def __init__(self, motionName = "", speed = 1.0, repeat = 0, repeatBegin = 0, repeatEnd = -1, repeatSpeed = 1.0,
motion = None, blocking = False):
super(Motion, self).__init__()
self._motionName = str(motionName)
self._speed = float(speed)
self._repeat = int(repeat)
self._repeatBegin = int(repeatBegin)
self._repeatEnd = int(repeatEnd)
self._repeatSpeed = float(repeatSpeed)
self._motion = motion
self._blocking = blocking
if self._motion is None:
self._motion = NaoMotionList.find(self._motionName)
if self._speed != 1.0:
self._motion = self._motion.applySpeed(self._speed)
#END if
if self._repeat > 0:
self._motion = self._motion.applyRepeat(self._repeatBegin, self._repeatEnd, self._repeat,
self._repeatSpeed)
#END if
else:
self._motionName = "[Predefined] " + self._motion.name()
def __init__(self, parent):
super(MovementWidget, self).__init__(parent)
self.setTitle("Movement")
self._actionQueue = None
self._nao = None
self._settingStiffness = False
self._cbBehaviors = QtGui.QComboBox()
self._cbBehaviors.setMinimumWidth(120)
self._btnRunBhv = QtGui.QPushButton("Run")
self._btnRunBhv.clicked.connect(self.on_runBehavior_clicked)
layoutBehavior = QtGui.QHBoxLayout()
layoutBehavior.setMargin(0)
layoutBehavior.addWidget(self._cbBehaviors)
layoutBehavior.addWidget(self._btnRunBhv)
self._cbMotions = QtGui.QComboBox()
for i in range(NaoMotionList.length()):
self._cbMotions.addItem(NaoMotionList.get(i).name())
#END for
self._cbMotionSpeed = QtGui.QComboBox()
self._cbMotionSpeed.addItems(["x" + str(value / 100.0) for value in range(10, 501, 10)])
self._cbMotionSpeed.setCurrentIndex(9)
self._btnRunMotion = QtGui.QPushButton("Run")
self._btnRunMotion.clicked.connect(self.on_runMotion_clicked)
layoutMotionList = QtGui.QHBoxLayout()
layoutMotionList.setMargin(0)
layoutMotionList.addWidget(self._cbMotions)
layoutMotionList.addWidget(self._cbMotionSpeed)
layoutMotionList.addWidget(self._btnRunMotion)
self._cbMotionRepeatCount = QtGui.QComboBox()
self._cbMotionRepeatCount.addItems([str(value) for value in range(26)])
self._cbMotionRepeatSpeed = QtGui.QComboBox()
self._cbMotionRepeatSpeed.addItems(["x" + str(value / 100.0) for value in range(10, 501, 10)])
self._cbMotionRepeatSpeed.setCurrentIndex(9)
self._cbMotionRepeatBegin = QtGui.QComboBox()
self._cbMotionRepeatBegin.addItems([str(value) for value in range(100)])
self._cbMotionRepeatEnd = QtGui.QComboBox()
self._cbMotionRepeatEnd.addItems([str(value) for value in range(100)])
layoutMotionRepeat1 = QtGui.QHBoxLayout()
layoutMotionRepeat1.setMargin(0)
layoutMotionRepeat1.addWidget(QtGui.QLabel("Repeat "))
layoutMotionRepeat1.addWidget(self._cbMotionRepeatCount)
layoutMotionRepeat1.addWidget(QtGui.QLabel("times "))
layoutMotionRepeat1.addWidget(self._cbMotionRepeatSpeed)
layoutMotionRepeat2 = QtGui.QHBoxLayout()
layoutMotionRepeat2.setMargin(0)
layoutMotionRepeat2.addWidget(QtGui.QLabel("frame(s) from"))
layoutMotionRepeat2.addWidget(self._cbMotionRepeatBegin)
layoutMotionRepeat2.addWidget(QtGui.QLabel(" to"))
