def __init__(self, expression, intensity=Default(), speed=Default(), duration=Default(), feedback_cb=None, done_cb=None):
""" Makes the robot perform a facial expression, e.g. smile.
The default values for the intensity, speed and duration of each gesture are specified in the robots IExpression
enumeration definition.
This function is asynchronous and returns an ActionHandle.
:param expression: The type of expression to perform, an IExpression enumeration member (e.g.for Zeno, Expression.Smile).
:type expression: IExpression subclass member
:param intensity: The strength of the expression e.g. a smile with an intensity of 1.0 is the largest possible smile
(normalised between 0.0 < speed <= 1.0).
:type intensity: float, Default
:param speed: how fast the expression is performed, e.g. a smile expression with a speed of 1.0 is
performed at the fastest possible speed (normalized between 0.0 <= speed <= 1.0). If Default() then the
expression is performed at its default speed.
:type speed: float, Default
:param duration: how long the expression lasts (seconds). If Default() then the expression is performed for its
default duration. Use positive infinity for a never ending expression, hint: float('inf')
:type duration: float, Default
:param feedback_cb: a function that will be called when the state of the expression action changes. The function
should have one parameter, which will be filled with a ExpressionActionFeedback instance.
:type feedback_cb: Callable
:param done_cb: a function that will be called when the expression action finishes.
:type done_cb: Callable
:return: an action handle to keep track of the action
:rtype: MultiGoalActionHandle
:raises TypeError: expression is not an IExpression member, intensity is not a float or Default, speed is not a
float or Default, duration is not a float or Default, feedback_cb is not None or Callable, done_cb is not None or Callable
"""
TypeChecker.accepts(inspect.currentframe().f_code.co_name,
(IExpression, (Default, float), (Default, float), (Default, float), (None, Callable), (None, Callable)),
expression, intensity, speed, duration, feedback_cb, done_cb)
IExpressionGoal.__init__(self)
self.expression = expression.name
if intensity is Default:
self.intensity = expression.default_intensity
else:
self.intensity = intensity
if speed is Default:
self.speed = expression.default_speed
else:
self.speed = speed
if self.duration is Default:
self.duration = expression.default_duration
else:
self.duration = duration
def expression(self, expression, intensity=None, speed=None, duration=None):
if not self.expression_found:
self.wait_for_action_servers(self.expression_client)
self.expression_found = True
ParamFormatting.assert_types(self.expression, expression, IExpression)
goal = ExpressionGoal()
goal.expression = expression.name
if intensity is None:
goal.intensity = -1
else:
ParamFormatting.assert_types(self.expression, intensity, float)
ParamFormatting.assert_range(self.expression, intensity, 0.0, 1.0)
goal.intensity = intensity
if speed is None:
goal.speed = -1
else:
ParamFormatting.assert_types(self.expression, speed, float)
ParamFormatting.assert_range(self.expression, speed, 0.0, 1.0)
goal.speed = speed
if duration is None:
goal.duration = -1
else:
ParamFormatting.assert_types(self.expression, duration, float)
ParamFormatting.assert_greater_than(self.expression, duration, 0.0)
goal.duration = duration
gh = self.expression_client.send_goal(goal, done_cb=self.expression_done)
ah = MultiGoalActionHandle(self.expression_client, gh)
self.add_action_handle(ah)
return ah
def serialize(self, buff):
if self.intensity < 0.0 or self.intensity > 1.0:
rospy.logwarn("ExpressionGoal intensity value of {0} is out of range, clipping to normal bounds: 0.0 <= intensity <= 1.0".format(self.intensity))
self.intensity = numpy.clip(self.intensity, 0.0, 1.0)
if self.speed < 0.0 or self.speed > 1.0:
rospy.logwarn("ExpressionGoal speed value of {0} is out of range, clipping to normal bounds: 0.0 <= intensity <= 1.0".format(self.speed))
self.speed = numpy.clip(self.speed, 0.0, 1.0)
if self.duration < 0.0:
rospy.logwarn("ExpressionGoal duration value of {0} is out of range, clipping to normal bounds: duration > 0".format(self.duration))
self.duration = max(0.0, self.duration)
IExpressionGoal.serialize(buff)
def expression(self, expression, intensity=None, speed=None, duration=None):
if not self.expression_found:
self.wait_for_action_servers(self.expression_client)
self.expression_found = True
ParamFormatting.assert_types(self.expression, expression, IExpression)
goal = ExpressionGoal()
goal.expression = expression.name
