diff --git a/src/robot_behaviour/robot_reproducer.py b/src/robot_behaviour/robot_reproducer.py
index 69937d5ebca89e5cb8d64760377a2183271d0623..61c72bd3fdd2557f4b251ecc71d45d9edd63ab0f 100644
--- a/src/robot_behaviour/robot_reproducer.py
+++ b/src/robot_behaviour/robot_reproducer.py
@@ -32,7 +32,8 @@ class Robot:
"assistance": self.assistance,
"max_attempt": self.move_onbehalf,
"timeout": self.timeout,
- "pick": self.pick
+ "pick": self.pick,
+ "end_game" : self.end_game
}
self.assistance_level = {
@@ -44,6 +45,13 @@ class Robot:
"lev_5": self.offer_solution
}
+ self.facial_expression = {
+ "happy" : self.happy,
+ "sad" : self.sad,
+ "confused" : self.confused,
+ "neutral" : self.neutral
+ }
+
def send_to_rest(self):
self.gesture.initial_pos()
@@ -55,7 +63,20 @@ class Robot:
file.close()
return self.senteces
- def congratulate(self, counter, facial_expression):
+ def happy(self):
+ self.face.reproduce_face_expression("happy")
+ def sad(self):
+ self.face.reproduce_face_expression("sad")
+ self.face.move_eyes(0, 30)
+ def confused(self):
+ self.face.reproduce_face_expression("confused")
+ self.face.move_eyes(0, -80)
+
+ def neutral(self):
+ self.face.reproduce_face_expression("neutral")
+ self.face.move_eyes(0, 0)
+
+ def congratulate(self, counter, facial_expression, eyes_coords=None):
'''
It greats the user for being performed a correct move
Args:
@@ -69,10 +90,12 @@ class Robot:
time_to_reproduce = self.speech.text_to_speech(self.sentences['congratulation'][counter], locked = True)
rospy.sleep(time_to_reproduce)
self.face.reproduce_face_expression(facial_expression)
+ if eyes_coords!=None:
+ self.face.move_eyes(eyes_coords[0], eyes_coords[1])
b_executed = True
return b_executed
- def compassion(self, counter, facial_expression):
+ def compassion(self, counter, facial_expression, eyes_coords=None):
'''
offer compassion to the user for being performed a werong move
Args:
@@ -87,6 +110,9 @@ class Robot:
time_to_reproduce = self.speech.text_to_speech(self.sentences['compassion'][counter], locked = True)
rospy.sleep(time_to_reproduce)
self.face.reproduce_face_expression(facial_expression)
+ if eyes_coords != None:
+ self.face.move_eyes(eyes_coords[0], eyes_coords[1])
+
b_executed = True
elif self.face==None and self.gesture!=None:
'''N.B For this kind of action we did not plan to move the robot'''
@@ -98,7 +124,7 @@ class Robot:
return b_executed
- def move_token_back(self, who, token, counter, facial_expression):
+ def move_token_back(self, who, token, counter, facial_expression, eyes_coords):
'''
The robot will pick the wrong token and move it back to its initial location
if who = "robot" otherwise the user is asked to move back the token
@@ -120,6 +146,8 @@ class Robot:
self.speech.text_to_speech(self.sentences['user_move_back'][counter])
rospy.sleep(0.1)
self.face.reproduce_face_expression(facial_expression)
+ if eyes_coords != None:
+ self.face.move_eyes(eyes_coords[0], eyes_coords[1])
b_executed = True
elif self.face==None and self.gesture!=None:
if who == "robot":
@@ -135,6 +163,9 @@ class Robot:
b_executed = True
else:
#TODO validation on the robot
+ self.face.reproduce_face_expression(facial_expression)
+ if eyes_coords != None:
+ self.face.move_eyes(eyes_coords[0], eyes_coords[1])
if who == "robot":
if counter >= len(self.sentences['robot_move_back'])-1: counter = random.randint(0, len(self.sentences['robot_move_back'])-1)
self.speech.text_to_speech(self.sentences['robot_move_back'][counter])
@@ -144,8 +175,8 @@ class Robot:
if counter >= len(self.sentences['user_move_back'])-1: counter = random.randint(0, len(self.sentences['user_move_back'])-1)
