Dancing With Music!

Follow along: Robot Arm Dancing with Music

The program launching process along with parameter settings are all simplified and set up on the Jupyter Notebook Environment.
  • Open the 05_09_music_dance.ipynb Jupyter Notebook.
  • Load Arm_Lib module and register the robot arm as an object.
  • Initialize the sound file.
  • Initialize the starting position of the robot arm.
  • Play the music and the dance at the same time.
(The Jetson Board used for these examples are => Jetson Nano)

  • 05_09_music_dance.ipynb

  • Running the cell code
    Ctrl + Enter

  • To control the robot arm from code, don’t forget to shut down the docker container. See here.

  • Robot arm dance example with an exciting music.

  • Load Arm_Lib module and register the robot arm as an object.

import os
import time
from Arm_Lib import Arm_Device

# Register robot arm object
Arm = Arm_Device()
time.sleep(.1)

  • Move servo to initial position.

# Move servo to initial position.
Arm.Arm_serial_servo_write6(0, 90, 0, 180, 90, 90, 2000)

  • Play the music and the dance at the same time.

os.system('rostopic pub -1 /play_specific std_msgs/String "data: \'/root/scripts/sensor/arm_sounds/music_cari.mp3\'"')
# Servo range : 0~180
Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 1600)
time.sleep(1.61)
Arm.Arm_serial_servo_write6(180, 90, 0, 180, 90, 90, 1600)
time.sleep(1.61)
Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 1600)
time.sleep(1.61)
Arm.Arm_serial_servo_write6(0, 90, 0, 180, 90, 90, 1600)
time.sleep(1.61)
Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 1600)
time.sleep(1.61)
Arm.Arm_serial_servo_write6(180, 90, 0, 180, 90, 90, 1600)
time.sleep(1.61)
Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 1600)
time.sleep(1.61)
Arm.Arm_serial_servo_write6(90, 90, 0, 90, 90, 90, 600)
time.sleep(0.82)
Arm.Arm_serial_servo_write6(90, 90, 0, 180, 90, 90, 600)
time.sleep(0.82)
Arm.Arm_serial_servo_write6(0, 90, 0, 180, 0, 180, 600)
time.sleep(0.82)
Arm.Arm_serial_servo_write6(90, 90, 0, 180, 90, 90, 600)
time.sleep(0.82)
Arm.Arm_serial_servo_write6(180, 90, 0, 180, 180, 180, 600)
time.sleep(0.82)
Arm.Arm_serial_servo_write6(90, 90, 0, 180, 90, 90, 600)
time.sleep(0.82)
Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 600)
time.sleep(0.82)
Arm.Arm_serial_servo_write6(90, 90, 0, 180, 90, 90, 600)
time.sleep(0.82)
Arm.Arm_serial_servo_write6(0, 90, 0, 180, 0, 180, 600)
time.sleep(0.82)
Arm.Arm_serial_servo_write6(90, 90, 0, 180, 90, 90, 600)
time.sleep(0.82)
Arm.Arm_serial_servo_write6(180, 90, 0, 180, 180, 180, 600)
time.sleep(0.82)
Arm.Arm_serial_servo_write6(90, 90, 0, 180, 90, 90, 600)
time.sleep(0.82)
Arm.Arm_serial_servo_write6(180, 90, 0, 180, 180, 180, 600)
time.sleep(0.82)
Arm.Arm_serial_servo_write6(90, 90, 0, 180, 90, 90, 600)
time.sleep(0.82)
Arm.Arm_serial_servo_write6(0, 90, 0, 180, 0, 180, 600)
time.sleep(0.82)
Arm.Arm_serial_servo_write6(90, 90, 0, 180, 90, 90, 600)
time.sleep(0.82)
Arm.Arm_serial_servo_write6(90, 90, 0, 90, 90, 90, 1500)
time.sleep(1.5)
Arm.Arm_serial_servo_write6(90, 90, 0, 90, 90, 180, 500)
time.sleep(1)
os.system('rostopic pub -1 /play_specific std_msgs/String "data: \'stop\'"')