def getPau():
msg = paumsg.pau()
head = api.getHeadData()
msg.m_headRotation.x = head['x']
msg.m_headRotation.y = head['y']
msg.m_headRotation.z = -head['z']
msg.m_headRotation.w = head['w']
neck = api.getNeckData()
msg.m_neckRotation.x = neck['x']
msg.m_neckRotation.y = neck['y']
msg.m_neckRotation.z = -neck['z']
msg.m_neckRotation.w = neck['w']
eyes = api.getEyesData()
msg.m_eyeGazeLeftPitch = eyes['l']['p']
msg.m_eyeGazeLeftYaw = eyes['l']['y']
msg.m_eyeGazeRightPitch = eyes['r']['p']
msg.m_eyeGazeRightYaw = eyes['r']['y']
shapekeys = api.getFaceData()
msg.m_coeffs = shapekeys.values()
# Manage timeout for set_pau
if api.pauTimeout < time.time():
api.setAnimationMode(api.pauAnimationMode & ~api.PAU_ACTIVE)
return msg
def map_pau(selfself, trackMsg):
# Final Message to be sent. Currently only m_coeffs has to be remapped
msg = pau()
#eyes and head remains same.
msg.m_headRotation = copy.deepcopy(trackMsg.m_headRotation)
# Correction
msg.m_headRotation.y = trackMsg.m_headRotation.x
msg.m_headRotation.z = -trackMsg.m_headRotation.y
msg.m_headRotation.x = -trackMsg.m_headRotation.z
msg.m_eyeGazeLeftPitch = math.radians(trackMsg.m_eyeGazeLeftPitch)
msg.m_eyeGazeLeftYaw = math.radians(trackMsg.m_eyeGazeLeftYaw)
msg.m_eyeGazeRightYaw = math.radians(trackMsg.m_eyeGazeRightYaw)
msg.m_eyeGazeRightPitch = math.radians(trackMsg.m_eyeGazeRightPitch)
# Empty m_coeffs
msg.m_coeffs = [0]*ShapekeyStore.getLength()
# Map by shapekeys
fs = trackMsg.m_coeffs
for i,sk in enumerate(ShapekeyStore.getList()):
if sk in blend_shape_names:
msg.m_coeffs[i] = fs[blend_shape_names.index(sk)]
# Outer brows are same as inner
msg.m_coeffs[5] = msg.m_coeffs[3]
msg.m_coeffs[6] = msg.m_coeffs[4]
msg.m_coeffs[10] = msg.m_coeffs[8]
msg.m_coeffs[11] = msg.m_coeffs[9]
return msg
def test_motor2(self):
msg = pau()
msg.m_neckRotation.x = 1.0
msg.m_neckRotation.y = 0.5
msg.m_neckRotation.z = 0.0
msg.m_neckRotation.w = 1.0
sub = self.queue.subscribe('/pub_topic2_controller/command', Float64)
rospy.sleep(2)
self.check_msg(msg, 0.5) # max = 0.5
sub.unregister()
def setUp(self):
self.sub = rospy.Subscriber("eyes_pau", pau, self.last_message)
self.get_pau = rospy.Publisher("/blender_api/get_pau", pau, queue_size=10)
self.last_msg = False
time.sleep(1)
msg = pau()
msg.m_eyeGazeLeftYaw = 1
self.get_pau.publish(msg)
time.sleep(1)
rospy.logwarn("Setup")
def test_motor1(self):
msg = pau()
msg.m_headRotation.x = 0.5
msg.m_headRotation.y = 0.5
msg.m_headRotation.z = 0.0
msg.m_headRotation.w = 1.0
sub = self.queue.subscribe('/pub_topic_controller/command', Float64)
rospy.sleep(2)
self.check_msg(msg, math.asin(0.5))
sub.unregister()
def point_head(self, req):
rospy.loginfo(
"Point head (yaw: %s, pitch: %s, roll: %s)",
req.yaw, req.pitch, req.roll
)
msg = pau()
msg.m_headRotation = Quaternion(
*Utils.Quat.fromInYZX(req.yaw, req.pitch, req.roll).params
)