layoutMotionRepeat2.addWidget(self._cbMotionRepeatEnd)
layoutMotion = QtGui.QVBoxLayout()
layoutMotion.setMargin(0)
layoutMotion.addLayout(layoutMotionList)
layoutMotion.addLayout(layoutMotionRepeat1)
layoutMotion.addLayout(layoutMotionRepeat2)
layoutControl = QtGui.QVBoxLayout()
layoutControl.setMargin(0)
layoutControl.addLayout(layoutBehavior)
layoutControl.addLayout(layoutMotion)
self._lStiffness = QtGui.QLabel("Stiffness")
self._lStiffness.setSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Preferred)
self._sldStiffness = QtGui.QSlider(QtCore.Qt.Vertical)
self._sldStiffness.setPageStep(5)
self._sldStiffness.setRange(0, 100)
self._sldStiffness.setSingleStep(1)
self._sldStiffness.setValue(0)
self._sldStiffness.valueChanged.connect(self.on_sldStiffness_valueChanged)
self._lStiffnessValue = QtGui.QLabel(str(self._sldStiffness.value()))
self._lStiffnessValue.setSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Preferred)
layoutStiffness = QtGui.QVBoxLayout()
layoutStiffness.setMargin(0)
layoutStiffness.addWidget(self._lStiffness, 0, QtCore.Qt.AlignTop | QtCore.Qt.AlignHCenter)
layoutStiffness.addWidget(self._sldStiffness, 0, QtCore.Qt.AlignHCenter)
layoutStiffness.addWidget(self._lStiffnessValue, 0, QtCore.Qt.AlignBottom | QtCore.Qt.AlignHCenter)
layoutMain = QtGui.QHBoxLayout(self)
layoutMain.addLayout(layoutControl)
layoutMain.addLayout(layoutStiffness)
def initialize():
# The number in front of motion name refers jitter level.
# If the level is 0, it should be normal.
MotionList._motions["0_Idle0"] = NaoMotionList.find("Idle0").applySpeed(3.5)
MotionList._motions["1_Idle0"] = NaoMotionList.find("Idle0").applySpeed(5.0)
MotionList._motions["2_Idle0"] = NaoMotionList.find("Idle0").applySpeed(5.0).applyRepeat(1, 2, repeats = 2, repeatSpeed = 5.0)
MotionList._motions["3_Idle0"] = NaoMotionList.find("Idle0").applySpeed(5.0).applyRepeat(1, 2, repeats = 2, repeatSpeed = 10.0)
MotionList._motions["0_Idle1"] = NaoMotionList.find("Idle1").applySpeed(3.5)
MotionList._motions["1_Idle1"] = NaoMotionList.find("Idle1").applySpeed(5.0)
MotionList._motions["2_Idle1"] = NaoMotionList.find("Idle1").applySpeed(5.0).applyRepeat(1, 2, repeats = 2, repeatSpeed = 5.0)
MotionList._motions["3_Idle1"] = NaoMotionList.find("Idle1").applySpeed(5.0).applyRepeat(1, 2, repeats = 2, repeatSpeed = 10.0)
MotionList._motions["0_Idle2"] = NaoMotionList.find("Idle2").applySpeed(3.5)
MotionList._motions["1_Idle2"] = NaoMotionList.find("Idle2").applySpeed(5.0)
MotionList._motions["2_Idle2"] = NaoMotionList.find("Idle2").applySpeed(5.0).applyRepeat(1, 2, repeats = 2, repeatSpeed = 5.0)
MotionList._motions["3_Idle2"] = NaoMotionList.find("Idle2").applySpeed(5.0).applyRepeat(1, 2, repeats = 2, repeatSpeed = 10.0)
MotionList._motions["0_Idle3"] = NaoMotionList.find("Idle3").applySpeed(1.0)
#MotionList._motions["1_Idle3"] = NaoMotionList.find("Idle3").applySpeed(1.0).applyRepeat(2, 3, repeats = 3, repeatSpeed = 2.0)
