def send_motion_message(self, motion):
""" Publish TegaAction do motion message """
print 'sending motion message: %s' % motion
msg = TegaAction()
msg.motion = motion
self.publisher.publish(msg)
rospy.loginfo(msg)
def send_tega_animation(self, motion):
""" Publish a Tega command message. """
if self._tega_pub is None:
self._logger.warning("TegaAction ROS publisher is none!")
return
self._logger.info("Sending Tega command: {}".format(motion))
# Build message.
msg = TegaAction()
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.motion = motion
# Send message.
self._tega_pub.publish(msg)
self._logger.debug(msg)
def send_tega_command(self,
motion="",
lookat=None,
audio="",
fidgets="",
enqueue=False,
cancel=False,
volume=None):
""" Publish a Tega command message and optionally wait for a response.
"""
# We may need to send a TegaAction message with any or all of these
# parameters.
# pylint: disable=too-many-arguments
if self._tega_pub is None:
self._logger.warning("TegaAction ROS publisher is none!")
return
self._logger.info("Sending Tega command...")
# Build message.
msg = TegaAction()
# Add header.
msg.header = Header()
msg.header.stamp = rospy.Time.now()
# If parameters are set, add them to the message...
msg.motion = motion
if lookat is not None:
msg.do_look_at = True
msg.look_at = lookat
msg.wav_filename = audio
msg.fidgets = fidgets
msg.enqueue = enqueue
msg.cancel_actions = cancel
if volume is not None:
msg.percent_volume = volume
msg.set_volume = True
# Send message.
self._tega_pub.publish(msg)
self._logger.debug(msg)
def send_tega_command(lookat=None, motion=None):
""" Publish a Tega command message containing a lookat command or a motion
command.
"""
if not TEGA_PUB:
LOGGER.warning("No TegaAction ROS publisher is setup!")
return
LOGGER.info("Sending Tega lookat command...")
# Build message.
msg = TegaAction()
# Add header.
msg.header = Header()
msg.header.stamp = rospy.Time.now()
# Add the lookat command and/or motion command.
if lookat is not None:
msg.do_look_at = True
msg.look_at = lookat
if motion is not None:
msg.motion = motion
# Queue the action so it doesn't play over or interrupt anything.
msg.enqueue = True
# Send message.
TEGA_PUB.publish(msg)
LOGGER.info(msg)
def get_msg_from_behavior(command, *args): #pylint: disable=too-many-branches, too-many-statements
msg = TegaAction()
msg.header = Header()
msg.header.stamp = rospy.Time.now()
if command == RobotBehaviors.LOOK_AT_TABLET:
lookat_pos = Vec3()
lookat_pos.x = 0
lookat_pos.y = 2
lookat_pos.z = 20
msg.do_look_at = True
msg.look_at = lookat_pos
elif command == RobotBehaviors.LOOK_CENTER:
lookat_pos = Vec3()
lookat_pos.x = 0
lookat_pos.y = 10
lookat_pos.z = 40
msg.do_look_at = True
msg.look_at = lookat_pos
elif command == RobotBehaviors.SAY_HI:
msg.wav_filename = "vocab_games/effects/say_hi.wav"
## Basic Ring Ins
elif command == RobotBehaviors.RING_ANSWER_CORRECT:
msg.motion = "PERKUP"
elif command == RobotBehaviors.LATE_RING:
msg.motion = "PERKUP"
elif command == RobotBehaviors.PRONOUNCE_CORRECT:
msg.enqueue = True
msg.wav_filename = "vocab_games/words/" + args[0][0].lower() + ".wav"
elif command == RobotBehaviors.PRONOUNCE_WRONG_SOUND:
msg.enqueue = True