self.pub_neck.publish(msg)
def neckrot(hx, hy, nx, ny) : global neck msg = paumsg.pau() msg.m_headRotation.x = hx msg.m_headRotation.y = hy msg.m_headRotation.z = 0.0 msg.m_headRotation.w = math.sqrt(1.0 - hx*hx + hy*hy) msg.m_neckRotation.x = nx msg.m_neckRotation.y = ny msg.m_neckRotation.z = 0.0 msg.m_neckRotation.w = math.sqrt(1.0 - nx*nx + ny*ny) neck.publish(msg)
def eyes_calib_send(pitch, yaw, delta):
if delta > 0.2 or delta < -0.2:
return
msg = pau()
msg.m_eyeGazeLeftPitch = pitch
msg.m_eyeGazeLeftYaw = yaw
msg.m_eyeGazeRightPitch = pitch
msg.m_eyeGazeRightYaw = yaw
msg.m_eyeGazeLeftPitch += delta
msg.m_eyeGazeRightPitch += delta
msg.m_eyeGazeLeftYaw += delta
msg.m_eyeGazeRightYaw += delta
pub.publish(msg)
print "pub {}".format(msg)
def getPauFromMotors(motors):
global msg
msg = pau()
msg.m_shapekeys = [-1.0]*len(ShapekeyStore._shkey_list)
for m,v in motors.items():
#Get the shapekey and the value
cfg = get_cfg(m)
if not cfg:
print("No motor config {}".format(m))
continue
if cfg['function'] == 'weightedsum':
weightedsum(cfg, v)
if cfg['function'] == 'linear':
linear(cfg, v)
return msg
def getPau():
msg = paumsg.pau()
head = api.getHeadData()
msg.m_headRotation.x = head['x']
msg.m_headRotation.y = head['y']
msg.m_headRotation.z = -head['z']
msg.m_headRotation.w = head['w']
eyes = api.getEyesData()
msg.m_eyeGazeLeftPitch = eyes['l']['p']
msg.m_eyeGazeLeftYaw = eyes['l']['y']
msg.m_eyeGazeRightPitch = eyes['r']['p']
msg.m_eyeGazeRightYaw = eyes['r']['y']
shapekeys = api.getFaceData()
msg.m_coeffs = shapekeys.values()
return msg
def test_message_fwd(self):
# IF node active the pau messages should be forwarded from /blender_api to eyes_pau
msg = pau()
self.last_msg = False
self.get_pau.publish(msg)
time.sleep(0.1)
self.assertTrue(self.last_msg != False, "Message not received")
# Check if eye positions been modified
t = time.time()
modified = False
# Checks if eyes positions has been changed
while time.time() - t < 3:
self.get_pau.publish(msg)
time.sleep(1)
if self.last_msg.m_eyeGazeRightPitch != msg.m_eyeGazeRightPitch:
modified = True
break
self.assertTrue(modified, "Eye positions were not adjusted")
def _build_msg(cls, expr_entry=None):
"""
Takes an entry from the config file and returns a constructed ROS message.
"""
msg = pau()
msg.m_coeffs = [0]*cls.M_COEFFS_LEN
# Allow creation of a neutral face without an expression yaml entry.
if expr_entry == None:
return msg
for shapekey in expr_entry:
index = ShapekeyStore.getIndex(shapekey)
if (index == None):
rospy.logwarn("Invalid shapekey in expression data: %s", shapekey)
else:
msg.m_coeffs[index] = expr_entry[shapekey]
return msg
def talker():
pub = rospy.Publisher('/blender_api/set_pau', pau, queue_size=10)
rospy.init_node('telnet2pau', anonymous=True)
HOST = sys.argv[1]
PORT = 8888
tn = telnetlib.Telnet(HOST, PORT)
rospy.loginfo("Opened connection...")