if intensity is None:
goal.intensity = -1
else:
ParamFormatting.assert_types(self.expression, intensity, float)
ParamFormatting.assert_range(self.expression, intensity, 0.0, 1.0)
goal.intensity = intensity
if speed is None:
goal.speed = -1
else:
ParamFormatting.assert_types(self.expression, speed, float)
ParamFormatting.assert_range(self.expression, speed, 0.0, 1.0)
goal.speed = speed
if duration is None:
goal.duration = -1
else:
ParamFormatting.assert_types(self.expression, duration, float)
ParamFormatting.assert_greater_than(self.expression, duration, 0.0)
goal.duration = duration
gh = self.expression_client.send_goal(goal, done_cb=self.expression_done)
ah = MultiGoalActionHandle(self.expression_client, gh)
self.add_action_handle(ah)
return ah
def parse_parameters(self, text, audience, expression_enum, gesture_enum, tts_duration_srv):
self.reset()
self.audience = audience
ParamFormatting.assert_types(self.parse_parameters, text, str)
ParamFormatting.assert_types(self.parse_parameters, audience, Entity, Query)
# if not is_callable(tts_duration_srv):
# raise TypeError("parse_parameters() parameter tts_duration_srv={0} is not callable".format(tts_duration_srv))
self.sentence = SayToPlan.get_sentence(text) # Get sentence
self.gaze_change_locations = SayToPlan.get_gaze_change_locations(self.sentence)
# Get expressions and gestures
xml_tree = ET.fromstring("<sayto>" + text + "</sayto>")
seen_text = ''
for node in xml_tree.iter():
if node.tag == "sayto":
if node.text is not None:
seen_text += node.text + " "
else:
start_word_i = SayToPlan.num_words(seen_text)
if node.text is not None:
seen_text += node.text + " "
end_word_i = SayToPlan.num_words(seen_text)
goal_name = node.tag
if SayToPlan.enum_contains(expression_enum, goal_name):
goal = ExpressionGoal()
goal.expression = goal_name
goal.intensity = 0.5
goal.speed = 0.5
if 'intensity' in node.attrib:
goal.intensity = float(node.attrib["intensity"])
if 'speed' in node.attrib:
goal.speed = float(node.attrib["speed"])
goal.duration = tts_duration_srv(self.sentence, start_word_i, end_word_i).duration
self.expression_lookup[start_word_i] = goal
elif SayToPlan.enum_contains(gesture_enum, goal_name):
goal = GestureGoal()
goal.gesture = goal_name
if 'target' in node.attrib: # Check if target is Entity
goal.target = node.attrib["target"]
else:
raise AttributeError('Please specify a target attribute for {0} gesture'.format(goal_name))
goal.duration = tts_duration_srv(self.sentence, start_word_i, end_word_i).duration
self.gesture_lookup[start_word_i] = goal
else:
raise TypeError('No gesture or expression called: {0}'.format(goal_name))
if node.tail is not None:
seen_text += node.tail + " "
def parse_parameters(self, text, audience, expression_enum, gesture_enum, tts_duration_srv):
self.reset()
self.audience = audience
ParamFormatting.assert_types(self.parse_parameters, text, str)
ParamFormatting.assert_types(self.parse_parameters, audience, Entity, Query)
# if not is_callable(tts_duration_srv):
# raise TypeError("parse_parameters() parameter tts_duration_srv={0} is not callable".format(tts_duration_srv))
self.sentence = SayToPlan.get_sentence(text) # Get sentence
self.gaze_change_locations = SayToPlan.get_gaze_change_locations(self.sentence)
# Get expressions and gestures
xml_tree = ET.fromstring("<sayto>" + text + "</sayto>")
seen_text = ""
for node in xml_tree.iter():
if node.tag == "sayto":
if node.text is not None:
seen_text += node.text + " "
else:
start_word_i = SayToPlan.num_words(seen_text)
if node.text is not None:
seen_text += node.text + " "
end_word_i = SayToPlan.num_words(seen_text)
goal_name = node.tag
if SayToPlan.enum_contains(expression_enum, goal_name):
goal = ExpressionGoal()
goal.expression = goal_name
goal.intensity = 0.5
goal.speed = 0.5
if "intensity" in node.attrib:
goal.intensity = float(node.attrib["intensity"])
if "speed" in node.attrib:
goal.speed = float(node.attrib["speed"])
goal.duration = tts_duration_srv(self.sentence, start_word_i, end_word_i).duration
self.expression_lookup[start_word_i] = goal
elif SayToPlan.enum_contains(gesture_enum, goal_name):
goal = GestureGoal()
goal.gesture = goal_name
if "target" in node.attrib: # Check if target is Entity
goal.target = node.attrib["target"]
else:
raise AttributeError("Please specify a target attribute for {0} gesture".format(goal_name))
goal.duration = tts_duration_srv(self.sentence, start_word_i, end_word_i).duration
self.gesture_lookup[start_word_i] = goal
else:
raise TypeError("No gesture or expression called: {0}".format(goal_name))
if node.tail is not None:
seen_text += node.tail + " "