From fe81d19270eeddef38d0aea564a5be1fb4a59bf8 Mon Sep 17 00:00:00 2001
From: Antonio Andriella <aandriella@iri.upc.edu>
Date: Tue, 17 Nov 2020 18:53:37 +0100
Subject: [PATCH] change logic to action selection policy
---
src/robot_behaviour/robot_reproducer.py | 227 ++++++++++++++++++++----
1 file changed, 191 insertions(+), 36 deletions(-)
diff --git a/src/robot_behaviour/robot_reproducer.py b/src/robot_behaviour/robot_reproducer.py
index 9c9558d..b1b8cb2 100644
--- a/src/robot_behaviour/robot_reproducer.py
+++ b/src/robot_behaviour/robot_reproducer.py
@@ -1,3 +1,4 @@
+# coding=utf-8
'''
This is a module to reproduce a robot action combining speech,
facial expression and gesture. Every time we check if the action
@@ -9,6 +10,7 @@ import random
import ast
import pickle
import numpy as np
+import sys, getopt
from robot_behaviour.face_reproducer import Face
from robot_behaviour.speech_reproducer import Speech
from robot_behaviour.gesture_reproducer import Gesture
@@ -64,13 +66,11 @@ class Robot:
def get_irl_state_action(self, state_index, epsilon=0.1):
action = 0
print("Select it between the following:", self.action_policy[state_index])
+ two_max_elem = [(self.action_policy[state_index].tolist().index(x)) for x in sorted(self.action_policy[state_index].tolist(), reverse=True)[:2]]
if random.random() < epsilon:
- new_list = (self.action_policy[state_index])
- best_action_index = np.argmax(self.action_policy[state_index])
- new_list[best_action_index] = 0
- action = np.argmax(new_list)
+ action = two_max_elem[1]
else:
- action = np.argmax(self.action_policy[state_index])
+ action = two_max_elem[0]
return action
def get_random_state_action(self):
@@ -128,11 +128,12 @@ class Robot:
'''
print("Compassion funct")
b_executed = False
- if counter >len(self.sentences['compassion'])-1: counter=random.randint(0, len(self.sentences['compassion'])-1)
- self.speech.text_to_speech(self.sentences['compassion'][counter], locked = True)
- self.face.reproduce_face_expression(facial_expression)
if eyes_coords != None:
self.face.move_eyes(eyes_coords[0], eyes_coords[1])
+ self.face.reproduce_face_expression(facial_expression)
+ if counter >len(self.sentences['compassion'])-1: counter=random.randint(0, len(self.sentences['compassion'])-1)
+ self.speech.text_to_speech(self.sentences['compassion'][counter], locked = True)
+
b_executed = True
'''N.B For this kind of action we did not plan to move the robot'''
return b_executed
@@ -437,6 +438,7 @@ class Robot:
self.face.move_eyes(eyes_coords[0], eyes_coords[1])
self.gesture.pick_and_place(token_sol_from, token_sol_to)
+ rospy.sleep(0.1)
self.gesture.initial_pos()
b_executed = True
@@ -492,7 +494,7 @@ class Robot:
b_executed = True
return b_executed
- def instruction(self,objective , facial_expression):
+ def instruction(self,objective , facial_expression, eyes_coords=(0,0)):
'''The agent provides the instructions of the exercise
Args:
Return:
@@ -503,6 +505,8 @@ class Robot:
b_executed = False
self.speech.text_to_speech(self.sentences[objective][0], locked=True)
self.face.reproduce_face_expression(facial_expression)
+ rospy.sleep(0.1)
+ self.face.move_eyes(eyes_coords[0], eyes_coords[1])
def end_game(self, facial_expression):
'''The agent provides the instructions of the exercise
@@ -526,8 +530,8 @@ class Robot:
#self.speech.cancel_reproduction()
- def reproduce_sentence(self, text):
- self.speech.text_to_speech(text)
+ def reproduce_sentence(self, text, locked=False):
+ self.speech.text_to_speech(text, locked=locked)
def reset_speech_ended(self):
self.speech.reproduction_has_ended = False
@@ -546,27 +550,178 @@ class Robot:
# i += 1
-def main():
- speech = Speech("es_ES")
- gesture = Gesture()
- face = Face()
- policy_filename = "/home/pal/carf_ws/src/carf/robot-patient-interaction/1/True/1/policy.pkl"