angle_range = 45.0
tn.read_until("\n")
while 1:
msg = pau()
msg.m_headRotation.x = 0
msg.m_headRotation.y = 0
msg.m_headRotation.z = 0
msg.m_headRotation.w = 0
msg.m_headTranslation.x = 0
msg.m_headTranslation.y = 0
msg.m_headTranslation.z = 0
msg.m_neckRotation.x = 0
msg.m_neckRotation.y = 0
msg.m_neckRotation.z = 0
msg.m_neckRotation.w = 0
msg.m_eyeGazeLeftPitch = 0
msg.m_eyeGazeLeftYaw = 0
msg.m_eyeGazeRightPitch = 0
msg.m_eyeGazeRightYaw = 0
## Read the frame
frame_str = tn.read_until("\n").strip("\n")
print(frame_str)
frame = np.array(frame_str.split(","))
frame = frame.astype(np.float)
frame *= 0.01
frame = np.power(frame, 2.0)
frame = np.minimum(1.0, frame)
## Delete superfluous frames:
cut_frame = np.delete(frame, np.s_[13:27], axis=0)
msg.m_coeffs = cut_frame
msg.m_shapekeys = ['brow_center_DN', 'brow_center_UP', 'brow_inner_DN.L', 'brow_inner_UP.L', 'brow_inner_DN.R', 'brow_inner_UP.R', 'brow_outer_DN.L', 'brow_outer_UP.L', 'brow_outer_DN.R', 'brow_outer_up.R', 'wince.L', 'wince.R', 'lip-JAW.DN', 'eye-blink.LO.L', 'eye-flare.LO.L', 'eye-blink.LO.R', 'eye-flare.LO.R', 'eye-blink.UP.L', 'eye-flare.UP.L', 'eye-blink.UP.R', 'eye-flare.UP.R', 'lips-wide.L', 'lips-narrow.L', 'lips-wide.R', 'lips-narrow.R', 'lips-frown.L', 'lips-frown.R', 'lip-DN.C.DN', 'lip-DN.C.UP', 'lip-DN.L.DN', 'lip-DN.L.UP', 'lip-DN.R.DN', 'lip-DN.R.UP', 'lips-smile.L', 'lips-smile.R', 'lip-UP.C.DN', 'lip-UP.C.UP', 'lip-UP.L.DN', 'lip-UP.L.UP', 'lip-UP.R.DN', 'lip-UP.R.UP', 'sneer.L', 'sneer.R']
assert(len(msg.m_shapekeys) == len(cut_frame))
print("sending frame...")
pub.publish(msg)
if rospy.is_shutdown():
break
from rospkg import RosPack
ROBOT = "sophia_body"
#import bpy
#rospy.init_node("expression_tools")
motors = rospy.get_param('/{}/motors'.format(ROBOT))
expressions = rospy.get_param('/{}/expressions'.format(ROBOT))
animations = rospy.get_param('/{}/animations'.format(ROBOT))
from pau2motors.msg import pau
from pau2motors import ShapekeyStore
rp = RosPack()
config_root = rp.get_path('robots_config')
with open(config_root+"/"+ROBOT+"/motors_settings.yaml", 'r') as stream:
motors = yaml.load(stream)
msg = pau()
msg.m_shapekeys = [-1.0]*len(ShapekeyStore._shkey_list)
def get_motor_value(motor, relative):
for m in motors:
if m['name'] == motor:
v = m['min']+relative*(m['max'] - m['min'])
return int(v)
return -1
def get_cfg(motor):
global motors
for m in motors:
if m['name'] == motor:
return m
return None
def point_head(self, req):
msg = pau()
msg.m_headRotation = Quaternion(
*Utils.Quat.fromInYZX(req.roll, -req.yaw, -req.pitch).params
)
self.pub_neck.publish(msg)
def point_head(self, req):
msg = pau()
msg.m_headRotation = Quaternion(
*Quat.Quat.fromInYZX(req.roll, -req.yaw, -req.pitch).params)
self.pub_neck.publish(msg)
def HandleTimer(self,data):
# this is the heart of the synthesizer, here the lookat and eyecontact state machines take care of where the robot is looking, and random expressions and gestures are triggered to look more alive (like RealSense Tracker)
ts = data.current_expected
# ==== handle lookat
if self.lookat == LookAt.IDLE:
# no specific target, let Blender do it's soma cycle thing
()
elif self.lookat == LookAt.AVOID:
# TODO: find out where there is no saliency, hand or face
# TODO: head_focus_pub
()
elif self.lookat == LookAt.SALIENCY:
self.saliency_counter -= 1
if self.saliency_counter == 0:
self.InitSaliencyCounter()
self.SelectNextSaliency()
if self.current_saliency_ts != 0:
