From f5263e31ed0fc8fa9785d6b932a8d3984f51ad0b Mon Sep 17 00:00:00 2001
From: Antonio Andriella <aandriella@iri.upc.edu>
Date: Sun, 11 Oct 2020 10:54:11 +0200
Subject: [PATCH] fix bug on move_back (robot, human)
---
src/robot_behaviour/robot_reproducer.py | 27 ++++++++++++-------------
1 file changed, 13 insertions(+), 14 deletions(-)
diff --git a/src/robot_behaviour/robot_reproducer.py b/src/robot_behaviour/robot_reproducer.py
index 48358f1..9d2e68a 100644
--- a/src/robot_behaviour/robot_reproducer.py
+++ b/src/robot_behaviour/robot_reproducer.py
@@ -139,13 +139,15 @@ class Robot:
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])
+ success = self.gesture.pick_and_place(token_to, token_from)
+ self.gesture.initial_pos()
else:
- 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['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)
- self.gesture.initial_pos()
+ #success = self.gesture.pick_and_place(token_to, token_from)
+ #self.gesture.initial_pos()
b_executed = True
return b_executed
@@ -411,7 +413,10 @@ class Robot:
return b_executed
def get_action_state(self):
- return self.gesture.get_action_state()
+ if self.gesture!= None:
+ return self.gesture.get_action_state()
+ else:
+ return None
def timeout(self, counter, facial_expression):
'''
@@ -423,15 +428,9 @@ class Robot:
'''
b_executed = False
if counter >= len(self.sentences['timeout'])-1: counter = random.randint(0, len(self.sentences['timeout'])-1)
- if self.face!=None and self.gesture==None:
- time_to_reproduce = self.speech.text_to_speech(self.sentences['timeout'][counter], locked = True)
- rospy.sleep(time_to_reproduce)
- self.face.reproduce_face_expression(facial_expression)
- b_executed = True
- elif self.face==None and self.gesture!=None:
- assert "Error Timeout does not contemplate any gesture"
- else:
- assert "Error Timeout does not contemplate any gesture"
+ self.speech.text_to_speech(self.sentences['timeout'][counter], locked = True)
+ self.face.reproduce_face_expression(facial_expression)
+ b_executed = True
return b_executed
def instruction(self, counter, facial_expression):
@@ -458,7 +457,7 @@ class Robot:
if self.gesture != None:
self.gesture.cancel_motion()
#self.gesture.initial_pos()
- self.speech.cancel_reproduction()
+ #self.speech.cancel_reproduction()
def reproduce_sentence(self, text):
self.speech.text_to_speech(text)
--
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