Unable to add overlay functions from Lua

[cesarvandevelde]

Overlay functions cannot be added to a DOF's overlay list from Lua. Attempting to do so results in attribute errors. Mapping between lua<->python objects is at cause here. A potential workaround is to add add_overlay() and remove_overlay() methods to DOF and Expression classes...

Example Lua script:

function my_overlay(dofpos, dof)
    if UI:is_key_pressed("space") then
        return -0.5
    else
        return dofpos
    end
end

function setup()
  -- Called once, when the script is started
  UI:init()
  UI:add_key("up")
  UI:add_key("down")
  UI:add_key("space")

  Hardware:servo_init()
  Hardware:servo_neutral()

  Expression.dofs["r_e_lid"].overlays:append(my_overlay)

  Expression:set_emotion_val_ar(0.0, 0.0)
  Expression.update()

  Hardware:servo_enable()
end

function loop()
  -- Called repeatedly, put your main program here
  if rising_edge("up", UI:is_key_pressed("up")) then
    print("up")
    Expression:set_emotion_r_phi(1.0, 30, true, 1.5)
  end

  if rising_edge("down", UI:is_key_pressed("down")) then
    print("down")
    Expression:set_emotion_r_phi(1.0, 200, true, 1.5)
  end

  Expression.update()
end

function quit()
  -- Called when the script is stopped
  Hardware:servo_disable()
end