cursaliency = self.saliencies[self.current_saliency_ts]
self.UpdateGaze(cursaliency.direction)
elif self.lookat == LookAt.HAND:
# stare at hand
if self.hand != None:
self.UpdateGaze(self.hand.position)
elif self.lookat == LookAt.AUDIENCE:
self.audience_counter -= 1
if self.audience_counter == 0:
self.InitAudienceCounter()
self.SelectNextAudience()
# TODO: self.UpdateGaze()
elif self.lookat == LookAt.SPEAKER:
()
# TODO: look at the speaker, according to speaker ROI
else:
if self.lookat == LookAt.ALL_FACES:
self.faces_counter -= 1
if self.faces_counter == 0:
self.InitFacesCounter()
self.SelectNextFace()
# take the current face
if self.current_face_id != 0:
curface = self.faces[self.current_face_id]
face_pos = curface.position
# ==== handle eyecontact (only for LookAt.ONE_FACE and LookAt.ALL_FACES)
# calculate where left eye, right eye and mouth are on the current face
left_eye_pos = Float32XYZ()
right_eye_pos = Float32XYZ()
mouth_pos = Float32XYZ()
# all are 5cm in front of the center of the face
left_eye_pos.x = face_pos.x - 0.05
right_eye_pos.x = face_pos.x - 0.05
mouth_pos.x = face_pos.x - 0.05
left_eye_pos.y = face_pos.y + 0.03 # left eye is 3cm to the left of the center
right_eye_pos.y = face_pos.y - 0.03 # right eye is 3cm to the right of the center
mouth_pos.y = face_pos.y # mouth is dead center
left_eye_pos.z = face_pos.z + 0.06 # left eye is 6cm above the center
right_eye_pos.z = face_pos.z + 0.06 # right eye is 6cm above the center
mouth_pos.z = face_pos.z - 0.04 # mouth is 4cm below the center
if self.eyecontact == EyeContact.IDLE:
# look at center of the head
self.UpdateGaze(face_pos)
elif self.eyecontact == EyeContact.LEFT_EYE:
# look at left eye
self.UpdateGaze(left_eye_pos)
elif self.eyecontact == EyeContact.RIGHT_EYE:
# look at right eye
self.UpdateGaze(right_eye_pos)
elif self.eyecontact == EyeContact.BOTH_EYES:
# switch between eyes back and forth
self.eyes_counter -= 1
if self.eyes_counter == 0:
self.InitEyesCounter()
if self.current_eye == 1:
self.current_eye = 0
else:
self.current_eye = 1
# look at that eye
if self.current_eye == 0:
cur_eye_pos = left_eye_pos
else:
cur_eye_pos = right_eye_pos
self.UpdateGaze(cur_eye_pos)
elif self.eyecontact == EyeContact.TRIANGLE:
# cycle between eyes and mouth
self.eyes_counter -= 1
if self.eyes_counter == 0:
self.InitEyesCounter()
if self.current_eye == 2:
self.current_eye = 0
else:
self.current_eye += 1
# look at that eye
if self.current_eye == 0:
cur_eye_pos = left_eye_pos
elif self.current_eye == 1:
cur_eye_pos = right_eye_pos
elif self.current_eye == 2:
cur_eye_pos = mouth_pos
self.UpdateGaze(cur_eye_pos)
# mirroring
msg = pau()
msg.m_coeffs = [ ]
msg.m_shapekeys = [ ]
if self.mirroring == Mirroring.EYEBROWS or self.mirroring == Mirroring.EYES or self.mirroring == Mirroring.MOUTH_EYEBROWS or self.mirroring == Mirroring.ALL:
# mirror eyebrows
left_brow = curface.left_brow
right_brow = curface.right_brow
msg.m_coeffs.append("brow_outer_UP.L")
msg.m_shapekeys.append(left_brow)
msg.m_coeffs.append("brow_inner_UP.L")
msg.m_shapekeys.append(left_brow * 0.8)
msg.m_coeffs.append("brow_outer_DN.L")
msg.m_shapekeys.append(1.0 - left_brow)
msg.m_coeffs.append("brow_outer_up.R")
msg.m_shapekeys.append(right_brow)
msg.m_coeffs.append("brow_inner_UP.R")
msg.m_shapekeys.append(right_brow * 0.8)
msg.m_coeffs.append("brow_outer_DN.R")
msg.m_shapekeys.append(1.0 - right_brow)
