static void Main(string[] args) { Dictionary<string, string> actions = new Dictionary<string, string>(); actions["raise the roof"] = "raisetheroof"; actions["walk forward"] = "walkforward"; actions["walk left"] = "walkleft"; actions["wave right"] = "waveright"; actions["wave left"] = "waveleft"; string filename = "Z:/dev/kinect-nao/recordings/"; ActionLibrary lib = new ActionLibrary(); foreach (string actionName in actions.Keys) { List<HumanSkeleton> seq = new List<HumanSkeleton>(); using (StreamReader s = new StreamReader(filename + actions[actionName] + "/" + actionName + "1.rec")) { while (!s.EndOfStream) { seq.Add(new HumanSkeleton(s.ReadLine())); } } //List<float[]> naoSeq = new List<float[]>(); ActionSequence<NaoSkeleton> naoSeq = new ActionSequence<NaoSkeleton>(); foreach (HumanSkeleton h in seq) { AngleConverter ac = new AngleConverter(h); naoSeq.append(ac.getNaoSkeleton()); //naoSeq.Add(ac.getAngles()); } lib.appendToCache(naoSeq); lib.setCachedName(actionName); lib.saveCache(); //bool isJointAction = true; // false if is a walking action //ExecuteOnNao(naoSeq, isJointAction); } lib.save(MainController.ACTION_LIB_PATH); }