def create_main_tree(self):
'''
creates the main tree for owyl behavior tree
Args:
self
The tree looks like this:
root
|
owyl.repeatAlways
|
owyl.sequence
|
--------------------------------------------------------
| | |
owyl.selector self.TurnToBall self.WalkToBall()
-------------------------
| |
self.CheckIfBall() self.walkBackwards
Returns:
Creates a tree and returns
owyl.visit method to visit next nodes in the tree.
'''
tree = owyl.repeatAlways(
owyl.sequence(
owyl.selector(self.CheckIfBall(), self.walkBackwards()),
self.TurnToBall(), self.WalkToBall()))
return owyl.visit(tree, blackboard=self.blackboard)
def create_main_tree(self):
tree = owyl.repeatAlways(
owyl.sequence(
self.poll_tracking(), self.is_stt_on(), self.poll_gesture(),
self.is_stt_done(),
owyl.selector(self.run_stt_command(), self.run_stt_chat())))
return owyl.visit(tree, blackboard=self.blackboard)
def testRepeatAlways_Count(self):
"""Does repeatAlways execute its child with every tick?
"""
# How many times to repeat the behavior?
ticks = 100
bb = blackboard.Blackboard('test', count=0)
@owyl.task
def increment(**kwargs):
bb, key = kwargs['blackboard'], kwargs['key']
bb[key] += 1
yield True
tree = owyl.repeatAlways(increment(key='count'))
v = owyl.visit(tree, blackboard=bb)
for i in xrange(ticks):
v.next()
self.assertEqual(bb['count'], ticks)
# Need to reset the blackboard to get the same results.
bb = blackboard.Blackboard('test', count=0)
v = owyl.visit(tree, blackboard=bb)
for i in xrange(ticks):
v.next()
self.assertEqual(bb['count'], ticks)
def build_tree(self): eva_behavior_tree = \ owyl.repeatAlways( owyl.selector( owyl.sequence( self.is_scripted_performance_system_on(), self.sync_variables(), ########## Main Events ########## owyl.selector( self.someone_arrived(), self.someone_left(), self.interact_with_people(), self.nothing_is_happening() ) ), # Turn on scripted performances # This point is reached only when scripting is turned off. owyl.sequence( self.idle_spin(), self.is_scripted_performance_system_off(), self.start_scripted_performance_system() ) ) ) return owyl.visit(eva_behavior_tree, blackboard=self.blackboard)
def build_tree(self):
eva_breath_tree = \
owyl.repeatAlways(
owyl.sequence(
# TODO: Behaviors of breath (TBC)
self.breathe()
)
)
return owyl.visit(eva_breath_tree, blackboard=self.blackboard)
def create_main_tree(self):
tree = owyl.repeatAlways(
owyl.sequence(
self.poll_tracking(),
self.is_stt_on(),
self.is_stt_done(),
owyl.selector(self.run_stt_command(), self.run_stt_chat()),
)
)
return owyl.visit(tree, blackboard=self.blackboard)
def on_enter(self):
self.block = models.Block(1000, 1000)
self.addChild(self.block.land_agent)
self.player = models.Player(self.block, (500, 20))
self.controls = player.Player(self.player)
self.field = views.PlayField(self.block, self.player)
self.main_frame = views.MainFrame(self.field)
self.schedule_visit(
owyl.repeatAlways(
owyl.limit(
owyl.wrap(self.block.update),
limit_period = 0.1)
)
)
def buildTree(self):
""" Build the behaviour buildTree
Building a behaviour tree is as simple as nesting
behaviour constructor calls.
Building the behaviour tree
============================
We use parallel to have many behaviour tree run at the same time
- check the internet connection
- check new tweets and reply
- check for new emails
Core Behaviours
===============
The core behaviour are documented below in each method's docstring. They are :
- Brain.query : queries all modules for a response to a question
- Brain.checkinternet : check that internet connexion is available
- Brain.checknewtweets : check that new tweets are available.
- Brain.checknewemails : check that there are new emails
"""
tree = owyl.parallel(
### Check that internet is available
####################################
owyl.limit(
owyl.repeatAlways(self.checkinternet(), debug=True, limit_period=2.4)
),
### Check new tweets
####################################
self.checknewtweets(),
### Check new emails
####################################
self.checknewemails(),
policy=owyl.PARALLEL_SUCCESS.REQUIRE_ALL
)
return owyl.visit(tree, blackboard=self.bb)
def build_tree(self): eva_behavior_tree = \ owyl.repeatAlways( owyl.selector( owyl.sequence( self.is_behavior_tree_on(), self.sync_variables(), ########## Main Events ########## owyl.selector( self.someone_arrived(), self.someone_left(), self.interact_with_people(), self.nothing_is_happening() ) ), self.idle_spin() ) ) return owyl.visit(eva_behavior_tree, blackboard=self.blackboard)
def testStructureBig(self):
tree = owyl.parallel(owyl.sequence(owyl.repeatAlways(blackboard.setBB()), owyl.log()),
owyl.selector(owyl.repeatUntilSucceed(blackboard.checkBB())),
owyl.repeatUntilFail(owyl.fail()))
viztree = OwylTree(tree)
structure = truncate(viztree.get_structure(), ['name', 'children'])
self.assertEquals(structure,
{'name': 'parallel',
'children': [{'name': 'sequence',
'children': [{'name': 'repeatAlways',
'children': [{'name': 'setBB',
'children': []}]},
{'name': 'log',
'children': []}]},
{'name': 'selector',
'children': [{'name': 'repeatUntilSucceed',
'children': [{'name': 'checkBB',
'children': []}]}]},
{'name': 'repeatUntilFail',
'children': [{'name': 'fail',
'children': []}]}]})
def create_main_tree(self):
'''
creates the main tree for owyl behavior tree
Args:
self
The tree looks like this:
root
|
owyl.repeatAlways
|
owyl.sequence
|
---------------------------------------------------------------------------------------------------------------------------------------------------------
| | | | |
owyl.selector owyl.repeatUntilSucceed self.isCameraTrackDone() owyl.repeatUntilSucceed self.isWalkForward()
| | |
------------------------------------------------------------------------- self.cameraTrack() self.isBodyTrack()
| | | | |
self.checkIfBall() self.search85() self.search60() self.search35() self.turnBody()
Returns:
Creates a tree and returns
owyl.visit method to visit next nodes in the tree.