if self.mirroring == Mirroring.EYELIDS or self.mirroring == Mirroring.EYES or self.mirroring == Mirroring.MOUTH_EYELIDS or self.mirroring == Mirroring.ALL:
# mirror eyelids
eyes_closed = ((1.0 - curface.left_eyelid) + (1.0 - curface.right_eyelid)) / 2.0
msg.m_coeffs.append("eye-blink.UP.R")
msg.m_shapekeys.append(eyes_closed)
msg.m_coeffs.append("eye-blink.UP.L")
msg.m_shapekeys.append(eyes_closed)
msg.m_coeffs.append("eye-blink.LO.R")
msg.m_shapekeys.append(eyes_closed)
msg.m_coeffs.append("eye-blink.LO.L")
msg.m_shapekeys.append(eyes_closed)
if self.mirroring == Mirroring.MOUTH or self.mirroring == Mirroring.MOUTH_EYEBROWS or self.mirroring == Mirroring.MOUTH_EYELIDS:
# mirror mouth
mouth_open = curface.mouth_open
msg.m_coeffs.append("lip-JAW.DN")
msg.m_shapekeys.append(mouth_open)
if self.mirroring != Mirroring.IDLE:
self.StartPauMode()
self.setpau_pub.publish(msg)
# start random gestures
self.gesture_counter -= 1
if self.gesture_counter == 0:
self.InitGestureCounter()
if self.animations != None:
# list all gestures that would fire right now according to probability
firing = []
for g in self.animations[self.current_gestures_name]:
if random.uniform(0.0,1.0) <= g["probability"]:
firing.append(g)
# start randomly from that list
if len(firing) > 0:
g = firing[random.randint(0,len(firing) - 1)]
msg = SetGesture()
msg.name = g["name"]
msg.repeat = False
msg.speed = random.uniform(g["speed_min"],g["speed_max"])
msg.magnitude = random.uniform(g["magnitude_min"],g["magnitude_max"])
self.gestures_pub.publish(msg)
# start random expressions
self.expression_counter -= 1
if self.expression_counter == 0:
self.InitExpressionCounter()
if self.animations != None:
# list all expressions that would fire right now according to probability
firing = []
for g in self.animations[self.current_expressions_name]:
if random.uniform(0.0,1.0) <= g["probability"]:
firing.append(g)
# start randomly from that list
if len(firing) > 0:
g = firing[random.randint(0,len(firing) - 1)]
msg = EmotionState()
msg.name = g["name"]
msg.magnitude = random.uniform(g["magnitude_min"],g["magnitude_max"])
msg.duration = rospy.Duration(random.uniform(g["duration_min"],g["duration_max"]))
self.expressions_pub.publish(msg)
prune_before_time = ts - rospy.Duration.from_sec(self.keep_time)
# flush faces dictionary, update current face accordingly
to_be_removed = []
for face in self.faces.values():
if face.ts < prune_before_time:
to_be_removed.append(face.cface_id)
# remove the elements
for key in to_be_removed:
del self.faces[key]
# make sure the selected face is always valid
if self.current_face_id == key:
self.SelectNextFace()
# remove hand if it is too old
if self.hand != None:
if self.hand.ts < prune_before_time:
self.hand = None
# flush saliency dictionary
to_be_removed = []
for key in self.saliencies.keys():
if key < prune_before_time:
to_be_removed.append(key)
# remove the elements
for key in to_be_removed:
del self.saliencies[key]
# make sure the selected saliency is always valid
if self.current_saliency_ts == key:
self.SelectNextSaliency()
# decay from FOCUSED to IDLE if hand was not seen for a while
if self.state == State.FOCUSED and self.last_hand_ts < ts - rospy.Duration.from_sec(self.hand_state_decay):
self.SetState(State.IDLE)
self.UpdateStateDisplay()
# decay from SPEAKING or LISTENING to IDLE
if ((self.state == State.SPEAKING) or (self.state == State.LISTENING)) and self.last_talk_ts < ts - rospy.Duration.from_sec(self.face_state_decay):
