diff --git a/launch/robot_facial_expression.launch b/launch/robot_facial_expression.launch
index e187ae7a4c935cd05470769f0c82a1de8025569b..dd4f0413171e4042dad0965affe35ab5ff1c2467 100644
--- a/launch/robot_facial_expression.launch
+++ b/launch/robot_facial_expression.launch
@@ -5,7 +5,6 @@
<!-- Start screen_listener node -->
<node name="rsdk_xdisplay_image" pkg="robot_facial_expression" type="screen_listener.py" />
- <param name = "robot_gender" value ="male"/>
<!-- Start control_physical node
<node name="control" pkg="robot_facial_expression" type="control_physical.py" />
diff --git a/scripts/Eye.py b/scripts/Eye.py
index bcf1975b749095529d18bc7cba456bf0a473bb1c..d04a6ea82f824c7b2d05dca8232399156d1ab214 100755
--- a/scripts/Eye.py
+++ b/scripts/Eye.py
@@ -12,7 +12,7 @@ import rospy
class Eye:
def __init__(self):
- self.robot_gender = rospy.get_param("/robot_gender")
+ self.robot_gender = rospy.get_param("/gender")
self.eyes = Image.open("data/"+self.robot_gender+"/baxter_eye.png") # eye image
self.positionX = 0 # keeps the x position as a coordinate
self.positionY = 0 # keeps the y position as a coordinate
diff --git a/scripts/Eye.pyc b/scripts/Eye.pyc
index ff6a2a6488b43c93e1fdc6c978d5acff8a6751ed..61fdeb054230c96e155d550d7e33e0e27dbdd963 100644
Binary files a/scripts/Eye.pyc and b/scripts/Eye.pyc differ
diff --git a/scripts/Eyebrow.py b/scripts/Eyebrow.py
index cd7b2b69e7d7657567ad8fb677b230557c72461d..f7f1e5a92dbfacac71eb866684b8e56c4b6b1863 100755
--- a/scripts/Eyebrow.py
+++ b/scripts/Eyebrow.py
@@ -13,7 +13,7 @@ class Eyebrow:
indexOfEyebrow = 0 # choosen element of the array
def __init__(self, initEyebrow):
- self.robot_gender = rospy.get_param("/robot_gender")
+ self.robot_gender = rospy.get_param("/gender")
# This array keeps the diffirent shape of eyebrow
self.eyebrows = [
Image.open("data/"+self.robot_gender+"/eyebrow/baxter_eyebrow_0.png"),
diff --git a/scripts/Eyebrow.pyc b/scripts/Eyebrow.pyc
index 7f26fede1df2a0449bf57e952549f41022d24c6d..dcb617e7661fcdbeead82aaaaded00e01af862bd 100644
Binary files a/scripts/Eyebrow.pyc and b/scripts/Eyebrow.pyc differ
diff --git a/scripts/Eyelid.py b/scripts/Eyelid.py
index e96eb830623b21d2c516f4d0a5566c27b607c82e..ec601ccc001aec01e4e0cc76443a56d8f1ca8394 100755
--- a/scripts/Eyelid.py
+++ b/scripts/Eyelid.py
@@ -11,7 +11,7 @@ import rospy
class Eyelid:
def __init__(self):
- self.robot_gender = rospy.get_param("/robot_gender")
+ self.robot_gender = rospy.get_param("/gender")
self.eyelid = Image.open("data/"+self.robot_gender+"/baxter_eyelid.png") # eyelid image
self.position = 0 # y position, we don't need x position because of vertical movment.
diff --git a/scripts/Eyelid.pyc b/scripts/Eyelid.pyc
index 5114c50444f883c8456520e7c7e28a5cdf74d3c6..00fb3ffe82729dc21326efd11679135b63162fb4 100644
Binary files a/scripts/Eyelid.pyc and b/scripts/Eyelid.pyc differ
diff --git a/scripts/Face.py b/scripts/Face.py
index 455e7bc649b90e0c5072e4d16906dcb9ac70e344..3bb4ad01e8870ff67171f798f4feafbc8d4ab870 100755
--- a/scripts/Face.py
+++ b/scripts/Face.py
@@ -54,7 +54,7 @@ import rospy
class Face:
def __init__(self):
- self.robot_gender = rospy.get_param("/robot_gender")
+ self.robot_gender = rospy.get_param("/gender")
# determine the path and set the default path place
os.chdir(r'/home/{}/pal/cognitive_game_ws/src/robot_facial_expression/scripts'.format(getpass.getuser()))
@@ -219,7 +219,7 @@ class Face:
self.winkMove(cv2, -330, 0.3, publish) # Eyelids are not seen.