'''
# tree=owyl.repeatAlways(self.cameraTrack()) # For testing only the camera tracker ... see method cameraTrack() for details
tree = owyl.repeatAlways(
owyl.sequence(
owyl.selector(
self.checkIfBall(),
owyl.selector(self.search85(), self.search60(),
self.search35(), self.turnBody())),
owyl.repeatUntilSucceed(self.cameraTrack()),
self.isCameraTrackDone(),
owyl.repeatUntilSucceed(self.isBodyTrack()),
self.isWalkForward()))
return owyl.visit(tree, blackboard=self.blackboard)
def create_main_tree(self):
'''
creates the main tree for owyl behavior tree
Args:
self
The tree looks like this:
root
|
owyl.repeatAlways
|
owyl.sequence
|
---------------------------------------------------------------------------------------------------------------------------------------------------------
| | | | |
owyl.selector owyl.repeatUntilSucceed self.isCameraTrackDone() owyl.repeatUntilSucceed self.isWalkForward()
| | |
------------------------------------------------------------------------- self.cameraTrack() self.isBodyTrack()
| | | | |
self.checkIfBall() self.search85() self.search60() self.search35() self.turnBody()
60() 35() 10()
Returns:
Creates a tree and returns
owyl.visit method to visit next nodes in the tree.
'''
# tree=owyl.repeatAlways(self.cameraTrack()) # For testing only the camera tracker ... see method cameraTrack() for details
tree=owyl.repeatAlways(
owyl.sequence(
owyl.selector(self.checkIfBall(),owyl.selector(self.search85(),self.search60(),self.search35(),self.turnBody()))
,owyl.repeatUntilSucceed(self.cameraTrack())
,self.isCameraTrackDone()
,owyl.repeatUntilSucceed(self.isBodyTrack())
,self.isWalkForward()
)
)
return owyl.visit(tree,blackboard=self.blackboard)
def buildTree(self):
"""Build the behavior tree.
Building the behavior tree is as simple as nesting the
behavior constructor calls.
Building the Behavior Tree
==========================
We'll use a L{parallel<owyl.core.parallel>} parent node as
the root of our tree. Parallel is essentially a round-robin
scheduler. That is, it will run one step on each its children
sequentially, so that the children execute parallel to each
other. Parallel is useful as a root behavior when we want
multiple behaviors to run at the same time, as with Boids.
The first call to a task node constructor returns another
function. Calling I{that} function will return an iterable
generator. (This behavior is provided by the "@task..."
family of python decorators found in L{owyl.core}.)
Generally, you won't have to worry about this unless you're
writing new parent nodes, but keep it in mind.
Also note that keyword arguments can be provided at
construction time (call to task constructor) or at run-time
(call to visit). The C{blackboard} keyword argument to
C{visit} will be available to the entire tree. (This is also
why all nodes should accept C{**kwargs}-style keyword
arguments, and access.
Skipping down to the end of the tree definition, we see the
first use of
L{visit<owyl.core.visit>}. L{visit<owyl.core.visit>} provides
the external iterator interface to the tree. Technically,
it's an implementation of the Visitor pattern. It visits each
"node" of the behavior tree and iterates over it, descending
into children as determined by the logic of the parent
nodes. (In AI terminology, this is a depth-first search, but
with the search logic embedded in the tree.)
L{visit<owyl.core.visit>} is also used internally by several
parent behaviors, including L{parallel<owyl.core.parallel>},
L{limit<owyl.decorators.limit>}, and
L{repeatAlways<owyl.decorators.repeatAlways>} in order to
gain more control over its children.
L{limit<owyl.decorators.limit>}
===============================
The next parent node we see is
L{limit<owyl.decorators.limit>}. L{limit<owyl.decorators.limit>}
is a decorator node designed to limit how often its child is
run (given by the keyword argument C{limit_period} in
seconds). This is useful for limiting the execution of
expensive tasks.
In the example below, we're using
L{limit<owyl.decorators.limit>} to clear memoes once every
0.4 seconds. This implementation of Boids uses
L{memojito<examples.memojito>} to cache (or "memoize")
neighbor data for each Boid. Neighbor data is used by each of
the core behaviors, and is fairly expensive to
calculate. However, it's constantly changing, so adjusting
the limit_period will affect the behavior of the flock (and
the frame rate).
L{repeatAlways<owyl.decorators.repeatAlways>}
=============================================
We next see the L{repeatAlways<owyl.decorators.repeatAlways>}
decorator node. This does exactly as you might expect: it
takes a behavior that might only run once, and repeats it
perpetually, ignoring return values and always yielding None
(the special code for "I'm not done yet, give me another
chance to run").
L{sequence<owyl.decorators.sequence>}
=============================================
Runs a sequence of actions. If any action yields False,
then the rest of the sequence is not executed (the sequence
is halted). Otherwise, the next sequence item is run. In
this example, a boid accelerates away only if it is too close
to another boid.
Core Behaviors
==============
The core behaviors are documented below in each method's
docstring. They are:
- L{Boid.hasCloseNeighbors}: conditional to detect crowding
- L{Boid.accelerate}: accelerate at a given rate
- L{Boid.matchSpeed}: accelerate to match a given speed
- L{Boid.move}: move straight ahead at current speed
- L{Boid.seek}: seek a fixed goal position
- L{Boid.steerToMatchHeading}: match neighbors' average
heading
- L{Boid.steerForSeparation}: steer away from close
flockmates
- L{Boid.steerForCohesion}: steer toward average position of
neighbors.