#MotionList._motions["2_Idle3"] = NaoMotionList.find("Idle3").applySpeed(1.0).applyRepeat(3, 4, repeats = 4, repeatSpeed = 4.2)
MotionList._motions["1_Idle3"] = NaoMotionList.find("Idle3").applySpeed(1.0).applyRepeat(3, 6, repeats = 4, repeatSpeed = 4.2)
MotionList._motions["2_Idle3"] = NaoMotionList.find("Idle3").applySpeed(1.3).applyRepeat(3, 6, repeats = 6, repeatSpeed = 5.0)
MotionList._motions["3_Idle3"] = NaoMotionList.find("Idle3").applySpeed(1.6).applyRepeat(1, 5, repeats = 4, repeatSpeed = 4.0)
MotionList._motions["0_Idle5"] = NaoMotionList.find("Idle5").applySpeed(1.0)
#MotionList._motions["1_Idle5"] = NaoMotionList.find("Idle5").applySpeed(1.0).applyRepeat(2, 3, repeats = 3, repeatSpeed = 2.0)
#MotionList._motions["2_Idle5"] = NaoMotionList.find("Idle5").applySpeed(1.0).applyRepeat(3, 4, repeats = 4, repeatSpeed = 4.2)
MotionList._motions["1_Idle5"] = NaoMotionList.find("Idle5").applySpeed(1.0).applyRepeat(3, 6, repeats = 4, repeatSpeed = 4.2)
MotionList._motions["2_Idle5"] = NaoMotionList.find("Idle5").applySpeed(1.3).applyRepeat(3, 6, repeats = 6, repeatSpeed = 5.0)
MotionList._motions["3_Idle5"] = NaoMotionList.find("Idle5").applySpeed(1.6).applyRepeat(1, 5, repeats = 4, repeatSpeed = 4.0)
MotionList._motions["0_Idle6"] = NaoMotionList.find("Idle6").applySpeed(1.0)
#MotionList._motions["1_Idle6"] = NaoMotionList.find("Idle6").applySpeed(1.0).applyRepeat(2, 3, repeats = 3, repeatSpeed = 2.0)
#MotionList._motions["2_Idle6"] = NaoMotionList.find("Idle6").applySpeed(1.0).applyRepeat(3, 4, repeats = 4, repeatSpeed = 4.2)
MotionList._motions["1_Idle6"] = NaoMotionList.find("Idle6").applySpeed(1.0).applyRepeat(3, 6, repeats = 4, repeatSpeed = 4.2)
MotionList._motions["2_Idle6"] = NaoMotionList.find("Idle6").applySpeed(1.3).applyRepeat(3, 6, repeats = 6, repeatSpeed = 5.0)
MotionList._motions["3_Idle6"] = NaoMotionList.find("Idle6").applySpeed(1.6).applyRepeat(1, 5, repeats = 4, repeatSpeed = 4.0)
MotionList._motions["0_Disagree"] = NaoMotionList.find("Disagree").applySpeed(1.3)
#MotionList._motions["1_Disagree"] = NaoMotionList.find("Disagree").applySpeed(1.4).applyRepeat(1, 3, repeats = 3, repeatSpeed = 1.7)
MotionList._motions["1_Disagree"] = NaoMotionList.find("Disagree").applySpeed(1.4).applyRepeat(1, 3, repeats = 3, repeatSpeed = 2.4)
#MotionList._motions["3_Disagree"] = NaoMotionList.find("Disagree").applySpeed(1.4).applyRepeat(0, 3, repeats = 4, repeatSpeed = 3.2)
MotionList._motions["2_Disagree"] = NaoMotionList.find("Disagree").applySpeed(1.5).applyRepeat(0, 3, repeats = 4, repeatSpeed = 4.0)
MotionList._motions["3_Disagree"] = NaoMotionList.find("Disagree").applySpeed(1.7).applyRepeat(0, 3, repeats = 5, repeatSpeed = 4.5)
MotionList._motions["0_DisagreeLeft"] = NaoMotionList.find("DisagreeLeft").applySpeed(1.3)
#MotionList._motions["1_DisagreeLeft"] = NaoMotionList.find("DisagreeLeft").applySpeed(1.4).applyRepeat(1, 3, repeats = 3, repeatSpeed = 1.7)
MotionList._motions["1_DisagreeLeft"] = NaoMotionList.find("DisagreeLeft").applySpeed(1.4).applyRepeat(1, 3, repeats = 3, repeatSpeed = 2.4)