num = randint(0, 3)
if num == 0:
msg.wav_filename = "vocab_games/effects/thinking1.wav"
elif num == 1:
msg.wav_filename = "vocab_games/effects/puzzled1.wav"
elif num == 2:
msg.wav_filename = "vocab_games/effects/confused1.wav"
elif num == 3:
msg.motion = "THINKING"
#### Reactions
elif command == RobotBehaviors.REACT_TO_BEAT_CORRECT:
num = randint(0, 2)
if num == 0:
msg.motion = "FRUSTRATED"
elif num == 1:
msg.wav_filename = "vocab_games/effects/angry2.wav"
elif num == 2:
msg.wav_filename = "vocab_games/effects/angry4.wav"
elif command == RobotBehaviors.REACT_TO_BEAT_WRONG:
num = randint(0, 1)
if num == 0:
msg.wav_filename = "vocab_games/effects/laugh1.wav"
elif num == 1:
msg.wav_filename = "vocab_games/effects/laugh2.wav"
elif command == RobotBehaviors.REACT_ROBOT_CORRECT:
num = randint(0, 1)
if num == 0:
msg.motion = "SMILE"
elif num == 1:
msg.wav_filename = "vocab_games/effects/woohoo1.wav"
elif command == RobotBehaviors.REACT_ROBOT_WRONG:
num = randint(0, 1)
if num == 0:
msg.wav_filename = "vocab_games/effects/aww1.wav"
elif num == 1:
msg.wav_filename = "vocab_games/effects/sigh2.wav"
elif command == RobotBehaviors.REACT_PLAYER_CORRECT:
num = randint(0, 3)
if num == 0:
msg.motion = "SMILE"
elif num == 1:
msg.wav_filename = "vocab_games/effects/yes1.wav"
elif num == 2:
msg.wav_filename = "vocab_games/effects/good_job.wav"
elif num == 3:
msg.motion = "YES"
elif command == RobotBehaviors.REACT_PLAYER_WRONG:
num = randint(0, 2)
if num == 0:
msg.wav_filename = "vocab_games/effects/aww1.wav"
elif num == 1:
msg.wav_filename = "vocab_games/effects/serene.wav"
elif num == 2:
msg.motion = "NO"
elif command == RobotBehaviors.WIN_MOTION:
msg.motion = TegaAction.MOTION_EXCITED
elif command == RobotBehaviors.WIN_SPEECH:
pass
# msg.wav_filename = "vocab_games/effects/woohoo1.wav"
elif command == RobotBehaviors.LOSE_MOTION:
msg.motion = TegaAction.MOTION_SAD
elif command == RobotBehaviors.LOSE_SPEECH:
pass
# msg.wav_filename = "vocab_games/effects/sigh1.wav"
elif command == RobotBehaviors.PLAYER_RING_PROMPT:
num = randint(0, 1)
if num == 0:
msg.wav_filename = "vocab_games/effects/interested.wav"
elif num == 1:
msg.wav_filename = "vocab_games/effects/deep_think.wav"
return msg
def get_msg_from_behavior(command, *args): #pylint: disable=too-many-branches, too-many-statements
msg = TegaAction()
msg.header = Header()
msg.header.stamp = rospy.Time.now()
## Look at Commands
if command == RobotBehaviors.LOOK_AT_TABLET:
lookat_pos = Vec3()
lookat_pos.x = 0
lookat_pos.y = -10
lookat_pos.z = 20
msg.do_look_at = True
msg.look_at = lookat_pos
if command == RobotBehaviors.LOOK_CENTER:
lookat_pos = Vec3()
lookat_pos.x = 0
lookat_pos.y = 10
lookat_pos.z = 40
msg.do_look_at = True
msg.look_at = lookat_pos
## Positive Commands
if command == RobotBehaviors.ROBOT_EXCITED:
msg.motion = TegaAction.MOTION_EXCITED
if command == RobotBehaviors.ROBOT_INTERESTED:
msg.motion = TegaAction.MOTION_INTERESTED
if command == RobotBehaviors.ROBOT_YES:
msg.motion = TegaAction.MOTION_YES
if command == RobotBehaviors.ROBOT_HAPPY_DANCE:
msg.motion = TegaAction.MOTION_HAPPY_DANCE
if command == RobotBehaviors.ROBOT_CURIOUS:
msg.motion = TegaAction.MOTION_POSE_FORWARD