- robot = Robot(speech=speech, sentences_file="config/sentences/sentences_es_ES", action_policy_filename=policy_filename, face=face, gesture=gesture)
-
- counter = 0
- token_from = ""
- token_to = ""
- who = "robot"
- row = 4
- tokens = [("111",15), ("256", 17), ("341", 17)]
- token = ("111", 9, 5)
- positive = False
- lev_id = 4
- delay = 2.0
- eye_coords = (0,0)
- #robot.fake_function(robot.play_sentence)
- #robot.action["instruction"].__call__(objective="ascending", facial_expression = "neutral")
- robot.reset_speech_ended()
+def main(argv):
+ language_id = ""
+ try:
+ opts, args = getopt.getopt(argv,"l",["l="])
+ except getopt.GetoptError:
+ print("robot_reproducer.py -l <language_id>")
+ sys.exit(2)
+ for opt, arg in opts:
+ if opt == "-h":
+ print("robot_reproducer.py -l <language_id>")
+ sys.exit()
+ elif opt in ("--l", "--language"):
+ language_id = arg
+
+
+ #DEMO
+ #1 provide instructions
+ #'instruction_descending_odd':["Hola, em dic Socrates, encantat de coneixe't.
+ # Sóc l'ajudant d'en Joan i avui farem un exercici cognitiu per entrenar les teves habilitats cognitives.
+ # L'objectiu és ordenar les fitxes imparells en ordre descendent, del número més gran al número mes petit.
+ # 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)
+
+ if language_id == "es_ES":
+
+ speech = Speech(language_id)
+ gesture = Gesture()
+ face = Face()
+ policy_filename = "/home/pal/carf_ws/src/carf/robot-patient-interaction/1/True/1/policy.pkl"
+ 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."
+ robot.reproduce_sentence(instruction, locked=True)
+ #When you make a mistake a can help you in this way:
+ l0 = "Acordarte la tarea asÃ:"
+ l1 = "Animarte, asÃ:"
+ l2 = "Decirte donde hay que mirar, asÃ:"
+ l3 = " Ofrecerte la ficha correcta, asÃ:"
+
+ # Remebering the rule
+ robot.reproduce_sentence(l0, locked=True)
+ 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)
+ 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),
+ tokens=tokens, delay_for_speech=1)
+ rospy.sleep(10)
+
+ 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)
+
+ 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=2.5)
+ rospy.sleep(8)
+ #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),
+ tokens=tokens, delay_for_speech=2.5)
+ rospy.sleep(3)
+ recommendation_1 = "Estas son las reglas que tienes que acordarte:"
+ rospy.sleep(2)
+ recommendation_2 = "No me puedes hacer preguntas. Yo no te puedo contestar, pero no te preocupes que te ayudarè."
+ recommendation_3 = "Puedes coger solo una ficha a la vez"
+ recommendation_4 = "Tienes que esperarte que te diga es tu turno de mover"
+ recommendation_5 = "No coger la ficha cuando me estoy moviendo."
+ recommendation_6 = "Cuando te equivocas hay que devolver la ficha en su sitio."
+ 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)
+ robot.reproduce_sentence(recommendation_2, locked=True)
+ robot.reproduce_sentence(recommendation_3, locked=True)
+ robot.reproduce_sentence(recommendation_4, locked=True)
+ robot.reproduce_sentence(recommendation_5, locked=True)
+ robot.reproduce_sentence(recommendation_6, locked=True)
+ robot.reproduce_sentence(recommendation_7, locked=True)
+ robot.reproduce_sentence(recommendation_8, locked=True)
+
+ else:
+ speech = Speech(language_id)
+ gesture = Gesture()
+ face = Face()
+ policy_filename = "/home/pal/carf_ws/src/carf/robot-patient-interaction/1/True/1/policy.pkl"
+ robot = Robot(speech=speech, sentences_file="config/sentences/sentences_es_ES",
+ action_policy_filename=policy_filename, face=face, gesture=gesture)
+
+ instruction = "Hola, em dic Socrates, encantat de coneixe't. Sóc l'ajudant d'en Joan i avui farem un exercici cognitiu per entrenar les teves habilitats cognitives. L'objectiu és ordenar les fitxes imparells en ordre descendent, del número més gran al número mes petit."