#MotionList._motions["3_DisagreeLeft"] = NaoMotionList.find("DisagreeLeft").applySpeed(1.4).applyRepeat(0, 3, repeats = 4, repeatSpeed = 3.2)
MotionList._motions["2_DisagreeLeft"] = NaoMotionList.find("DisagreeLeft").applySpeed(1.5).applyRepeat(0, 3, repeats = 4, repeatSpeed = 4.0)
MotionList._motions["3_DisagreeLeft"] = NaoMotionList.find("DisagreeLeft").applySpeed(1.7).applyRepeat(0, 3, repeats = 5, repeatSpeed = 4.5)
MotionList._motions["0_DisagreeRight"] = NaoMotionList.find("DisagreeRight").applySpeed(1.3)
#MotionList._motions["1_DisagreeRight"] = NaoMotionList.find("DisagreeRight").applySpeed(1.4).applyRepeat(1, 3, repeats = 3, repeatSpeed = 1.7)
MotionList._motions["1_DisagreeRight"] = NaoMotionList.find("DisagreeRight").applySpeed(1.4).applyRepeat(1, 3, repeats = 3, repeatSpeed = 2.4)
#MotionList._motions["3_DisagreeRight"] = NaoMotionList.find("DisagreeRight").applySpeed(1.4).applyRepeat(0, 3, repeats = 4, repeatSpeed = 3.2)
MotionList._motions["2_DisagreeRight"] = NaoMotionList.find("DisagreeRight").applySpeed(1.5).applyRepeat(0, 3, repeats = 4, repeatSpeed = 4.0)
MotionList._motions["3_DisagreeRight"] = NaoMotionList.find("DisagreeRight").applySpeed(1.7).applyRepeat(0, 3, repeats = 5, repeatSpeed = 4.5)
MotionList._motions["0_DontKnow"] = NaoMotionList.find("DontKnow").applySpeed(2.0)
#MotionList._motions["1_DontKnow"] = NaoMotionList.find("DontKnow").applySpeed(2.0).applyRepeat(5, 6, repeats = 3, repeatSpeed = 1.5)
MotionList._motions["1_DontKnow"] = NaoMotionList.find("DontKnow").applySpeed(2.1).applyRepeat(5, 6, repeats = 4, repeatSpeed = 3.0)
#MotionList._motions["3_DontKnow"] = NaoMotionList.find("DontKnow").applySpeed(2.1).applyRepeat(4, 6, repeats = 4, repeatSpeed = 3.0)
MotionList._motions["2_DontKnow"] = NaoMotionList.find("DontKnow").applySpeed(2.1).applyRepeat(3, 5, repeats = 5, repeatSpeed = 4.0)
MotionList._motions["3_DontKnow"] = NaoMotionList.find("DontKnow").applySpeed(2.2).applyRepeat(3, 6, repeats = 5, repeatSpeed = 5.0)
MotionList._motions["0_DontKnowLeft"] = NaoMotionList.find("DontKnowLeft").applySpeed(1.5)
#MotionList._motions["1_DontKnowLeft"] = NaoMotionList.find("DontKnowLeft").applySpeed(1.5).applyRepeat(5, 6, repeats = 3, repeatSpeed = 1.5)
MotionList._motions["1_DontKnowLeft"] = NaoMotionList.find("DontKnowLeft").applySpeed(1.6).applyRepeat(5, 6, repeats = 4, repeatSpeed = 3.0)
#MotionList._motions["3_DontKnowLeft"] = NaoMotionList.find("DontKnowLeft").applySpeed(1.6).applyRepeat(4, 6, repeats = 4, repeatSpeed = 3.0)
MotionList._motions["2_DontKnowLeft"] = NaoMotionList.find("DontKnowLeft").applySpeed(1.6).applyRepeat(3, 5, repeats = 5, repeatSpeed = 4.0)
MotionList._motions["3_DontKnowLeft"] = NaoMotionList.find("DontKnowLeft").applySpeed(1.7).applyRepeat(3, 6, repeats = 5, repeatSpeed = 5.0)
MotionList._motions["0_DontKnowRight"] = NaoMotionList.find("DontKnowRight").applySpeed(1.5)