"""
tree = owyl.parallel(
owyl.limit(owyl.repeatAlways(self.clearMemoes(), debug=True),
limit_period=0.4),
### Velocity and Acceleration
#############################
owyl.repeatAlways(
owyl.sequence(
self.hasCloseNeighbors(),
self.accelerate(rate=-.01),
), ),
self.move(),
self.matchSpeed(match_speed=300, rate=.01),
### Steering
############
self.seek(goal=(0, 0), rate=5),
self.steerToMatchHeading(rate=2),
self.steerForSeparation(rate=5),
self.steerForCohesion(rate=2),
policy=owyl.PARALLEL_SUCCESS.REQUIRE_ALL)
return owyl.visit(tree, blackboard=self.bb)
def makeBasicTree(self):
robotTree = \
owyl.parallel(
######################################## BodySubtree ########################################
owyl.limit(
owyl.repeatAlways(
owyl.sequence(
self.updateFrontVariables(),
self.determineCurrentTarget(),
self.removeFace(),
owyl.selector(
# Gaze at face targets
owyl.sequence(
self.isFaceTarget(),
self.isNoSalientTarget(),
self.isNoAudioInput(),
self.isNoRosInput(),
self.isNoEmotionInput(),
self.faceGaze()
),
# Gaze at salient targets
# owyl.sequence(
# self.isSalientTarget(),
# # self.isNoFaceTarget(),
# self.isNoAudioInput(),
# self.isNoRosInput(),
# self.isNoEmotionInput(),
# self.faceGaze()
# ),
# Handle commands
owyl.sequence(
owyl.selector(
self.isAudioInput(),
self.isRosInput()
),
owyl.selector(
self.isCommand(key="audioInput"),
self.isCommand(key="rosInput")
),
owyl.selector(
owyl.sequence(
owyl.selector(
self.isCommandPhrase(commandName="StopSpeech", actionPhrase="actionName"),
self.isCommandPhrase(commandName="WalkForward", actionPhrase="actionName"),
self.isCommandPhrase(commandName="WalkBackward", actionPhrase="actionName"),
self.isCommandPhrase(commandName="TurnLeft", actionPhrase="actionName"),
self.isCommandPhrase(commandName="TurnRight", actionPhrase="actionName"),
self.isCommandPhrase(commandName="StopSpeaking", actionPhrase="actionName"),
self.isCommandPhrase(commandName="Smile", actionPhrase="actionName"),
self.isCommandPhrase(commandName="Frown", actionPhrase="actionName"),
# self.isCommandPhrase(commandName="FrownMouth", actionPhrase="actionName"),
self.isCommandPhrase(commandName="Surprise", actionPhrase="actionName"),
self.isCommandPhrase(commandName="TakeThis", actionPhrase="actionName"),
self.isCommandPhrase(commandName="GiveBack", actionPhrase="actionName"),
self.isCommandPhrase(commandName="Wave", actionPhrase="actionName"),
),
self.isNotSpeaking(),
# self.sayStartAction(key="actionName"),
self.showAction(key="actionName")
),
self.printStatus(msg="I'm sorry, Dave, I'm afraid I can't do that...")
)
),
# Play emotion detection game
owyl.sequence(
owyl.selector( #TODO: change to sequence
self.isAudioInput(),
self.isEmotionInput(),
),
self.isNotStopEmotionDetection(key="audioInput"),
self.isEmotionDetection(key="audioInput"),
self.isNotSpeaking(),
self.startEmotionDetection(),
),
# Play object recognition game
owyl.sequence(
owyl.selector(
self.isAudioInput(),
self.isObjInput(),
),
self.isNotStopObjRecognition(key="audioInput"),
self.isObjRecognition(key="audioInput"),
self.isNotSpeaking(),
self.startObjRecognition()
),
# Send to the dialogue system
owyl.sequence(
self.isAudioInput(),
self.isNotSpeaking(),
self.toZenoDial(key="audioInput")
)
)
)
),
limit_period=0.001
),
######################################## General tree ########################################
owyl.limit(
owyl.repeatAlways(
owyl.sequence(
self.test(),
self.updateVariables()
)
),
limit_period=0.001
),
policy=owyl.PARALLEL_SUCCESS.REQUIRE_ALL
)
return owyl.visit(robotTree, blackboard=self.blackboard)
def build_tree(self):
eva_behavior_tree = \
owyl.repeatAlways(
owyl.selector(
owyl.sequence(
self.is_scripted_performance_system_off(),
self.sync_variables(),
########## Main Events ##########
owyl.selector(
##### When Someone Arrived #####
owyl.sequence(
self.is_someone_arrived(),
self.set_emotion(variable="boredom_engagement", value=0.5),
owyl.selector(
##### Were No People In The Scene #####
owyl.sequence(
self.were_no_people_in_the_scene(),
self.update_emotion(variable="sadness_happiness", lower_limit=0.0, min=1.2, max=1.4),
self.update_emotion(variable="boredom_engagement", lower_limit=0.0, min=1.2, max=1.4),
self.assign_face_target(variable="current_face_target", value="new_face"),
self.record_start_time(variable="interact_with_face_target_since"),
self.interact_with_face_target(id="current_face_target", new_face=True)
),
##### Is Interacting With Someone #####
owyl.sequence(
self.is_interacting_with_someone(),
self.is_random_smaller_than(val1="newRandom", val2="glance_probability_for_new_faces"),
self.update_emotion(variable="sadness_happiness", lower_limit=0.0, min=1.05, max=1.1),
self.update_emotion(variable="boredom_engagement", lower_limit=0.0, min=1.05, max=1.1),
self.glance_at_new_face()
),
##### Does Nothing #####
owyl.sequence(
self.print_status(str="----- Ignoring The New Face!"),
self.does_nothing()
)
),
self.clear_new_face_target()
),
##### When Someone Left #####
owyl.sequence(
self.is_someone_left(),
owyl.selector(
##### Was Interacting With That Person #####
owyl.sequence(
self.was_interacting_with_that_person(),
self.update_emotion(variable="confusion_comprehension", lower_limit=0.0, min=0.4, max=0.6),
self.update_emotion(variable="recoil_surprise", lower_limit=0.0, min=1.8, max=2.2),
self.update_emotion(variable="sadness_happiness", lower_limit=0.0, min=0.4, max=0.6),