self.skin.setSkin(2)
mouthIndex = 4#random.choice(mouthArray)
- eyebrowIndex = random.choice(eyeBrowArray)
+ eyebrowIndex = 0#random.choice(eyeBrowArray)
self.showEmotion(mouthIndex, eyebrowIndex, cv2, publish)
def emotion_neutral(self, cv2, publish):
@@ -253,7 +253,7 @@ class Face:
eyeBrowArray = [4]
self.winkMove(cv2, -330, 0.3, publish) # Eyelids are not seen.
self.skin.setSkin(1)
- mouthIndex = random.choice(mouthArray)
+ mouthIndex = 3#random.choice(mouthArray)
eyebrowIndex = random.choice(eyeBrowArray)
self.showEmotion(mouthIndex, eyebrowIndex, cv2, publish)
diff --git a/scripts/Face.pyc b/scripts/Face.pyc
index fc9db794fbbe5b61f8c9eddbb6f3310497da69d6..3d477a427e483241ba5c53f2aba7848ee01072d3 100644
Binary files a/scripts/Face.pyc and b/scripts/Face.pyc differ
diff --git a/scripts/Mouth.py b/scripts/Mouth.py
index f28bb5edd0bf022b62c50ddd039591565175da20..e0ecf68e2910d92587bc26e48cd7cc56a4649677 100755
--- a/scripts/Mouth.py
+++ b/scripts/Mouth.py
@@ -13,16 +13,16 @@ class Mouth:
indexOfMouth = 0 # choosen element of the array
def __init__(self, initMouth):
- self.robot_gender = rospy.get_param("/robot_gender")
+ self.robot_gender = rospy.get_param("/gender")
# This array keeps the diffirent shape of mouth
self.mouths = [
Image.open("data/"+self.robot_gender+"/mouth/baxter_mouth_angry.png"),
- Image.open("data/"+self.robot_gender+"/mouth/baxter_mouth_boring_1.png"),
+ Image.open("data/"+self.robot_gender+"/mouth/baxter_mouth_boring.png"),
Image.open("data/"+self.robot_gender+"/mouth/baxter_mouth_confused.png"),
- Image.open("data/"+self.robot_gender+"/mouth/baxter_mouth_sad_1.png"),
- Image.open("data/"+self.robot_gender+"/mouth/baxter_mouth_smile_open_1.png"),
- Image.open("data/"+self.robot_gender+"/mouth/baxter_mouth_neutral_1.png")
+ Image.open("data/"+self.robot_gender+"/mouth/baxter_mouth_sad.png"),
+ Image.open("data/"+self.robot_gender+"/mouth/baxter_mouth_smile_open.png"),
+ Image.open("data/"+self.robot_gender+"/mouth/baxter_mouth_neutral.png")
#Image.open("data/mouth/baxter_mouth_smile_open.png")
]
diff --git a/scripts/Mouth.pyc b/scripts/Mouth.pyc
index 8ef1899040974bc4381a1937119d70aa08651599..1e41997307f79ba77ab069bf33a5130bab39d7cf 100644
Binary files a/scripts/Mouth.pyc and b/scripts/Mouth.pyc differ
diff --git a/scripts/Skin.py b/scripts/Skin.py
index 74375c14aecac51f1976ee3234bd16692f8a9e4d..258cba91bdf76ebdf67afc27cfc992fc43a64260 100755
--- a/scripts/Skin.py
+++ b/scripts/Skin.py
@@ -13,7 +13,7 @@ class Skin:
indexOfSkin = 5 # choosen element of the array
def __init__(self, initSkin):
- self.robot_gender = rospy.get_param("/robot_gender")
+ self.robot_gender = rospy.get_param("/gender")
# This array keeps the diffirent colour version of skin
self.skins = [
diff --git a/scripts/Skin.pyc b/scripts/Skin.pyc
index a52dd11f2a200eb017f11932bacaf5c5e5a4522f..dab675d1ad92b6450d6c9617e4a6d35f9a2c0d32 100644
Binary files a/scripts/Skin.pyc and b/scripts/Skin.pyc differ
diff --git a/scripts/data/female/baxter_eye.png b/scripts/data/female/baxter_eye.png
index 151f6f1e27e21aa98c29a37083c0903ce7e273e4..b9fb54058e01492b7533da38a187c586578bd680 100644
