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Commit 3d52141f authored by Antonio Andriella's avatar Antonio Andriella
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add head noddling

parent 1a7b7726
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src/robot_behaviour/robot_reproducer.py
+ 45
− 21
View file @ 3d52141f
...@@ -110,12 +110,16 @@ class Robot: ...@@ -110,12 +110,16 @@ class Robot:
''' '''
print("Congrats method") print("Congrats method")
b_executed = False 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) 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) self.face.reproduce_face_expression(facial_expression)
if eyes_coords!=None: if eyes_coords != None:
self.face.move_eyes(eyes_coords[0], eyes_coords[1]) self.face.move_eyes(eyes_coords[0], eyes_coords[1])
self.speech.text_to_speech(self.sentences['congratulation'][counter], locked = True)
b_executed = True b_executed = True
return b_executed return b_executed
def compassion(self, counter, facial_expression, eyes_coords=None): def compassion(self, counter, facial_expression, eyes_coords=None):
...@@ -128,6 +132,9 @@ class Robot: ...@@ -128,6 +132,9 @@ class Robot:
''' '''
print("Compassion funct") print("Compassion funct")
b_executed = False b_executed = False
if self.face != None and self.gesture != None:
self.gesture.head_noddling_no()
if eyes_coords != None: if eyes_coords != None:
self.face.move_eyes(eyes_coords[0], eyes_coords[1]) self.face.move_eyes(eyes_coords[0], eyes_coords[1])
self.face.reproduce_face_expression(facial_expression) self.face.reproduce_face_expression(facial_expression)
...@@ -153,16 +160,15 @@ class Robot: ...@@ -153,16 +160,15 @@ class Robot:
token_id, token_from, token_to = token token_id, token_from, token_to = token
b_executed = False b_executed = False
if self.face!=None and self.gesture==None: 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 who == "robot":
if counter >= len(self.sentences['robot_move_back'])-1: counter = random.randint(0, len(self.sentences['robot_move_back'])-1) 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]) self.speech.text_to_speech(self.sentences['robot_move_back'][counter])
else: else:
if counter >= len(self.sentences['user_move_back'])-1: counter = random.randint(0, len(self.sentences['user_move_back'])-1) 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]) 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 b_executed = True
elif self.face==None and self.gesture!=None: elif self.face==None and self.gesture!=None:
if who == "robot": if who == "robot":
...@@ -189,8 +195,6 @@ class Robot: ...@@ -189,8 +195,6 @@ class Robot:
else: else:
if counter >= len(self.sentences['user_move_back'])-1: counter = random.randint(0, len(self.sentences['user_move_back'])-1) 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]) 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) #success = self.gesture.pick_and_place(token_to, token_from)
#self.gesture.initial_pos() #self.gesture.initial_pos()
b_executed = True b_executed = True
...@@ -202,7 +206,7 @@ class Robot: ...@@ -202,7 +206,7 @@ class Robot:
def reset_facial_expression(self): def reset_facial_expression(self):
self.face.reproduce_face_expression("neutral") 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): def assistance(self, lev_id, row, counter, token, facial_expression, eyes_coords, tokens, delay_for_speech):
if eyes_coords != None: if eyes_coords != None:
...@@ -525,8 +529,8 @@ class Robot: ...@@ -525,8 +529,8 @@ class Robot:
def cancel_action(self): def cancel_action(self):
if self.gesture != None: if self.gesture != None:
self.gesture.cancel_motion() self.gesture.cancel_motion()
self.reproduce_sentence("")
#self.gesture.initial_pos() #self.gesture.initial_pos()
self.reproduce_sentence("")
#self.speech.cancel_reproduction() #self.speech.cancel_reproduction()
...@@ -565,6 +569,7 @@ def main(argv): ...@@ -565,6 +569,7 @@ def main(argv):
language_id = arg language_id = arg
#DEMO #DEMO
#1 provide instructions #1 provide instructions
#'instruction_descending_odd':["Hola, em dic Socrates, encantat de coneixe't. #'instruction_descending_odd':["Hola, em dic Socrates, encantat de coneixe't.
...@@ -573,8 +578,9 @@ def main(argv): ...@@ -573,8 +578,9 @@ def main(argv):
# Si us plau, espera les meves instruccions abans de moure una fitxa."] # Si us plau, espera les meves instruccions abans de moure una fitxa."]