self.update_emotion(variable="irritation_amusement", lower_limit=0.0, min=0.95, max=1.0),
self.show_frustrated_expression()
),
##### Is Interacting With Someone Else #####
owyl.sequence(
self.is_interacting_with_someone(),
self.is_random_smaller_than(val1="newRandom", val2="glance_probability_for_lost_faces"),
self.glance_at_lost_face()
),
##### Does Nothing #####
owyl.sequence(
self.print_status(str="----- Ignoring The Lost Face!"),
self.does_nothing()
)
),
self.clear_lost_face_target()
),
##### People Interaction #####
owyl.sequence(
self.is_face_target(),
self.update_emotion(variable="sadness_happiness", lower_limit=0.0, min=1.001, max=1.005),
self.update_emotion(variable="boredom_engagement", lower_limit=0.0, min=1.005, max=1.01),
owyl.selector(
##### Start A New Interaction #####
owyl.sequence(
owyl.selector(
self.is_not_interacting_with_someone(),
owyl.sequence(
self.is_more_than_one_face_target(),
self.is_time_to_change_face_target()
)
),
self.select_a_face_target(),
self.record_start_time(variable="interact_with_face_target_since"),
self.interact_with_face_target(id="current_face_target", new_face=False)
),
##### Glance At Other Faces & Continue With The Last Interaction #####
owyl.sequence(
self.print_status(str="----- Continue The Interaction"),
owyl.selector(
owyl.sequence(
self.is_more_than_one_face_target(),
self.is_random_smaller_than(val1="newRandom", val2="glance_probability"),
self.select_a_glance_target(),
self.glance_at(id="current_glance_target")
),
self.does_nothing()
),
self.interact_with_face_target(id="current_face_target", new_face=False)
)
)
),
##### Nothing Interesting Is Happening #####
owyl.sequence(
self.update_emotion(variable="boredom_engagement", lower_limit=0.0, min=0.8, max=0.9),
self.update_emotion(variable="sadness_happiness", lower_limit=0.0, min=0.995, max=1.0),
owyl.selector(
##### Is Not Sleeping #####
owyl.sequence(
self.is_not_sleeping(),
owyl.selector(
##### Go To Sleep #####
owyl.sequence(
self.is_random_smaller_than(val1="newRandom_plus_boredom", val2="sleep_probability"),
self.record_start_time(variable="sleep_since"),
self.print_status(str="----- Go To Sleep!"),
self.go_to_sleep()
),
##### Search For Attention #####
self.search_for_attention()
)
),
##### Is Sleeping #####
owyl.selector(
##### Wake Up #####
owyl.sequence(
self.is_random_smaller_than(val1="newRandom", val2="wake_up_probability"),
self.is_time_to_wake_up(),
self.wake_up(),
self.update_emotion(variable="boredom_engagement", lower_limit=0.3, min=1.5, max=2.0)
),
##### Continue To Sleep #####
owyl.sequence(
self.print_status(str="----- Continue To Sleep!"),
self.go_to_sleep()
)
)
),
##### If Interruption && Sleeping -> Wake Up #####
owyl.sequence(
self.is_interruption(),
self.is_sleeping(),
self.wake_up(),
self.print_status(str="----- Interruption: Wake Up!"),
self.update_emotion(variable="boredom_engagement", lower_limit=0.3, min=1.5, max=2.0)
)
)
)
),
############### Scripted Performance System ###############
owyl.sequence(
self.is_scripted_performance_system_on(),
self.start_scripted_performance_system()
)
)
)
return owyl.visit(eva_behavior_tree, blackboard=self.blackboard)
def buildTree(self):
"""Build the behavior tree.
Building the behavior tree is as simple as nesting the
behavior constructor calls.
Building the Behavior Tree
==========================
We'll use a L{parallel<owyl.core.parallel>} parent node as
the root of our tree. Parallel is essentially a round-robin
scheduler. That is, it will run one step on each its children
sequentially, so that the children execute parallel to each
other. Parallel is useful as a root behavior when we want
multiple behaviors to run at teh same time, as with Boids.
The first call to a task node constructor returns another
function. Calling I{that} function will return an iterable
generator. (This behavior is provided by the "@task..."
family of python decorators found in L{owyl.core}.)
Generally, you won't have to worry about this unless you're
writing new parent nodes, but keep it in mind.
Also note that keyword arguments can be provided at
construction time (call to task constructor) or at run-time
(call to visit). The C{blackboard} keyword argument to
C{visit} will be available to the entire tree. (This is also
why all nodes should accept C{**kwargs}-style keyword
arguments, and access
Skipping down to the end of the tree definition, we see the
first use of
L{visit<owyl.core.visit>}. L{visit<owyl.core.visit>} provides
the external iterator interface to the tree. Technically,
it's an implementation of the Visitor pattern. It visits each
"node" of the behavior tree and iterates over it, descending
into children as determined by the logic of the parent
nodes. (In AI terminology, this is a depth-first search, but
with the search logic embedded in the tree.)
L{visit<owyl.core.visit>} is also used internally by several
parent behaviors, including L{parallel<owyl.core.parallel>},
L{limit<owyl.decorators.limit>}, and
L{repeatAlways<owyl.decorators.repeatAlways>} in order to
gain more control over its children.
L{limit<owyl.decorators.limit>}
===============================
The next parent node we see is
L{limit<owyl.decorators.limit>}. L{limit<owyl.decorators.limit>}
is a decorator node designed to limit how often its child is
run (given by the keyword argument C{limit_period} in
seconds). This is useful for limiting the execution of
expensive tasks.