+ robot.reproduce_sentence(instruction, locked=True)
+ rospy.sleep(2.0)
+ #When you make a mistake a can help you in this way:
+ robot.reproduce_sentence("Quan t'equivoquis et puc ajudar de les següents maneres:", locked=True)
+
+
+
+ l0 = "Recordant-te una regla, aixÃ:"
+ l1 = "Animant-te, aixÃ:"
+ l2 = "Dient-te on has de mirar, aixÃ"
+ l3 = "Oferint-te la peça, aixÃ"
+ l4 = ""
+
+ # Remebering the rule
+ robot.reproduce_sentence(l0, locked=True)
+ 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)
+ 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.reproduce_sentence(l2, locked=True)
+ 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)
+ 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)
+ 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)
+ #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),
+ tokens=tokens, delay_for_speech=1)
+ rospy.sleep(3)
+ recommendation_1 = "Aquestes son les regles que has de recordar:"
+ recommendation_2 = "No em pots preguntar res. No et contestaré, però no et preocupis, t'ajudaré."
+ recommendation_3 = "Només pots agafar una peça a la vegada."
+ recommendation_4 = "Has d'esperar fins que et digui que;;; es el teu torn."
+ recommendation_5 = "No agafis cap peça mentre m'estic movent."
+ recommendation_6 = "Quan t'equivoques has de tornar la fitxa al seu lloc."
+ recommendation_7 = "Quan t'equivoques més de 4 cops, jo mouré la fitxa per tu."
+ recommendation_8 = "Es molt important que entenguis la tasca que has de fer.. Li pots explicar al Joan, que es el que has de fer? "
+ robot.reproduce_sentence(recommendation_1, locked=True)
+ rospy.sleep(1.5)
+ robot.reproduce_sentence(recommendation_2, locked=True)
+ robot.reproduce_sentence(recommendation_3, locked=True)
+ robot.reproduce_sentence(recommendation_4, locked=True)
+ robot.reproduce_sentence(recommendation_5, locked=True)
+ robot.reproduce_sentence(recommendation_6, locked=True)
+ robot.reproduce_sentence(recommendation_7, locked=True)
+ robot.reproduce_sentence(recommendation_8, locked=True)
+
+ #Encouraging
+ #Telling you where to look
+
+ #2 show the different levels of assistance
+ #3 remeber that:
+ # you cannot ask me questions, I won't aswer to you but dont worry, if you dont know what to do, I will help you
+ # Remember you can only pick one token at the time
+ # Remember wait until I say it is your turn
+ # it is very important that you understand the task, can you explain Joan what you have to do?
+
# for i in range(4):
@@ -587,9 +742,9 @@ def main():
# rospy.sleep(2.0)
#robot.move_onbehalf(token, counter, face)
#robot.move_token_back(who="robot", token=token, counter=counter, facial_expression=face)
- for t in range(11,20):
- robot.action["assistance"].__call__(lev_id, row, counter, ("111", t, 5), "neutral", eye_coords, tokens, delay)
- rospy.sleep(10)
+ # for t in range(11,20):
+ # robot.action["assistance"].__call__(lev_id, row, counter, ("111", t, 5), "neutral", eye_coords, tokens, delay)
+ # rospy.sleep(10)
#robot.action["lev_2"].__call__(row, counter)
#robot.action["lev_4"].__call__(counter, token)
#robot.action["lev_5"].__call__(token)
@@ -599,4 +754,4 @@ def main():
#robot.action["pick"].__call__(positive=False, counter=2, facial_expression="confused", eyes_coords=None)
if __name__=="__main__":
- main()
\ No newline at end of file
+ main(sys.argv[1:])
\ No newline at end of file
--
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