Binary files a/scripts/data/female/baxter_eye.png and b/scripts/data/female/baxter_eye.png differ
diff --git a/scripts/data/female/eyebrow/baxter_eyebrow_0.png b/scripts/data/female/eyebrow/baxter_eyebrow_0.png
index e6cb9a77bdf5a5515eccb25d874b9b488817a1ab..8459cbf00b967da9febac0307f74e3c46324da56 100644
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diff --git a/scripts/data/female/eyebrow/baxter_eyebrow_1.png b/scripts/data/female/eyebrow/baxter_eyebrow_1.png
index b6b789d5466eafd5e9485c402d20e70dab61a4fb..f1bb93ea3a036cfc4a57528ec713fbb964181c3c 100644
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diff --git a/scripts/data/female/eyebrow/baxter_eyebrow_2.png b/scripts/data/female/eyebrow/baxter_eyebrow_2.png
index a2413e899c147e49f30bf9930ad6b7408f837686..a15a559f467e03d445c6edf04ba7a1d47b6c1486 100644
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diff --git a/scripts/data/female/eyebrow/baxter_eyebrow_4.png b/scripts/data/female/eyebrow/baxter_eyebrow_4.png
index 160297d10e46637f6fb0beeeba431cab9abf61cd..f1bb93ea3a036cfc4a57528ec713fbb964181c3c 100644
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diff --git a/scripts/data/female/mouth/baxter_mouth_boring.png b/scripts/data/female/mouth/baxter_mouth_boring.png
index 0f443bb0ba4e6c08eb5acae0dd0d7b58971f91c9..6048759713db47020cb315592d961a946c198aac 100644
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diff --git a/scripts/data/female/mouth/baxter_mouth_neutral.png b/scripts/data/female/mouth/baxter_mouth_neutral.png
new file mode 100644
index 0000000000000000000000000000000000000000..95b0ec449fbede5350bb4b4a9d3440f5d4c1e81b
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diff --git a/scripts/data/female/mouth/baxter_mouth_sad.png b/scripts/data/female/mouth/baxter_mouth_sad.png
index 6dce973de3d1d5103b77e490a0e9033bd492e274..7c818109125000477506f756e862a1976826134f 100644
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diff --git a/scripts/data/female/mouth/baxter_mouth_smile_open.png b/scripts/data/female/mouth/baxter_mouth_smile_open.png
index bbd862d2ea733f565b444faa597502e3a6233734..ae590f930543c4163bb1dc11b9abe3d96ba87f09 100644
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diff --git a/scripts/data/female/skin/baxter_skin_0_1.png b/scripts/data/female/skin/baxter_skin_0_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4e339b69c45694c1de59f60450bd05fed498af6
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diff --git a/scripts/data/male/baxter_eye.png b/scripts/data/male/baxter_eye.png
index 3dcb6f368d4da697fe310b1169aa5fc050d49b00..bb22a9495e9ccd9459b3309026a74ee1a39724cc 100644
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index 0d54811bfaca1487ae87651fa173358c6175f0a2..bf966110a64a06ffbf71f65bd2a19e1b8f4af6a7 100644
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diff --git a/scripts/data/male/baxter_eye_2.png b/scripts/data/male/old/baxter_eye_2.png
similarity index 100%
rename from scripts/data/male/baxter_eye_2.png
rename to scripts/data/male/old/baxter_eye_2.png
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