#MotionList._motions["1_DontKnowRight"] = NaoMotionList.find("DontKnowRight").applySpeed(1.5).applyRepeat(5, 6, repeats = 3, repeatSpeed = 1.5)
MotionList._motions["1_DontKnowRight"] = NaoMotionList.find("DontKnowRight").applySpeed(1.6).applyRepeat(5, 6, repeats = 4, repeatSpeed = 3.0)
#MotionList._motions["3_DontKnowRight"] = NaoMotionList.find("DontKnowRight").applySpeed(1.6).applyRepeat(4, 6, repeats = 4, repeatSpeed = 3.0)
MotionList._motions["2_DontKnowRight"] = NaoMotionList.find("DontKnowRight").applySpeed(1.6).applyRepeat(3, 5, repeats = 5, repeatSpeed = 4.0)
MotionList._motions["3_DontKnowRight"] = NaoMotionList.find("DontKnowRight").applySpeed(1.7).applyRepeat(3, 6, repeats = 5, repeatSpeed = 5.0)
MotionList._motions["0_Wait"] = NaoMotionList.find("Wait").applySpeed(1.5)
MotionList._motions["0_WaveHandLeft"] = NaoMotionList.find("WaveHandLeft").applySpeed(1.25)
MotionList._motions["0_WaveHandRight"] = NaoMotionList.find("WaveHandRight").applySpeed(1.25)
MotionList._motions["0_ForgetItLeft"] = NaoMotionList.find("ForgetItLeft").applySpeed(1.9)
#MotionList._motions["1_ForgetItLeft"] = NaoMotionList.find("ForgetItLeft").applySpeed(2.0).applyRepeat(6, 7, repeats = 3, repeatSpeed = 2.0)
MotionList._motions["1_ForgetItLeft"] = NaoMotionList.find("ForgetItLeft").applySpeed(2.0).applyRepeat(6, 7, repeats = 3, repeatSpeed = 3.0)
#MotionList._motions["3_ForgetItLeft"] = NaoMotionList.find("ForgetItLeft").applySpeed(2.0).applyRepeat(6, 8, repeats = 3, repeatSpeed = 2.6)
MotionList._motions["2_ForgetItLeft"] = NaoMotionList.find("ForgetItLeft").applySpeed(2.0).applyRepeat(6, 8, repeats = 3, repeatSpeed = 3.5)
MotionList._motions["3_ForgetItLeft"] = NaoMotionList.find("ForgetItLeft").applySpeed(2.2).applyRepeat(5, 8, repeats = 3, repeatSpeed = 5.0)
MotionList._motions["0_ForgetItRight"] = NaoMotionList.find("ForgetItRight").applySpeed(1.9)
#MotionList._motions["1_ForgetItRight"] = NaoMotionList.find("ForgetItRight").applySpeed(2.0).applyRepeat(6, 7, repeats = 3, repeatSpeed = 2.0)
MotionList._motions["1_ForgetItRight"] = NaoMotionList.find("ForgetItRight").applySpeed(2.0).applyRepeat(6, 7, repeats = 3, repeatSpeed = 3.0)
#MotionList._motions["3_ForgetItRight"] = NaoMotionList.find("ForgetItRight").applySpeed(2.0).applyRepeat(6, 8, repeats = 3, repeatSpeed = 2.6)
MotionList._motions["2_ForgetItRight"] = NaoMotionList.find("ForgetItRight").applySpeed(2.0).applyRepeat(6, 8, repeats = 3, repeatSpeed = 3.5)
MotionList._motions["3_ForgetItRight"] = NaoMotionList.find("ForgetItRight").applySpeed(2.2).applyRepeat(5, 8, repeats = 3, repeatSpeed = 5.0)
MotionList._motions["0_OhYesLeft"] = NaoMotionList.find("OhYesLeft").applySpeed(1.8)
MotionList._motions["0_OhYesRight"] = NaoMotionList.find("OhYesRight").applySpeed(1.8)
MotionList._motions["0_PalmUp"] = NaoMotionList.find("PalmUp").applySpeed(1.7)
#MotionList._motions["1_PalmUp"] = NaoMotionList.find("PalmUp").applySpeed(1.7).applyRepeat(2, 3, repeats = 3, repeatSpeed = 2.4)