if command == RobotBehaviors.ROBOT_ATTENTION:
msg.motion = TegaAction.MOTION_SHIMMY
if command == RobotBehaviors.ROBOT_CELEBRATION:
msg.motion = TegaAction.MOTION_CIRCLING
if command == RobotBehaviors.ROBOT_ENCOURAGING:
msg.motion = TegaAction.MOTION_PERKUP
if command == RobotBehaviors.ROBOT_WINK:
msg.motion = TegaAction.MOTION_NOD
if command == RobotBehaviors.ROBOT_THINKING:
msg.motion = TegaAction.MOTION_THINKING
## Negative Commands
if command == RobotBehaviors.ROBOT_SAD:
msg.motion = TegaAction.MOTION_SAD
if command == RobotBehaviors.ROBOT_UNSURE:
msg.motion = TegaAction.MOTION_PUZZLED
if command == RobotBehaviors.ROBOT_COMFORT:
msg.motion = TegaAction.MOTION_FLAT_AGREEMENT
if command == RobotBehaviors.ROBOT_ASK_HELP:
msg.motion = TegaAction.MOTION_POSE_FORWARD
if command == RobotBehaviors.ROBOT_DISAPPOINTED:
msg.motion = TegaAction.MOTION_FRUSTRATED
## Silent Emotion Commands
if command == RobotBehaviors.ROBOT_SILENT_SAD:
msg.motion = TegaAction.MOTION_SILENT_SAD
if command == RobotBehaviors.ROBOT_SILENT_NOD:
msg.motion = TegaAction.MOTION_SILENT_NOD
if command == RobotBehaviors.ROBOT_SILENT_HAPPY_DANCE:
msg.motion = TegaAction.MOTION_SILENT_HAPPY_DANCE
if command == RobotBehaviors.ROBOT_SILENT_YES:
msg.motion = TegaAction.MOTION_SILENT_YES
if command == RobotBehaviors.ROBOT_SILENT_PUZZLED:
msg.motion = TegaAction.MOTION_SILENT_PUZZLED
if command == RobotBehaviors.ROBOT_SILENT_FRUSTRATED:
msg.motion = TegaAction.MOTION_SILENT_FRUSTRATED
if command == RobotBehaviors.ROBOT_SILENT_INTERESTED:
msg.motion = TegaAction.MOTION_SILENT_INTERESTED
if command == RobotBehaviors.ROBOT_SILENT_EXCITED:
msg.motion = TegaAction.MOTION_SILENT_HAPPY_WIGGLE
# Tega speech commands
if command == RobotBehaviors.ROBOT_HINT_BUTTON_REMINDER:
msg.wav_filename = ROOT_TEGA_SPEECH_FOLDER + "general/others/mission_reminder.wav"
msg.motion = TegaAction.MOTION_SILENT_PUZZLED
msg.enqueue = True
if command == RobotBehaviors.ROBOT_CUSTOM_SPEECH:
msg.wav_filename = args[0][0].lower()
msg.enqueue = True
if command == RobotBehaviors.NOVICE_ROLE_KEYWORD:
PATH = ROOT_TEGA_SPEECH_FOLDER + "general/novice_keyword/"
vocab_word = args[0][0].lower()
msg.wav_filename = PATH + "novice_"+ vocab_word + ".wav"
msg.motion = TegaAction.MOTION_SILENT_PUZZLED
msg.enqueue = True
### ============== Tega Speech for Role Switching Project ================== ###
if command == RobotBehaviors.BEFORE_GAME_SPEECH:
PATH = ROOT_TEGA_SPEECH_FOLDER + "general/before_game/"
file = "before_game_"+random.choice(["1", "3"])+".wav"
msg.wav_filename = PATH + file
msg.motion = TegaAction.MOTION_SILENT_HAPPY_WIGGLE
print("before game speech wav: "+msg.wav_filename)
if command == RobotBehaviors.VOCAB_EXPLANATION_SPEECH:
PATH = ROOT_TEGA_SPEECH_FOLDER + "general/vocab_explanation/"
vocab_word = args[0][0][0].lower()
itype = args[0][0][1].lower()
file = vocab_word+"_"+itype+"_explanation.wav"
msg.wav_filename = PATH + file
msg.motion = TegaAction.MOTION_SILENT_HAPPY_DANCE
if command == RobotBehaviors.HINT_SPEECH:
PATH = ROOT_TEGA_SPEECH_FOLDER + "general/hint/"
vocab_word = args[0][0].lower()
msg.wav_filename = PATH + vocab_word + "_hint.wav"
msg.motion = TegaAction.MOTION_SILENT_HAPPY_WIGGLE