row = 2 row = 2
tokens = [("321", 8), ("177", 9), ("125", 7)] tokens = [("135", 7), ("947", 8), ("125", 9)]
token = ("321", 8, 1) token = ("947", 8, 1)
if language_id == "es_ES": if language_id == "es_ES":
...@@ -585,8 +591,12 @@ def main(argv): ...@@ -585,8 +591,12 @@ def main(argv):
robot = Robot(speech=speech, sentences_file="config/sentences/sentences_es_ES", robot = Robot(speech=speech, sentences_file="config/sentences/sentences_es_ES",
action_policy_filename=policy_filename, face=face, gesture=gesture) 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) 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: #When you make a mistake a can help you in this way:
l0 = "Acordarte la tarea así:" l0 = "Acordarte la tarea así:"
l1 = "Animarte, así:" l1 = "Animarte, así:"
...@@ -595,27 +605,26 @@ def main(argv): ...@@ -595,27 +605,26 @@ def main(argv):
# Remebering the rule # Remebering the rule
robot.reproduce_sentence(l0, locked=True) 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), robot.assistance(lev_id=1, row=row, counter=1, token=token, facial_expression="neutral", eyes_coords=(0, 0),
tokens=tokens, delay_for_speech=1) tokens=tokens, delay_for_speech=1)
rospy.sleep(9) rospy.sleep(9)
#Encouraging #Encouraging
robot.reproduce_sentence(l1, locked=True) 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), robot.assistance(lev_id=1, row=row, counter=0, token=token, facial_expression="neutral", eyes_coords=(0, 0),
tokens=[tokens], delay_for_speech=1) tokens=[tokens], delay_for_speech=1)
rospy.sleep(9) rospy.sleep(9)
#assistance #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.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) tokens=tokens, delay_for_speech=1)
rospy.sleep(10) rospy.sleep(11)
robot.reproduce_sentence(l2, locked=True) robot.reproduce_sentence(l2, locked=True)
robot.assistance(lev_id=3, row=2, counter=1, token=token, facial_expression="neutral", eyes_coords=(0, 0), 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) tokens=tokens, delay_for_speech=2.5)
rospy.sleep(12) rospy.sleep(13)
robot.reproduce_sentence(l2, locked=True) robot.reproduce_sentence(l2, locked=True)
robot.assistance(lev_id=4, row=2, counter=1, token=token, facial_expression="neutral", eyes_coords=(0, 0), 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): ...@@ -636,12 +645,19 @@ def main(argv):
recommendation_7 = "Cuando te equivocas más de 4 veces, yo moveré la ficha por ti." 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?" 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) robot.reproduce_sentence(recommendation_1, locked=True)
rospy.sleep(2)
robot.reproduce_sentence(recommendation_2, locked=True) robot.reproduce_sentence(recommendation_2, locked=True)
rospy.sleep(2)
robot.reproduce_sentence(recommendation_3, locked=True) robot.reproduce_sentence(recommendation_3, locked=True)
rospy.sleep(2)
robot.reproduce_sentence(recommendation_4, locked=True) robot.reproduce_sentence(recommendation_4, locked=True)
rospy.sleep(2)
robot.reproduce_sentence(recommendation_5, locked=True) robot.reproduce_sentence(recommendation_5, locked=True)
rospy.sleep(2)
robot.reproduce_sentence(recommendation_6, locked=True) robot.reproduce_sentence(recommendation_6, locked=True)
rospy.sleep(2)
robot.reproduce_sentence(recommendation_7, locked=True) robot.reproduce_sentence(recommendation_7, locked=True)
rospy.sleep(2)
robot.reproduce_sentence(recommendation_8, locked=True) robot.reproduce_sentence(recommendation_8, locked=True)
else: else:
...@@ -668,11 +684,13 @@ def main(argv): ...@@ -668,11 +684,13 @@ def main(argv):
# Remebering the rule # Remebering the rule
robot.reproduce_sentence(l0, locked=True) 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), robot.assistance(lev_id=1, row=row, counter=1, token=token, facial_expression="neutral", eyes_coords=(0, 0),
tokens=tokens, delay_for_speech=1) tokens=tokens, delay_for_speech=1)
rospy.sleep(9) rospy.sleep(9)
#Encouraging #Encouraging
robot.reproduce_sentence(l1, locked=True) 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), robot.assistance(lev_id=1, row=row, counter=0, token=token, facial_expression="neutral", eyes_coords=(0, 0),
tokens=[tokens], delay_for_speech=1) tokens=[tokens], delay_for_speech=1)
rospy.sleep(9) rospy.sleep(9)
...@@ -688,7 +706,7 @@ def main(argv): ...@@ -688,7 +706,7 @@ def main(argv):
robot.reproduce_sentence(l2, locked=True) robot.reproduce_sentence(l2, locked=True)
robot.assistance(lev_id=4, row=2, counter=1, token=token, facial_expression="neutral", eyes_coords=(0, 0), robot.assistance(lev_id=4, row=2, counter=1, token=token, facial_expression="neutral", eyes_coords=(0, 0),
tokens=tokens, delay_for_speech=1) tokens=tokens, delay_for_speech=1)
rospy.sleep(8) rospy.sleep(11)
#offer token #offer token
robot.reproduce_sentence(l3, locked=True) robot.reproduce_sentence(l3, locked=True)
robot.assistance(lev_id=5, row=2, counter=1, token=token, facial_expression="neutral", eyes_coords=(0, 0), 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): ...@@ -705,11 +723,17 @@ def main(argv):
robot.reproduce_sentence(recommendation_1, locked=True) robot.reproduce_sentence(recommendation_1, locked=True)
rospy.sleep(1.5) rospy.sleep(1.5)
robot.reproduce_sentence(recommendation_2, locked=True) robot.reproduce_sentence(recommendation_2, locked=True)
rospy.sleep(2)
robot.reproduce_sentence(recommendation_3, locked=True) robot.reproduce_sentence(recommendation_3, locked=True)
rospy.sleep(2)
robot.reproduce_sentence(recommendation_4, locked=True) robot.reproduce_sentence(recommendation_4, locked=True)
rospy.sleep(2)
robot.reproduce_sentence(recommendation_5, locked=True) robot.reproduce_sentence(recommendation_5, locked=True)
rospy.sleep(2)
robot.reproduce_sentence(recommendation_6, locked=True) robot.reproduce_sentence(recommendation_6, locked=True)
rospy.sleep(2)
robot.reproduce_sentence(recommendation_7, locked=True) robot.reproduce_sentence(recommendation_7, locked=True)
rospy.sleep(2)
robot.reproduce_sentence(recommendation_8, locked=True) robot.reproduce_sentence(recommendation_8, locked=True)
#Encouraging #Encouraging
......
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