraph tested on several affects (0 = instable, 1 = stable).
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 | - | ||
StrongrmsOpen_FlexEnd | Spacetime | - | ||
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 |