MotionList._motions["1_PalmUp"] = NaoMotionList.find("PalmUp").applySpeed(1.7).applyRepeat(2, 3, repeats = 3, repeatSpeed = 3.6)
#MotionList._motions["3_PalmUp"] = NaoMotionList.find("PalmUp").applySpeed(1.8).applyRepeat(3, 4, repeats = 4, repeatSpeed = 4.0)
MotionList._motions["2_PalmUp"] = NaoMotionList.find("PalmUp").applySpeed(1.8).applyRepeat(2, 4, repeats = 3, repeatSpeed = 4.0)
MotionList._motions["3_PalmUp"] = NaoMotionList.find("PalmUp").applySpeed(1.8).applyRepeat(2, 4, repeats = 5, repeatSpeed = 5.0)
MotionList._motions["0_PalmUpLeft"] = NaoMotionList.find("PalmUpLeft").applySpeed(1.7)
#MotionList._motions["1_PalmUpLeft"] = NaoMotionList.find("PalmUpLeft").applySpeed(1.7).applyRepeat(2, 3, repeats = 3, repeatSpeed = 2.4)
MotionList._motions["1_PalmUpLeft"] = NaoMotionList.find("PalmUpLeft").applySpeed(1.7).applyRepeat(2, 3, repeats = 3, repeatSpeed = 3.6)
#MotionList._motions["3_PalmUpLeft"] = NaoMotionList.find("PalmUpLeft").applySpeed(1.8).applyRepeat(3, 4, repeats = 4, repeatSpeed = 4.0)
MotionList._motions["2_PalmUpLeft"] = NaoMotionList.find("PalmUpLeft").applySpeed(1.8).applyRepeat(2, 4, repeats = 3, repeatSpeed = 4.0)
MotionList._motions["3_PalmUpLeft"] = NaoMotionList.find("PalmUpLeft").applySpeed(1.8).applyRepeat(2, 4, repeats = 5, repeatSpeed = 5.0)
MotionList._motions["0_PalmUpRight"] = NaoMotionList.find("PalmUpRight").applySpeed(1.7)
#MotionList._motions["1_PalmUpRight"] = NaoMotionList.find("PalmUpRight").applySpeed(1.7).applyRepeat(2, 3, repeats = 3, repeatSpeed = 2.4)
MotionList._motions["1_PalmUpRight"] = NaoMotionList.find("PalmUpRight").applySpeed(1.7).applyRepeat(2, 3, repeats = 3, repeatSpeed = 3.6)
#MotionList._motions["3_PalmUpRight"] = NaoMotionList.find("PalmUpRight").applySpeed(1.8).applyRepeat(3, 4, repeats = 4, repeatSpeed = 4.0)
MotionList._motions["2_PalmUpRight"] = NaoMotionList.find("PalmUpRight").applySpeed(1.8).applyRepeat(2, 4, repeats = 3, repeatSpeed = 4.0)
MotionList._motions["3_PalmUpRight"] = NaoMotionList.find("PalmUpRight").applySpeed(1.8).applyRepeat(2, 4, repeats = 5, repeatSpeed = 5.0)
MotionList._motions["0_PointMyself"] = NaoMotionList.find("PointMyself").applySpeed(2.0)
#MotionList._motions["1_PointMyself"] = NaoMotionList.find("PointMyself").applySpeed(2.0).applyRepeat(1, 3, repeats = 3, repeatSpeed = 1.7)
MotionList._motions["1_PointMyself"] = NaoMotionList.find("PointMyself").applySpeed(2.0).applyRepeat(1, 3, repeats = 3, repeatSpeed = 2.4)
#MotionList._motions["3_PointMyself"] = NaoMotionList.find("PointMyself").applySpeed(2.0).applyRepeat(0, 3, repeats = 3, repeatSpeed = 2.9)
MotionList._motions["2_PointMyself"] = NaoMotionList.find("PointMyself").applySpeed(2.0).applyRepeat(0, 3, repeats = 3, repeatSpeed = 4.0)
MotionList._motions["3_PointMyself"] = NaoMotionList.find("PointMyself").applySpeed(2.1).applyRepeat(0, 4, repeats = 4, repeatSpeed = 5.0)
MotionList._motions["0_PointMyselfLeft"] = NaoMotionList.find("PointMyselfLeft").applySpeed(2.0)