print("hint speech wav: "+msg.wav_filename)
if command == RobotBehaviors.KEYWORD_DEFINITION_SPEECH:
PATH = ROOT_TEGA_SPEECH_FOLDER + "general/keyword_definition/"
file = args[0][0].lower()+"_definition.wav"
msg.wav_filename = PATH + file
msg.motion = TegaAction.MOTION_SILENT_NOD
print("key word definition speech wav: "+msg.wav_filename)
if command == RobotBehaviors.REMINDER_SPEECH:
PATH = ROOT_TEGA_SPEECH_FOLDER + "general/reminder/"
file = args[0][0].lower() + "_reminder_" + random.choice(["1", "2", "3"]) + ".wav"
msg.wav_filename = PATH + file
msg.motion = ""
print ("reminder speech wav: "+msg.wav_filename)
### ====== Tega End of Task Celebration =========== ####
if command == RobotBehaviors.ROBOT_TASK_END_BEHAVIOR:
PATH = ROOT_TEGA_SPEECH_FOLDER + "general/between_missions/"
file = "between_missions_"
speech_file = PATH + file + str(int(args[0][0])) + ".wav"
msg.wav_filename = speech_file
print("between missions celebration: "+msg.wav_filename)
if command == RobotBehaviors.ROBOT_PLAY_MUSIC:
PATH = ROOT_TEGA_SPEECH_FOLDER + "general/music/"
file = "music_"
speech_file = PATH + file + random.choice(["1", "2", "3", "4", "5"]) + ".wav"
msg.wav_filename = speech_file
print ("music: "+msg.wav_filename)
if command == RobotBehaviors.ROBOT_DANCE:
msg.motion = TegaAction.MOTION_DANCE
### ====== Tega End of Task Vocab Reminder ======== ####
if command == RobotBehaviors.Q_ROBOT_TASK_END_REMINDER:
PATH = ROOT_TEGA_SPEECH_FOLDER + "general/word_learning/"
file = "word_reminder_"
speech_file = PATH + file + random.choice(["1", "2", "3"]) + ".wav"
msg.wav_filename = speech_file
print ("vocab reminder question: "+msg.wav_filename)
if command == RobotBehaviors.ROBOT_TASK_END_RESPONSE:
PATH = ROOT_TEGA_SPEECH_FOLDER + "general/word_learning/"
vocab_word = args[0][0].lower()
speech_file = PATH + vocab_word + "_answer_" + random.choice(["1", "2"]) + ".wav"
msg.wav_filename = speech_file
print ("vocab reminder answer: "+msg.wav_filename)
if command == RobotBehaviors.Q_ROBOT_TASK_END_ASSESSMENT:
PATH = ROOT_TEGA_SPEECH_FOLDER + "general/word_learning/"
vocab_word = args[0][0].lower()
speech_file = PATH + vocab_word + "_question_" + random.choice(["1", "2"]) + ".wav"
msg.wav_filename = speech_file
print ("vocab assessment: "+msg.wav_filename)
### =========== Tega Speech Induction ============= ####
if command == RobotBehaviors.Q_ROBOT_INDUCE_SPEECH:
PATH = ROOT_TEGA_SPEECH_FOLDER + "general/induce_keyword/"
file = "induce_keyword_"
speech_file = PATH + file + random.choice(["1", "3", "6"]) + ".wav"
msg.wav_filename = speech_file
print ("induced speech: "+msg.wav_filename)
if command == RobotBehaviors.ROBOT_INDUCE_SPEECH_RESPONSE:
PATH = ROOT_TEGA_SPEECH_FOLDER + "general/word_learning/"
vocab_word = args[0][0].lower()
speech_file = PATH + vocab_word + "_answer_" + random.choice(["2"]) + ".wav"
msg.wav_filename = speech_file
print ("induced speech answer: "+msg.wav_filename)
### ====== Tega Question Asking =================== ####
if command == RobotBehaviors.Q_ROBOT_OFFER_HELP:
PATH = ROOT_TEGA_SPEECH_FOLDER + "questions/"
msg.wav_filename = PATH + args[0][0].lower()+".wav"
print("robot offer help wav: "+msg.wav_filename)