In the example below, we're using
L{limit<owyl.decorators.limit>} to clear memoes once every
second. This implementation of Boids uses
L{memojito<examples.memojito>} to cache (or "memoize")
neighbor data for each Boid. Neighbor data is used by each of
the core behaviors, and is fairly expensive to
calculate. However, it's constantly changing, so adjusting
the limit_period will affect the behavior of the flock (and
the frame rate).
L{repeatAlways<owyl.decorators.repeatAlways>}
=============================================
We next see the L{repeatAlways<owyl.decorators.repeatAlways>}
decorator node. This does exactly as you might expect: it
takes a behavior that might only run once, and repeats it
perpetually, ignoring return values and always yielding None
(the special code for "I'm not done yet, give me another
chance to run").
Core Behaviors
==============
The core behaviors are documented below in each method's
docstring. They are:
- L{Boid.hasCloseNeighbors}: conditional to detect crowding
- L{Boid.accelerate}: accelerate at a given rate
- L{Boid.matchSpeed}: accelerate to match a given speed
- L{Boid.move}: move straight ahead at current speed
- L{Boid.seek}: seek a fixed goal position
- L{Boid.steerToMatchHeading}: match neighbors' average
heading
- L{Boid.steerForSeparation}: steer away from close
flockmates
- L{Boid.steerForCohesion}: steer toward average position of
neighbors.
"""
tree = owyl.parallel(
owyl.limit(
owyl.repeatAlways(self.clearMemoes(), debug=True),
limit_period=0.4),
### Velocity and Acceleration
#############################
owyl.repeatAlways(owyl.sequence(self.hasCloseNeighbors(),
self.accelerate(rate=-.01),
),
),
self.move(),
self.matchSpeed(match_speed=300, rate=.01),
### Steering
############
self.seek(goal=(0, 0), rate=5),
self.steerToMatchHeading(rate=2),
self.steerForSeparation(rate=5),
self.steerForCohesion(rate=2),
policy=owyl.PARALLEL_SUCCESS.REQUIRE_ALL
)
return owyl.visit(tree, blackboard=self.bb)
def create_main_tree(self):
tree=owyl.repeatAlways(owyl.sequence(self.isCameraTrack(),self.isBodyTrack()))
return owyl.visit(tree,blackboard=self.blackboard)
def create_main_tree(self):
tree = owyl.repeatAlways(
owyl.sequence(self.isCameraTrack(), self.isBodyTrack()))
return owyl.visit(tree, blackboard=self.blackboard)
def __init__(self, tree_name):
self.schedule(self.update)
# self.BehaviorNode = rospy.init_node("behavior_tree")
rospy.Subscriber("itf_listen", String, self.audioInputCallback)
rospy.Subscriber("speech_active", Bool, self.isSpeakingCallback)
rospy.Subscriber("facedetect", targets, self.faceDetectCallback)
rospy.Subscriber("nmpt_saliency_point", targets, self.saliencyCallback)
self.zenodial_listen_pub = rospy.Publisher("zenodial_listen", String, queue_size=1)
self.robot_movement_pub = rospy.Publisher("robot_movement", String, queue_size=1)
self.commandKeywords = {
'Stop': ['stop', 'halt', 'abort', 'kill', 'panic', 'off', 'freeze', 'shut down', 'turn off', 'help', 'help me', 'abhor', 'a w***e', 'a bore'],
'Walk Forward': ['forward', 'ahead', 'straight', 'forwards'],
'Walk Backward': ['back', 'backward', 'back up', 'backwards'],
'Turn Left': ['turn left', 'turn lefts', 'turns left'],
'Turn Right': ['turn right', 'turn rights', 'turns right']}
### Inputs
self.saliencyTargetPos = [0.0, 0.0] # position of the current saliency target
self.saliencyTargetVel = 0.0 # average velocity of the current saliency target over the last second
self.saliencyTargetAge = 0 # time since the last significant change in the saliency target position
self.faceTargetPos = [[0.0, 0.0]] # position of the current face target
self.faceTargetVel = 0.0 # average velocity of the current face target over the last second
self.faceTargetAge = 0 # time since the last significant change in the face target position
self.bodyTargetPos = [[0.0, 0.0]] # position of the current body target
self.bodyTargetVel = 0.0 # average velocity of the current body target over the last second
self.bodyTargetAge = 0 # time since the last significant change in the body target position
self.audioInput = "" # string output of speech-to-text algorithm, raw form
self.audioInputAge = 0 # time since the last significant parse of the audio input
self.audioInputVol = 0 # average volume or magnitude of the last audio input
self.rosInput = "" # string representation of miscellaneous commands from other ros components, usually blender
self.rosInputAge = 0 # time since the last ros command
self.emotionInput = "" # string output of the audio-emotion-analysis algorithm
self.emotionInputAge = 0 # time since the last significant chance in emotional state
self.speechOutput = "" # string representation of the last speech output from the robot
self.speechOutputAge = 0 # time since the last speech output from the robot
self.animationOutput = "" # string representation of the last animation output from the robot
self.animationOutputAge = "" # time since the last animation output from the robot
self.animationOutputDur = 0 # for zeno body paint
self.randomInput = 0 # a random percentile for random behaviors
### Globals
self.blinkChance = 0.011 # @ 60 fps a 1.1% chance to start a blink each frame should give us a nice frequency
self.highBodyVel = 1 # Not sure what would be considered a high velocity for the body - use 1 for now
self.eyeFreedom = 0
self.neckFreedom = 0
self.HEAD_NECK = "headneck"
self.UPPER_BODY = "ubody"
self.LOWER_BODY = "lbody"
### Locals
self.commandName = ""
self.actionName = ""
self.bodyOrFace = ""
self.targetPos = [[0.0, 0.0]]
self.glanceOrSaccadeTargetPos = [[0.0, 0.0]]
self.firstGreeting = False
self.speechActive = False
self.idleSince = 0
self.blackboard = blackboard.Blackboard()
