From 3d52141f5538acbf4cd986fcea1cc4ebfaba18c3 Mon Sep 17 00:00:00 2001
From: Antonio Andriella <aandriella@iri.upc.edu>
Date: Mon, 23 Nov 2020 21:16:02 +0100
Subject: [PATCH] add head noddling
---
src/robot_behaviour/robot_reproducer.py | 66 +++++++++++++++++--------
1 file changed, 45 insertions(+), 21 deletions(-)
diff --git a/src/robot_behaviour/robot_reproducer.py b/src/robot_behaviour/robot_reproducer.py
index b1b8cb2..2655bf3 100644
--- a/src/robot_behaviour/robot_reproducer.py
+++ b/src/robot_behaviour/robot_reproducer.py
@@ -110,12 +110,16 @@ class Robot:
'''
print("Congrats method")
b_executed = False
+ if self.face != None and self.gesture != None:
+ self.gesture.head_noddling_yes()
+
if counter >len(self.sentences['congratulation'])-1: counter=random.randint(0, len(self.sentences['congratulation'])-1)
- self.speech.text_to_speech(self.sentences['congratulation'][counter], locked = True)
self.face.reproduce_face_expression(facial_expression)
- if eyes_coords!=None:
- self.face.move_eyes(eyes_coords[0], eyes_coords[1])
+ if eyes_coords != None:
+ self.face.move_eyes(eyes_coords[0], eyes_coords[1])
+ self.speech.text_to_speech(self.sentences['congratulation'][counter], locked = True)
b_executed = True
+
return b_executed
def compassion(self, counter, facial_expression, eyes_coords=None):
@@ -128,6 +132,9 @@ class Robot:
'''
print("Compassion funct")
b_executed = False
+ if self.face != None and self.gesture != None:
+ self.gesture.head_noddling_no()
+
if eyes_coords != None:
self.face.move_eyes(eyes_coords[0], eyes_coords[1])
self.face.reproduce_face_expression(facial_expression)
@@ -153,16 +160,15 @@ class Robot:
token_id, token_from, token_to = token
b_executed = False
if self.face!=None and self.gesture==None:
+ 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])
else:
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)
- 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":
@@ -189,8 +195,6 @@ class Robot:
else:
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)
-
#success = self.gesture.pick_and_place(token_to, token_from)
#self.gesture.initial_pos()
b_executed = True
@@ -202,7 +206,7 @@ class Robot:
def reset_facial_expression(self):
self.face.reproduce_face_expression("neutral")
- rospy.sleep(0.1)
+ rospy.sleep(0.5)
def assistance(self, lev_id, row, counter, token, facial_expression, eyes_coords, tokens, delay_for_speech):
if eyes_coords != None:
@@ -525,8 +529,8 @@ class Robot:
def cancel_action(self):
if self.gesture != None:
self.gesture.cancel_motion()
- self.reproduce_sentence("")
#self.gesture.initial_pos()
+ self.reproduce_sentence("")
#self.speech.cancel_reproduction()
@@ -565,6 +569,7 @@ def main(argv):
language_id = arg
+
#DEMO
#1 provide instructions
#'instruction_descending_odd':["Hola, em dic Socrates, encantat de coneixe't.
@@ -573,8 +578,9 @@ def main(argv):
# Si us plau, espera les meves instruccions abans de moure una fitxa."]
row = 2
- tokens = [("321", 8), ("177", 9), ("125", 7)]
- token = ("321", 8, 1)
+ tokens = [("135", 7), ("947", 8), ("125", 9)]
+ token = ("947", 8, 1)
+
if language_id == "es_ES":
@@ -585,8 +591,12 @@ def main(argv):
robot = Robot(speech=speech, sentences_file="config/sentences/sentences_es_ES",
action_policy_filename=policy_filename, face=face, gesture=gesture)
- instruction = "Hola, mi nombre es Socrates, encantado de conocerte. Soy el ayudante de Joan, y hoy vamos a hacer un ejercicio cognitivo, basado en el SKT, para entrenar tus habilidades cognitivas. El objetivo es ordenar fichas inpares en orden descendiente, del numero mas grande al numero mas pequeño."
