def playAnimations(self, duration):
# separate random number for each arm
for arm in self.arm_movements.values():
r = random.random()
fps = False
if duration < 2 and r < arm['probabilities'][0]:
animation, fps = self.pickAnimation(arm, duration)
if 2 <= duration < 4 and r < arm['probabilities'][1]:
animation, fps = self.pickAnimation(arm, duration)
if 4 <= duration and r < arm['probabilities'][2]:
animation, fps = self.pickAnimation(arm, duration)
if fps:
self.play.publish(PlayAnimation(animation, fps))
def cont(self, run_time):
# Publish expression message after some delay once node is started
if (not self.shown) and (run_time > self.start_time + 0.05):
self.shown = True
self.runner.topics['kfanimation'].publish(
PlayAnimation(self.data['animation'], int(self.data['fps'])))