### Subtrees
## Blink Subtree. A small example of a tree to run in parallel with the other subtrees.
# Assumes randomInput is recalculated each frame
self.blinkSubtree = \
owyl.limit(
owyl.repeatAlways(
owyl.selector(
owyl.sequence(
self.isSwitchingTarget(),
# blink 50% more often when switching targets
self.isLess(num1=self.randomInput, num2=self.blinkChance*1.5),
self.blink()
),
owyl.sequence(
owyl.selector(
self.isGreater(num1=linalg.norm(self.bodyTargetVel), num2=1),
self.isSpeaking()
),
self.isLess(num1=self.randomInput, num2=self.blinkChance*1.2),
self.blink()
),
owyl.sequence(
self.isLess(num1=self.randomInput, num2=self.blinkChance),
self.blink()
)
)
),
limit_period=0.4 # Yield to the other behaviors after every 400 milliseconds of processing
)
## Announce the action we're about to take and then reset the robot to a default stance.
# Though we announce an action, this tree doesn't execute the action.
# Assumes actionName has been set
self.announceAndResetTree = \
owyl.sequence( # announce the action and then reset
owyl.selector( # If we're not speaking, then speak
self.isSpeaking(),
self.sayStartAction(commandName=self.actionToPhrase(self.actionName))
),
owyl.selector( # If we're no in a default stance, reset (blend) to the default stance
self.isDefaultStance(),
self.resetToDefaultStance()
)
)
## Executes a basic command, such as to play an animation.
# Assumes commandName has been set
# Assumes bodyOrFace has been set
# Will announce the command (if not already speaking)
# before showing the associated animation
self.executeBasicCommandSubtree = \
owyl.sequence(
self.isCommand(commandName=self.commandName),
self.setVariable(var=self.actionName, value=self.commandName),
owyl.selector( # try the command sequence (subtree) or report failure
owyl.sequence(
owyl.visit(self.announceAndResetTree, blackboard=self.blackboard),
self.showCommand(commandName=self.commandName, part=self.bodyOrFace), # Finally play the command's animation
),
owyl.sequence(
self.say(utterance="I'm sorry, Dave, I'm afraid I can't do that..."),
owyl.fail()
)
)
)
## Select a basic command to execute, once we know that we've been given a command.
# Assumes bodyOrFace has been set, to distinguish body actions from face actions
self.selectBasicCommandSubtree = \
owyl.selector( # Select from one of several mutually exclusive behaviors
owyl.sequence( # If we should be idling, then try to play the Idle animation...
self.setVariable(var=self.commandName, value="Idle"),
owyl.visit(self.executeBasicCommandSubtree, blackboard=self.blackboard)
),
owyl.sequence(
self.setVariable(var=self.commandName, value="StopSpeech"),
owyl.visit(self.executeBasicCommandSubtree, blackboard=self.blackboard)
),
owyl.sequence( # If we're commanded to and can walk to target location, then play the walk animation until we reach the target
self.setVariable(var=self.commandName, value="WalkForward"),
owyl.visit(self.executeBasicCommandSubtree, blackboard=self.blackboard)
),
owyl.sequence(
self.setVariable(var=self.commandName, value="WalkBackward"),
owyl.visit(self.executeBasicCommandSubtree, blackboard=self.blackboard)
),
owyl.sequence(
self.setVariable(var=self.commandName, value="TurnLeft"),
owyl.visit(self.executeBasicCommandSubtree, blackboard=self.blackboard)
),
owyl.sequence(
self.setVariable(var=self.commandName, value="TurnRight"),
owyl.visit(self.executeBasicCommandSubtree, blackboard=self.blackboard)
),
owyl.sequence(
self.setVariable(var=self.commandName, value="PointUp"),
owyl.visit(self.executeBasicCommandSubtree, blackboard=self.blackboard)
),
owyl.sequence(
self.setVariable(var=self.commandName, value="PointDown"),
owyl.visit(self.executeBasicCommandSubtree, blackboard=self.blackboard)
),
owyl.sequence(
self.setVariable(var=self.commandName, value="LookUp"),
owyl.visit(self.executeBasicCommandSubtree, blackboard=self.blackboard)
),
owyl.sequence(
self.setVariable(var=self.commandName, value="LookDown"),
owyl.visit(self.executeBasicCommandSubtree, blackboard=self.blackboard)
),
owyl.sequence(
self.setVariable(var=self.commandName, value="Wave"),
owyl.visit(self.executeBasicCommandSubtree, blackboard=self.blackboard)
),
owyl.sequence( # If we should show an emotion, then select the right one and show it.
self.setVariable(var=self.commandName, value="Smile"),
owyl.visit(self.executeBasicCommandSubtree, blackboard=self.blackboard)
),
owyl.sequence(
self.setVariable(var=self.commandName, value="Frown"),
owyl.visit(self.executeBasicCommandSubtree, blackboard=self.blackboard)
),
owyl.sequence(
self.setVariable(var=self.commandName, value="FrownMouth"),
owyl.visit(self.executeBasicCommandSubtree, blackboard=self.blackboard)
),
owyl.sequence(
self.setVariable(var=self.commandName, value="OpenMouth"),
owyl.visit(self.executeBasicCommandSubtree, blackboard=self.blackboard)
)
)