#MotionList._motions["1_PointMyselfLeft"] = NaoMotionList.find("PointMyselfLeft").applySpeed(2.0).applyRepeat(1, 3, repeats = 3, repeatSpeed = 1.7)
MotionList._motions["1_PointMyselfLeft"] = NaoMotionList.find("PointMyselfLeft").applySpeed(2.0).applyRepeat(1, 3, repeats = 3, repeatSpeed = 2.4)
#MotionList._motions["3_PointMyselfLeft"] = NaoMotionList.find("PointMyselfLeft").applySpeed(2.0).applyRepeat(0, 3, repeats = 3, repeatSpeed = 2.9)
MotionList._motions["2_PointMyselfLeft"] = NaoMotionList.find("PointMyselfLeft").applySpeed(2.0).applyRepeat(0, 3, repeats = 3, repeatSpeed = 4.0)
MotionList._motions["3_PointMyselfLeft"] = NaoMotionList.find("PointMyselfLeft").applySpeed(2.1).applyRepeat(0, 4, repeats = 4, repeatSpeed = 5.0)
MotionList._motions["0_PointMyselfRight"] = NaoMotionList.find("PointMyselfRight").applySpeed(2.0)
#MotionList._motions["1_PointMyselfRight"] = NaoMotionList.find("PointMyselfRight").applySpeed(2.0).applyRepeat(1, 3, repeats = 3, repeatSpeed = 1.7)
MotionList._motions["1_PointMyselfRight"] = NaoMotionList.find("PointMyselfRight").applySpeed(2.0).applyRepeat(1, 3, repeats = 3, repeatSpeed = 2.4)
#MotionList._motions["3_PointMyselfRight"] = NaoMotionList.find("PointMyselfRight").applySpeed(2.0).applyRepeat(0, 3, repeats = 3, repeatSpeed = 2.9)
MotionList._motions["2_PointMyselfRight"] = NaoMotionList.find("PointMyselfRight").applySpeed(2.0).applyRepeat(0, 3, repeats = 3, repeatSpeed = 4.0)
MotionList._motions["3_PointMyselfRight"] = NaoMotionList.find("PointMyselfRight").applySpeed(2.1).applyRepeat(0, 4, repeats = 4, repeatSpeed = 5.0)
MotionList._motions["0_PointYou"] = NaoMotionList.find("PointYou").applySpeed(1.8)
#MotionList._motions["1_PointYou"] = NaoMotionList.find("PointYou").applySpeed(1.8).applyRepeat(4, 7, repeats = 3, repeatSpeed = 2.2)
MotionList._motions["1_PointYou"] = NaoMotionList.find("PointYou").applySpeed(2.0).applyRepeat(4, 7, repeats = 4, repeatSpeed = 2.7)
#MotionList._motions["3_PointYou"] = NaoMotionList.find("PointYou").applySpeed(2.0).applyRepeat(3, 6, repeats = 4, repeatSpeed = 3.4)
MotionList._motions["2_PointYou"] = NaoMotionList.find("PointYou").applySpeed(2.1).applyRepeat(3, 7, repeats = 4, repeatSpeed = 4.2)
MotionList._motions["3_PointYou"] = NaoMotionList.find("PointYou").applySpeed(2.3).applyRepeat(3, 7, repeats = 4, repeatSpeed = 5.0)
MotionList._motions["0_PointYouLeft"] = NaoMotionList.find("PointYouLeft").applySpeed(1.8)
#MotionList._motions["1_PointYouLeft"] = NaoMotionList.find("PointYouLeft").applySpeed(1.8).applyRepeat(4, 7, repeats = 3, repeatSpeed = 2.2)
MotionList._motions["1_PointYouLeft"] = NaoMotionList.find("PointYouLeft").applySpeed(2.0).applyRepeat(4, 7, repeats = 4, repeatSpeed = 2.7)
#MotionList._motions["3_PointYouLeft"] = NaoMotionList.find("PointYouLeft").applySpeed(2.0).applyRepeat(3, 6, repeats = 4, repeatSpeed = 3.4)
MotionList._motions["2_PointYouLeft"] = NaoMotionList.find("PointYouLeft").applySpeed(2.1).applyRepeat(3, 7, repeats = 4, repeatSpeed = 4.2)