if command == RobotBehaviors.Q_ROBOT_ASK_WHY_CHOOSE_IT:
PATH = ROOT_TEGA_SPEECH_FOLDER + "questions/"
msg.wav_filename = PATH + args[0][0].lower()+".wav"
msg.motion = TegaAction.MOTION_SILENT_PUZZLED
print("robot ask why choose it wav: "+msg.wav_filename)
if command == RobotBehaviors.Q_ROBOT_WANT_LEARN:
PATH = ROOT_TEGA_SPEECH_FOLDER + "questions/"
msg.wav_filename = PATH + args[0][0].lower()+".wav"
msg.motion = TegaAction.MOTION_SILENT_INTERESTED
print("robot want learn wav: "+msg.wav_filename)
if command == RobotBehaviors.Q_ROBOT_ASK_HELP:
PATH = ROOT_TEGA_SPEECH_FOLDER + "questions/"
msg.wav_filename = PATH + args[0][0].lower()+".wav"
print("robot ask help wav: "+msg.wav_filename)
if command == RobotBehaviors.Q_ROBOT_ASK_WHY_WRONG:
PATH = ROOT_TEGA_SPEECH_FOLDER + "questions/"
msg.wav_filename = PATH + args[0][0].lower()+".wav"
msg.motion = TegaAction.MOTION_SILENT_FRUSTRATED
print("robot ask why wrong wav: "+msg.wav_filename)
if command == RobotBehaviors.Q_END_OF_TURN:
vocab_word = args[0][0].lower()
file = ROOT_TEGA_SPEECH_FOLDER + "questions/end_of_turn_question_"+vocab_word+".wav"
msg.wav_filename = file
print("end of turn wav: "+msg.wav_filename)
if command == RobotBehaviors.ROBOT_SAY_WORD:
PATH = ROOT_TEGA_SPEECH_FOLDER + "object_words/"
object_word =args[0][0].lower()
speech_file_name = PATH + object_word + ".wav"
msg.wav_filename = speech_file_name
msg.enqueue = True
### ================ NO iSpy Action Alert #### ====================
if command == RobotBehaviors.NO_ISPY_ACTION_ALERT:
path= ROOT_TEGA_SPEECH_FOLDER + 'general/others/'
files = ["no_ispy_action_alert1_response_1", "no_ispy_action_alert1_response_2"]
speech_file = path + random.choice(files)+".wav"
msg.wav_filename = speech_file
print("no ispy action alert wav: "+msg.wav_filename)
#msg.motion =
### ============= Tega Speech for Curiosity Assessment =====================
# General Curiosity Speech
if command == RobotBehaviors.GENERAL_CURIOSITY_SPEECH:
# the default path in Tega is "contentroot/robots/tega/01/speech",
# so no need to add this prefix in the path here. make sure all audios are under this prefix path
PATH = "TegaAudio/generalcuriosity/"
speech_file_name = PATH + random.choice(GENERAL_CURIOSITY_SPEECH)
msg.wav_filename = speech_file_name
msg.enqueue = True
print(speech_file_name)
# Based on prompts speech
if command == RobotBehaviors.BASED_ON_PROMPTS_SPEECH:
PATH = "TegaAudio/basedonprompts/"
vocab_word =args[0][0].lower()
print("vocab word is "+vocab_word)
speech_file_name = PATH + vocab_word + ".mp3"
msg.wav_filename = speech_file_name
msg.enqueue = True
# Before pronunciation
if command == RobotBehaviors.TRY_PRONOUNCE:
PATH = "TegaAudio/generalcuriosity/"
speech_file_name = PATH + "c.mp3"
msg.wav_filename = speech_file_name
msg.enqueue = True
# Based on objects
if command == RobotBehaviors.BASED_ON_OBJECTS:
PATH = "TegaAudio/basedonobjects/"
speech_file_name = PATH + random.choice(BASED_ON_OBJECTS_TEMPLATES)
msg.wav_filename = speech_file_name
msg.enqueue = True
# Random objects
if command == RobotBehaviors.OBJECTS:
PATH = "TegaAudio/objects/"
speech_file_name = PATH + random.choice(OBJECTS)
msg.wav_filename = speech_file_name
msg.enqueue = True
return msg