## Tracks the target face or salient point
# Assumes targetPos has been set to face, body, or salient position
self.faceGaze = \
owyl.sequence(
# TODO: Get clarification from Hanson and others on the conditions for tracking
# owyl.selector(
# self.isFaceNearestAudioSource(self.faceTargetPos), # Do we have the source of the audio?
# self.isFaceMostSalient(self.faceTargetAge, self.saliencyTargetAge), # Do we know the degree/magnitude of saliency?
# self.isFaceCentered(self.faceTargetPos), # Can we find the centroid of all the faces?
# self.isLess(self.randomInput, self.blinkChance*2.0) # Should we really switch tracking targets this often?
# ),
# self.faceTrack(pos=targetPos, eyeFree=eyeFreedom, neckFree=neckFreedom, rand=-1) # -1 here indicating that we'll track this point until told to stop
)
## Displays the surprised emotional expression under certain conditions
# Assumes targetPos has been set to face, body, or salient position
self.startle = \
owyl.sequence(
owyl.selector(
self.isGreater(num1=self.audioInputVol, num2=1), # or whatever counts for a high volume
self.isGreater(num1=linalg.norm(self.faceTargetVel), num2=1),
self.isGreater(num1=linalg.norm(self.bodyTargetVel), num2=1),
self.isGreater(num1=linalg.norm(self.saliencyTargetVel), num2=1)
),
self.showAction(action="OpenMouth", part=self.HEAD_NECK)
# self.showAction(action="Surprised", part="face")
)
## Random eye movements which are much faster and less pronounced than glances.
# Assumes targetPos has been set to face or salient position
# Assumes glanceOrSaccadeTargetPos has been set to face's body or salient point nearby
# Assumes eyeFreedom and neckFreedom have been set to appropriate degrees of freedom
self.saccade = \
owyl.selector(
owyl.sequence(
self.isGreater(num1=self.randomInput, num2=0.5),
self.faceTrack(pos=self.glanceOrSaccadeTargetPos, eyeFree=self.randomInput*0.25*self.eyeFreedom, neckFree=self.randomInput*0.10*self.neckFreedom, rand=self.randomInput)
),
owyl.sequence(
self.faceTrack(pos=self.glanceOrSaccadeTargetPos, eyeFree=self.randomInput*0.75*self.eyeFreedom, neckFree=self.randomInput*0.30*self.neckFreedom, rand=self.randomInput)
)
)
## Random eye movements which signal recognition of targets.
# Assumes targetPos has been set to face or salient position
# Assumes glanceOrSaccadeTargetPos has been set to face's body or salient point nearby
self.glance = \
owyl.selector(
owyl.sequence(
owyl.selector(
self.isLess(num1=self.faceTargetAge, num2=1),
self.isLess(num1=self.randomInput, num2=0.0025)
),
self.faceTrack(pos=self.glanceOrSaccadeTargetPos, eyeFree=self.eyeFreedom, neckFree=self.neckFreedom, rand=self.randomInput*2.5)
),
owyl.sequence(
owyl.selector(
self.isLess(num1=self.saliencyTargetAge, num2=1),
self.isLess(num1=self.randomInput, num2=0.0025)
),
self.faceTrack(pos=self.glanceOrSaccadeTargetPos, eyeFree=self.eyeFreedom, neckFree=self.neckFreedom, rand=self.randomInput*2.5)
)
)
## After tracking at a new target face, ZoidStein will execute a scripted greeting.
# Be careful not to play this more than once in the same encounter.
self.greeting = \
owyl.sequence(
self.isVariable(var=self.firstGreeting, value=False),
self.setVariable(var=self.firstGreeting, value=True),
self.say(utterance="Hello!"),
self.showAction(action="Wave", part=self.UPPER_BODY),
self.showAction(action="Smile", part=self.HEAD_NECK)
)
## When people are too close, move head back and up while playing the afraid expression animation.
self.awkward = \
owyl.sequence(
self.showAction(action="LookUp", part=self.HEAD_NECK),
# self.showAction(action="Afraid", part="face")
self.showAction(action="Frown", part=self.HEAD_NECK)
)
## When people are very close, move head forward and down while playing the innoscent expression animation.
self.shy = \
owyl.sequence(
self.showAction(action="LookDown", part=self.HEAD_NECK),
# self.showAction(action="Innocent", part=self.HEAD_NECK)
self.showAction(action="Frown", part=self.HEAD_NECK)
)
## In general, ZoidStein's expressions should mimic the emotional input of its targets.
self.mimic = \
owyl.selector(
owyl.sequence(
self.isVariable(var=self.emotionInput, value="Happy"),
self.showAction(action="Happy", part=self.UPPER_BODY),
self.showAction(action="Happy", part=self.HEAD_NECK)
)
# TODO: Do we have to mimic all the emotionInput or just happy?
)
"""
Creating the tree
"""
for case in switch(tree_name):
if case("BasicZenoTree"):
# self.robot = Zeno()
self.makeBasicZenoTree()
break
if case("BasicZoidSteinTree"):
self.robot = Zoidstein()
self.makeBasicZoidSteinTree()
break
if case():
rospy.loginfo("Unrecognized Tree Name!\n")
def makeBasicZenoTree(self):
## Zeno's Body Paint subtree
zenoBodyPaint = \
owyl.selector(
owyl.sequence(
self.isNotSameBrushStroke(),
self.isGreater(num1=self.animationOutputDur, num2=2),
self.setVariable(var=self.actionName, value="BrushStrokeGesture"),
owyl.selector( # try the action sequence (subtree) or report failure
owyl.sequence(
owyl.visit(self.announceAndResetTree, blackboard=self.blackboard),
self.showAction(action=self.actionName, part=self.HEAD_NECK) # Finally play the action's animation
),
owyl.sequence(
self.say(utterance="I'm not feeling inspired today..."),
owyl.fail()
)
)
),
owyl.sequence(
self.setVariable(var=self.actionName, value="Idle"),
owyl.selector( # try the command sequence (subtree) or report failure
owyl.sequence(
owyl.visit(self.announceAndResetTree, blackboard=self.blackboard),
self.showAction(action=self.actionName, part=self.HEAD_NECK) # Finally play the action's animation
),
owyl.sequence(
self.say(utterance="Why can't I stand?"),
owyl.fail()
)
)
)
)
## body behavior subtree
zenoBodySubtree = \
owyl.limit(
owyl.repeatAlways(
owyl.selector( # Select response to command or natural behavior
owyl.sequence( # If the last audio or blender input is a command, then select a response
self.isCommand(commandName=self.commandName),
self.setVariable(var=self.bodyOrFace, value=self.UPPER_BODY),
owyl.visit(self.selectBasicCommandSubtree, blackboard=self.blackboard)
),
# It's not a command, so start checking for natural behaviors
owyl.sequence(
# self.isNoSalientTarget(),
# self.isNoFaceTarget(),
# self.isNoAudioInput(),
# self.isNoRosInput(),
# self.isNoEmotionInput(),
self.isIdle(),
# There's nothing to do, so let's paint!
owyl.visit(zenoBodyPaint, blackboard=self.blackboard)
