From ec97c583f6a1ce6205d9ceffa10ed9fb89aca94d Mon Sep 17 00:00:00 2001
From: Antonio Andriella <aandriella@iri.upc.edu>
Date: Sun, 11 Oct 2020 12:25:21 +0200
Subject: [PATCH] Add reproduce end game and fix instruction method
---
src/robot_behaviour/robot_reproducer.py | 30 +++++++++++++++----------
1 file changed, 18 insertions(+), 12 deletions(-)
diff --git a/src/robot_behaviour/robot_reproducer.py b/src/robot_behaviour/robot_reproducer.py
index 9d2e68a..69937d5 100644
--- a/src/robot_behaviour/robot_reproducer.py
+++ b/src/robot_behaviour/robot_reproducer.py
@@ -10,7 +10,6 @@ import ast
from robot_behaviour.face_reproducer import Face
from robot_behaviour.speech_reproducer import Speech
from robot_behaviour.gesture_reproducer import Gesture
-import robot_behaviour.sentences as s
class Robot:
def __init__(self, speech, sentences_file, face=None, gesture=None):
@@ -433,7 +432,7 @@ class Robot:
b_executed = True
return b_executed
- def instruction(self, counter, facial_expression):
+ def instruction(self,objective , facial_expression):
'''The agent provides the instructions of the exercise
Args:
Return:
@@ -442,16 +441,23 @@ class Robot:
'''
print("instruction")
b_executed = False
- if counter >= len(self.sentences['instruction'])-1: counter = random.randint(0, len(self.sentences['instruction'])-1)
- if self.face!=None and self.gesture==None:
- self.speech.text_to_speech(self.sentences['instruction'][counter], locked=True)
- rospy.sleep(0.1)
- self.face.reproduce_face_expression(facial_expression)
- b_executed = True
- elif self.face==None and self.gesture!=None:
- assert "Error Instruction does not contemplate any gesture"
- else:
- assert "Error Instruction does not contemplate any gesture"
+ 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):
+ '''The agent provides the instructions of the exercise
+ Args:
+ Return:
+ Bool:
+ if the action has been executed successfully
+ '''
+ print("end_game")
+ b_executed = False
+ self.speech.text_to_speech(self.sentences['end_game'][0], locked=True)
+ rospy.sleep(0.1)
+ self.face.reproduce_face_expression(facial_expression)
+
def cancel_action(self):
if self.gesture != None:
--
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