Change facial expression man and woman

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" />

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

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"),

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.
 

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)
 

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")
         ]
 

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 = [