),
owyl.sequence(
# TODO: the other natural actions, once we have a saliency target, etc.
)
)
),
limit_period=0.4 # Yield to the other behaviors after every 400 milliseconds of processing
)
# face & neck behavior subtree
zenoFaceSubtree = \
owyl.limit(
owyl.repeatAlways(
owyl.selector( # Select from one of several mutually exclusive face & neck behaviors
owyl.sequence( # If the last audio or blender input is a command, then select a response
self.isCommand(commandName=self.commandName),
self.setVariable(var=self.bodyOrFace, value=self.HEAD_NECK),
owyl.visit(self.selectBasicCommandSubtree, blackboard=self.blackboard)
),
owyl.sequence(
# self.isSalientTarget(),
# self.isNoFaceTarget(),
# self.isNoAudioInput(),
# self.isNoRosInput(),
# self.isNoEmotionInput(),
self.isIdle(),
owyl.visit(self.faceGaze, blackboard=self.blackboard)
),
owyl.sequence(
self.isFaceTarget()
)
)
),
limit_period=0.4 # Yield to the other behaviors after every 400 milliseconds of processing
)
# Zeno's root tree
zenoTree = \
owyl.parallel( # At the highest level, run several parallel behaviors
owyl.visit(zenoBodySubtree, blackboard=self.blackboard),
owyl.visit(zenoFaceSubtree, blackboard=self.blackboard),
owyl.limit(
owyl.repeatAlways(
owyl.sequence(
# Poll for input coming from blender, for example buttons to stop movement, etc.
# May move this logic out of the behavior tree...
# self.pollForBlenderInput(),
# Listen for audio input from people talking, etc.
# Again, this might not be the best place for this...
# self.listenForAudioInput()
)
),
limit_period=0.4 # Yield to the other behaviors after every 400 milliseconds of processing
),
policy=owyl.PARALLEL_SUCCESS.REQUIRE_ALL
)
return owyl.visit(zenoTree, blackboard=self.blackboard)
def makeBasicZoidSteinTree(self):
## The scripted dance of ZoidStein, used when no faces or salient targets are detected.
# Assumes body state has been reset to starting state
zoidSteinBodyDance = \
owyl.sequence(
self.showCommand(commandName="WalkForward", part=self.LOWER_BODY),
self.showCommand(commandName="WalkBackward", part=self.LOWER_BODY),
self.showAction(commandName="PointUp", part=self.UPPER_BODY),
self.showAction(commandName="PointDown", part=self.UPPER_BODY)
)
## body behavior subtree
# TODO: Attach subtrees properly
zoidSteinBodySubtree = \
owyl.limit(
owyl.repeatAlways(
owyl.selector( # Select response to command or natural behavior
owyl.sequence( # If the last audio or blender input is a command, then select a response
self.isCommand(commandName=self.commandName),
self.setVariable(var=self.bodyOrFace, value="body"),
owyl.visit(self.selectBasicCommandSubtree, blackboard=self.blackboard)
),
# It's not a command, so start checking for natural behaviors
owyl.sequence(
# self.isNoSalientTarget(),
# self.isNoFaceTarget(),
# self.isNoAudioInput(),
# self.isNoRosInput(),
# self.isNoEmotionInput(),
self.isIdle(),
# There's nothing to do, so let's dance!
owyl.visit(zoidSteinBodyDance, blackboard=self.blackboard)
),
owyl.sequence(
#TODO: the other natural actions, once we have a saliency target, etc.
)
)
),
limit_period=0.4 # Yield to the other behaviors after every 400 milliseconds of processing
)
## face & neck behavior subtree
# TODO: Attach subtrees properly
zoidSteinFaceSubtree = \
owyl.limit(
owyl.repeatAlways(
owyl.selector( # Select from one of several mutually exclusive face & neck behaviors
owyl.sequence( # If the last audio or blender input is a command, then select a response
self.isCommand(commandName=self.commandName),
self.setVariable(var=self.bodyOrFace, value=self.HEAD_NECK),
owyl.visit(self.selectBasicCommandSubtree, blackboard=self.blackboard)
),
owyl.sequence(
# self.isSalientTarget(),
# self.isNoFaceTarget(),
# self.isNoAudioInput(),
# self.isNoRosInput(),
# self.isNoEmotionInput(),
self.isIdle(),
owyl.visit(self.faceGaze, blackboard=self.blackboard)
),
owyl.sequence(
self.isFaceTarget(),
)
)
),
limit_period=0.4 # Yield to the other behaviors after every 400 milliseconds of processing
)
## ZoidStein's root tree
zoidSteinTree = \
owyl.parallel( # At the highest level, run several parallel behaviors
owyl.visit(zoidSteinBodySubtree, blackboard=self.blackboard),
owyl.visit(zoidSteinFaceSubtree, blackboard=self.blackboard),
owyl.limit(
owyl.repeatAlways(
owyl.sequence(
# Poll for input coming from blender, for example buttons to stop movement, etc.
# May move this logic out of the behavior tree...
# self.pollForBlenderInput(),
# Listen for audio input from people talking, etc.
# Again, this might not be the best place for this...
# self.listenForAudioInput()
)
),
limit_period=0.4 # Yield to the other behaviors after every 400 milliseconds of processing
),
policy=owyl.PARALLEL_SUCCESS.REQUIRE_ALL
)
return owyl.visit(zoidSteinTree, blackboard=self.blackboard)