MotionList._motions["3_PointYouLeft"] = NaoMotionList.find("PointYouLeft").applySpeed(2.3).applyRepeat(3, 7, repeats = 4, repeatSpeed = 5.0)
MotionList._motions["0_PointYouRight"] = NaoMotionList.find("PointYouRight").applySpeed(1.8)
#MotionList._motions["1_PointYouRight"] = NaoMotionList.find("PointYouRight").applySpeed(1.8).applyRepeat(4, 7, repeats = 3, repeatSpeed = 2.2)
MotionList._motions["1_PointYouRight"] = NaoMotionList.find("PointYouRight").applySpeed(2.0).applyRepeat(4, 7, repeats = 4, repeatSpeed = 2.7)
#MotionList._motions["3_PointYouRight"] = NaoMotionList.find("PointYouRight").applySpeed(2.0).applyRepeat(3, 6, repeats = 4, repeatSpeed = 3.4)
MotionList._motions["2_PointYouRight"] = NaoMotionList.find("PointYouRight").applySpeed(2.1).applyRepeat(3, 7, repeats = 4, repeatSpeed = 4.2)
MotionList._motions["3_PointYouRight"] = NaoMotionList.find("PointYouRight").applySpeed(2.3).applyRepeat(3, 7, repeats = 4, repeatSpeed = 5.0)
MotionList._motions["0_ChinHoldLeft"] = NaoMotionList.find("ChinHoldLeft").applySpeed(1.5)
#MotionList._motions["1_ChinHoldLeft"] = NaoMotionList.find("ChinHoldLeft").applySpeed(1.5).applyRepeat(3, 5, repeats = 3, repeatSpeed = 1.9)
MotionList._motions["1_ChinHoldLeft"] = NaoMotionList.find("ChinHoldLeft").applySpeed(1.5).applyRepeat(2, 5, repeats = 3, repeatSpeed = 2.5)
#MotionList._motions["3_ChinHoldLeft"] = NaoMotionList.find("ChinHoldLeft").applySpeed(1.6).applyRepeat(2, 5, repeats = 3, repeatSpeed = 3.2)
MotionList._motions["2_ChinHoldLeft"] = NaoMotionList.find("ChinHoldLeft").applySpeed(1.7).applyRepeat(2, 5, repeats = 4, repeatSpeed = 4.0)
MotionList._motions["3_ChinHoldLeft"] = NaoMotionList.find("ChinHoldLeft").applySpeed(1.8).applyRepeat(1, 5, repeats = 3, repeatSpeed = 5.0)
MotionList._motions["0_ChinHoldRight"] = NaoMotionList.find("ChinHoldRight").applySpeed(1.5)
#MotionList._motions["1_ChinHoldRight"] = NaoMotionList.find("ChinHoldRight").applySpeed(1.5).applyRepeat(3, 5, repeats = 3, repeatSpeed = 1.9)
MotionList._motions["1_ChinHoldRight"] = NaoMotionList.find("ChinHoldRight").applySpeed(1.5).applyRepeat(2, 5, repeats = 3, repeatSpeed = 2.5)
#MotionList._motions["3_ChinHoldRight"] = NaoMotionList.find("ChinHoldRight").applySpeed(1.6).applyRepeat(2, 5, repeats = 3, repeatSpeed = 3.2)
MotionList._motions["2_ChinHoldRight"] = NaoMotionList.find("ChinHoldRight").applySpeed(1.7).applyRepeat(2, 5, repeats = 4, repeatSpeed = 4.0)
MotionList._motions["3_ChinHoldRight"] = NaoMotionList.find("ChinHoldRight").applySpeed(1.8).applyRepeat(1, 5, repeats = 3, repeatSpeed = 5.0)
MotionList._motions["0_WhisperLeft"] = NaoMotionList.find("WhisperLeft").applySpeed(2.5)
MotionList._motions["3_WhisperLeft"] = NaoMotionList.find("WhisperLeft").applySpeed(2.5).applyRepeat(10, 12, repeats = 10, repeatSpeed = 2.0)
MotionList._motions["0_WhisperRight"] = NaoMotionList.find("WhisperRight").applySpeed(2.5)
MotionList._motions["3_WhisperRight"] = NaoMotionList.find("WhisperRight").applySpeed(2.5).applyRepeat(10, 12, repeats = 10, repeatSpeed = 2.0)