nao robot - Python To Modify .xar -


i'm working nao robotic system developed aldebaran robotics, trying on fly change values of behaviour file our study. these files stored as: /behaviours/filename.xar

these files have fair amount of code in them, , want able modify values of each motor on fly.

 .... <actuatorcurve name="value" actuator="headpitch" recordable="1" mute="0" unit="-1">     <key frame="15" value="16.9607" />     <key frame="20" value="16.9607" />     <key frame="25" value="16.8198" />     <key frame="30" value="16.9607" />     <key frame="35" value="16.8198" />     <key frame="40" value="16.9607" />     <key frame="45" value="16.8198" />     <key frame="50" value="16.9607" />     <key frame="55" value="16.8198" /> </actuatorcurve> ...

there various other actuatorcurves different motors in shoulders, arms, hands, legs, etc of robot. i'm trying to figure out way in able open file, search , find values in headpitch motor, modify said values, , save file.

i know users here code shown have done far, haven't written yet. i'm in process of trying figure out best way go this.

there possibility of creating multiple files @ 100% head nodding, 110%, etc. time consuming, , takes unnecessary room on robots hard drive.

there's many way that.

what request should like: - open file - parse file using minidom format xml - change - save it

but depending of frequency of changes, it's not idea (cpu consuming).

a better way load/parse/change, instead of saving it, directly send new timeline motion module using motion.angleinterpolationbezier.

other ways export timeline python using "export motion clipboard" use pure python modify timeline arrays, save it, ...


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