+
+
+ instruction = "Hola Maria Teresa, mi nombre es Socrates, encantado de conocerte. Soy el ayudante de Joan, y hoy vamos a hacer un ejercicio cognitivo,para entrenar tus habilidades cognitivas. El objetivo es ordenar fichas inpares en orden descendiente, del número mas grande al número mas pequeño."
robot.reproduce_sentence(instruction, locked=True)
+ rospy.sleep(1.5)
+ robot.reproduce_sentence("Cuando te equivocas, te puedo ayudar asì:", locked=True)
#When you make a mistake a can help you in this way:
l0 = "Acordarte la tarea asÃ:"
l1 = "Animarte, asÃ:"
@@ -595,27 +605,26 @@ def main(argv):
# Remebering the rule
robot.reproduce_sentence(l0, locked=True)
+ rospy.sleep(2)
robot.assistance(lev_id=1, row=row, counter=1, token=token, facial_expression="neutral", eyes_coords=(0, 0),
tokens=tokens, delay_for_speech=1)
rospy.sleep(9)
#Encouraging
robot.reproduce_sentence(l1, locked=True)
+ rospy.sleep(2)
robot.assistance(lev_id=1, row=row, counter=0, token=token, facial_expression="neutral", eyes_coords=(0, 0),
tokens=[tokens], delay_for_speech=1)
rospy.sleep(9)
#assistance
- robot.assistance(lev_id=2, row=row, counter=0, token=token, facial_expression="neutral", eyes_coords=(0, 0),
- tokens=tokens, delay_for_speech=1)
-
robot.reproduce_sentence(l2, locked=True)
- robot.assistance(lev_id=2, row=row, counter=1, token=token, facial_expression="neutral", eyes_coords=(0,0),
+ robot.assistance(lev_id=2, row=row, counter=0, token=token, facial_expression="neutral", eyes_coords=(0, 0),
tokens=tokens, delay_for_speech=1)
- rospy.sleep(10)
+ rospy.sleep(11)
robot.reproduce_sentence(l2, locked=True)
robot.assistance(lev_id=3, row=2, counter=1, token=token, facial_expression="neutral", eyes_coords=(0, 0),
tokens=tokens, delay_for_speech=2.5)
- rospy.sleep(12)
+ rospy.sleep(13)
robot.reproduce_sentence(l2, locked=True)
robot.assistance(lev_id=4, row=2, counter=1, token=token, facial_expression="neutral", eyes_coords=(0, 0),
@@ -636,12 +645,19 @@ def main(argv):
recommendation_7 = "Cuando te equivocas más de 4 veces, yo moveré la ficha por ti."
recommendation_8 = "Es muy importante que tengas clara la tarea que tienes que hacer. Puedes explicar a Joan lo que tienes que hacer?"
robot.reproduce_sentence(recommendation_1, locked=True)
+ rospy.sleep(2)
robot.reproduce_sentence(recommendation_2, locked=True)
+ rospy.sleep(2)
robot.reproduce_sentence(recommendation_3, locked=True)
+ rospy.sleep(2)
robot.reproduce_sentence(recommendation_4, locked=True)
+ rospy.sleep(2)
robot.reproduce_sentence(recommendation_5, locked=True)
+ rospy.sleep(2)
robot.reproduce_sentence(recommendation_6, locked=True)
+ rospy.sleep(2)
robot.reproduce_sentence(recommendation_7, locked=True)
+ rospy.sleep(2)
robot.reproduce_sentence(recommendation_8, locked=True)
else:
@@ -668,11 +684,13 @@ def main(argv):
# Remebering the rule
robot.reproduce_sentence(l0, locked=True)
+ rospy.sleep(2)
robot.assistance(lev_id=1, row=row, counter=1, token=token, facial_expression="neutral", eyes_coords=(0, 0),
tokens=tokens, delay_for_speech=1)
rospy.sleep(9)
#Encouraging
robot.reproduce_sentence(l1, locked=True)
+ rospy.sleep(2)
robot.assistance(lev_id=1, row=row, counter=0, token=token, facial_expression="neutral", eyes_coords=(0, 0),
tokens=[tokens], delay_for_speech=1)
rospy.sleep(9)
@@ -688,7 +706,7 @@ def main(argv):
robot.reproduce_sentence(l2, locked=True)
robot.assistance(lev_id=4, row=2, counter=1, token=token, facial_expression="neutral", eyes_coords=(0, 0),
tokens=tokens, delay_for_speech=1)
- rospy.sleep(8)
+ rospy.sleep(11)
#offer token
robot.reproduce_sentence(l3, locked=True)
robot.assistance(lev_id=5, row=2, counter=1, token=token, facial_expression="neutral", eyes_coords=(0, 0),
@@ -705,11 +723,17 @@ def main(argv):
robot.reproduce_sentence(recommendation_1, locked=True)
rospy.sleep(1.5)
robot.reproduce_sentence(recommendation_2, locked=True)
+ rospy.sleep(2)
robot.reproduce_sentence(recommendation_3, locked=True)
+ rospy.sleep(2)
robot.reproduce_sentence(recommendation_4, locked=True)
+ rospy.sleep(2)
robot.reproduce_sentence(recommendation_5, locked=True)
+ rospy.sleep(2)
robot.reproduce_sentence(recommendation_6, locked=True)
+ rospy.sleep(2)
robot.reproduce_sentence(recommendation_7, locked=True)
+ rospy.sleep(2)
robot.reproduce_sentence(recommendation_8, locked=True)
#Encouraging
--
GitLab