self.speech.text_to_speech(self.sentences['user_move_back'][counter])
rospy.sleep(0.1)
- self.face.reproduce_face_expression(facial_expression)
- #success = self.gesture.pick_and_place(token_to, token_from)
+
+ #success = self.gesture.pick_and_place(token_to, token_from)
#self.gesture.initial_pos()
b_executed = True
@@ -155,8 +186,9 @@ class Robot:
'''
- def assistance(self, lev_id, row, counter, token, facial_expression, tokens, delay_for_speech):
-
+ def assistance(self, lev_id, row, counter, token, facial_expression, eyes_coords, tokens, delay_for_speech):
+ if eyes_coords != None:
+ self.face.move_eyes(eyes_coords[0], eyes_coords[1])
if lev_id == 0:
if counter >= len(self.sentences['lev_0'])-1: counter = random.randint(0, len(self.sentences['lev_0'])-1)
self.assistance_level["lev_0"].__call__(counter, facial_expression, delay_for_speech)
@@ -352,7 +384,7 @@ class Robot:
b_executed = True
return b_executed
- def move_onbehalf(self, token, counter, facial_expression):
+ def move_onbehalf(self, token, counter, facial_expression, eyes_coords=None):
'''
It moves the token on the behalf of the user
Args:
@@ -370,6 +402,9 @@ class Robot:
self.speech.text_to_speech(self.sentences['max_attempt'][counter])
rospy.sleep(0.1)
self.face.reproduce_face_expression(facial_expression)
+ if eyes_coords != None:
+ self.face.move_eyes(eyes_coords[0], eyes_coords[1])
+
b_executed = True
elif self.face==None and self.gesture!=None:
# TODO: test on the robot
@@ -383,11 +418,14 @@ class Robot:
self.speech.text_to_speech(self.sentences['max_attempt'][counter])
rospy.sleep(0.1)
self.face.reproduce_face_expression(facial_expression)
+ if eyes_coords != None:
+ self.face.move_eyes(eyes_coords[0], eyes_coords[1])
+
self.gesture.pick_and_place(token_sol_from, token_sol_to)
self.gesture.initial_pos()
b_executed = True
- def pick(self, positive, counter, facial_expression):
+ def pick(self, positive, counter, facial_expression, eyes_coords=None):
'''
say something when a token is grasped depending on positive value
Args:
@@ -402,12 +440,17 @@ class Robot:
self.speech.text_to_speech(self.sentences['pick_ok'][counter])
rospy.sleep(0.2)
self.face.reproduce_face_expression(facial_expression)
+ if eyes_coords != None:
+ self.face.move_eyes(eyes_coords[0], eyes_coords[1])
+
b_executed = True
else:
if counter >= len(self.sentences['pick_no'])-1: counter = random.randint(0, len(self.sentences['pick_no'])-1)
self.speech.text_to_speech(self.sentences['pick_no'][counter])
rospy.sleep(0.2)
self.face.reproduce_face_expression(facial_expression)
+ if eyes_coords != None:
+ self.face.move_eyes(eyes_coords[0], eyes_coords[1])
b_executed = True
return b_executed
@@ -417,7 +460,7 @@ class Robot:
else:
return None
- def timeout(self, counter, facial_expression):
+ def timeout(self, counter, facial_expression, eyes_coords=None):
'''
It tells the user that the time available for the current move ended
Args:
@@ -429,6 +472,8 @@ class Robot:
if counter >= len(self.sentences['timeout'])-1: counter = random.randint(0, len(self.sentences['timeout'])-1)
self.speech.text_to_speech(self.sentences['timeout'][counter], locked = True)
self.face.reproduce_face_expression(facial_expression)
+ if eyes_coords != None:
+ self.face.move_eyes(eyes_coords[0], eyes_coords[1])
b_executed = True
return b_executed
@@ -442,7 +487,6 @@ class Robot:
print("instruction")
b_executed = False
self.speech.text_to_speech(self.sentences[objective][0], locked=True)
- rospy.sleep(20)
self.face.reproduce_face_expression(facial_expression)
def end_game(self, facial_expression):