Merge branch 'robot_in_the_loop' of https://github.com/aandriella/carf into robot_in_the_loop

README.md

-# carf
+# CARESSER: aCtive leARning agEnt aSsiStive bEhaviouR
+
+#### "Introducing CARESSER: a Framework for in Situ Learning Robot Social Assistance from Expert Knowledge and Demonstrations" [Website link](http://www.iri.upc.edu/groups/perception/#CARESSER)
+
+##### Authors: Antonio Andriella, Carme Torras, Carla Abdelnour and Guillem Alenyà
+
+
+#### Packages:
+- [CARESSER (Personalised Robot-Assisted Cognitive Training)](https://github.com/aandriella/CARESSER)
+The main package in change of generating the exercise and managing the interactions between the patients and the therapist (either human or robot). It has two branches:
+-- caregiver_in_the_loop: the therapist is the human
+-- robot_in_the_loop: the therapist is the robot
+- [Bayesian Network Generative Model](https://github.com/aandriella/BN_GenerativeModel)
+This package generates two bayesian models by combining the data collected from the interactions between the therapist and the patient and the therapist's expertise (from questionnaire).
+- [Robot Behaviour](https://github.com/aandriella/robot_behaviour)
+This package defines the TIAGo behaviours (SPEECH, GESTURE and FACIAL EXPRESSIONS)
+- [Board State](https://github.com/aandriella/board_state)
+This package provides the positions of the tokens on the board (RFID + ARDUINO)
+- [Robot Face Visalizer](https://github.com/aandriella/robot_face_visualizer)
+This package reproduces on a screen some facial expressions 
+- [Robot Facial Expression](https://github.com/aandriella/robot_facial_expression)
+This pakage generates the facial expressions using OpenCV, it is based on previous work from  Bilgehan NAL  on the Baxter robot ( [git Repo](git@github.com:bilgehannal/baxter_face_software.git))
+- [MaxEntRL](https://github.com/aandriella/MaxEntRL)
+This package generates the robot's policy by the data provided by the GOAL simulator
+The IRL code is based on the work of [ Maximilian Luz](https://github.com/qzed/irl-maxent).
+- [Generative mOdel Agent simuLation (GOAL)](https://github.com/aandriella/GOAL)
+This package generates syntetic data by using the GOAL simulator. Two BNs are built one which models the therapist (human and robotic) and the other which models the patient.
+In implements the simulator which 
+The BNs are built by gathering data from real interactions and therapist's expertise on the patient cognitive abilities.
+
+#### Package:
+- **launch** contains the launch file which run the entire framework. It contains also all the pre-recorded actions of assistance provided by the robot (only possible to use with the TIAGo)
+- **sounds** sounds emitted by the board when a token has been moved. Also timeout and max attempt sounds
+- **scripts** it contains:
+-- the main class main.py which runs the entire framework and manage the human-robot interactions. 
+-- cognitive_game.py defines the type of exercise and manage all the events related to the exercise 
+-- rfid_board.py reads from a topic the state of the board and catch any events happening on the board
+
+##### NOTE:
+The code is platform-dependent. In order to run this code you need to have a RFID board and a TIAGo robot.
+
+
+### USAGE
+
+``` 
+ roslaunch CARESSER bring_up.launch 
+ --language en_GB --config_path "$(path/to/sentences/folder)" --user_id 1 --session_id 1 --objective "descending" --with_feedback True --timeout 15  
+```
+##### where:
+- language is the language supported by the TIAGo
+- config_path is the folder with the scripted sentences
+- user_id is the is assigned to the user 
+- session_id is the id of the session objective is the type of exercise (e.g "ascending", "descending", "ascending_odd", etc ...) 
+- with_feedback is if we use [SOCIABLE](http://www.iri.upc.edu/files/scidoc/2353-Discovering-SOCIABLE:-Using-a-conceptual-model-to-evaluate-the-legibility-and-effectiveness-of-backchannel-cues-in-an-entertainment-scenario.pdf) 
+- timeout is the waiting time before providing the user with assistance again if they do not make any move.