self.SetState(State.IDLE)
self.UpdateStateDisplay()
# have gaze or head follow head or gaze after a while
if self.gaze_delay_counter > 0 and self.gaze_pos != None:
self.gaze_delay_counter -= 1
if self.gaze_delay_counter == 0:
if self.gaze == Gaze.GAZE_LEADS_HEAD:
self.SetHeadFocus(self.gaze_pos,self.gaze_speed)
self.gaze_delay_counter = int(self.gaze_delay * self.synthesizer_rate)
elif self.gaze == Gaze.HEAD_LEADS_GAZE:
self.SetGazeFocus(self.gaze_pos,self.gaze_speed)
self.gaze_delay_counter = int(self.gaze_delay * self.synthesizer_rate)
# when speaking, sometimes look at all faces
if self.state == State.SPEAKING:
if self.lookat == LookAt.AVOID:
self.all_faces_start_counter -= 1
if self.all_faces_start_counter == 0:
self.InitAllFacesStartCounter()
self.SetLookAt(LookAt.ALL_FACES)
self.UpdateStateDisplay()
elif self.lookat == LookAt.ALL_FACES:
self.all_faces_duration_counter -= 1
if self.all_faces_duration_counter == 0:
self.InitAllFacesDurationCounter()
self.SetLookAt(LookAt.AVOID)
self.UpdateStateDisplay()
#!/usr/bin/env python
import rospy
import socket
import math
import copy
import struct
import pprint
import ShapekeyStore
from pau2motors.msg import pau
trackMsg=pau()
LISTENING_PORT = 33433
#BINDING_ADDR = "127.0.0.1" # Good for local work
BINDING_ADDR = '' # Empty string means: bind to all network interfaces
BLOCK_ID_TRACKING_STATE = 33433 # According to faceshift docs
# Delay between modal timed updates when entered the modal command mode. In seconds.
UPDATE_DELAY = 0.04
# These are the names of the FaceShift control channels
#updated mapping for 2014.1
blend_shape_names = [
"eye-blink.UP.L",
"eye-blink.UP.R",
"02_EyeSquint_L",
"03_EyeSquint_R",
"04_EyeDown_L",
#!/usr/bin/env python
import rospy
import socket
import math
import copy
import struct
import pprint
import ShapekeyStore
from pau2motors.msg import pau
trackMsg = pau()
LISTENING_PORT = 33433
#BINDING_ADDR = "127.0.0.1" # Good for local work
BINDING_ADDR = '' # Empty string means: bind to all network interfaces
BLOCK_ID_TRACKING_STATE = 33433 # According to faceshift docs
# Delay between modal timed updates when entered the modal command mode. In seconds.
UPDATE_DELAY = 0.04
# These are the names of the FaceShift control channels
#updated mapping for 2014.1
blend_shape_names = [
"eye-blink.UP.L",
"eye-blink.UP.R",
"02_EyeSquint_L",
"03_EyeSquint_R",
"04_EyeDown_L",
"05_EyeDown_R",
def talker():
pub = rospy.Publisher('/blender_api/set_pau', pau, queue_size=10)
rospy.init_node('csv2pau', anonymous=True)
rate = rospy.Rate(120) # 29fps approx. measure this exactly.
data = np.loadtxt(sys.argv[1], delimiter=',')
rospy.loginfo("loaded file with %d frames." % len(data))
angle_range = 45.0
for frame in data:
msg = pau()
msg.m_headRotation.x = frame[0]
msg.m_headRotation.y = frame[1]
msg.m_headRotation.z = frame[2]
msg.m_headRotation.w = frame[3]
msg.m_headTranslation.x = 0
msg.m_headTranslation.y = 0
msg.m_headTranslation.z = 0
msg.m_neckRotation.x = 0
msg.m_neckRotation.y = 0
msg.m_neckRotation.z = 0
msg.m_neckRotation.w = 0
msg.m_eyeGazeLeftPitch = 0
msg.m_eyeGazeLeftYaw = 0
msg.m_eyeGazeRightPitch = 0
msg.m_eyeGazeRightYaw = 0
msg.m_coeffs = frame[16:]
print("conf: %f speak: %f" % (frame[-2], frame[-1]))
msg.m_shapekeys = [
'eye-flare.UP.R', 'lips-narrow.L', 'lips-frown.R',
'eye-blink.UP.R', 'lip-UP.L.UP', 'eye-blink.UP.L', 'lips-frown.L',
'lips-narrow.R', 'eye-flare.UP.L', 'lip-DN.C.UP', 'eye-flare.LO.R',
'lip-DN.R.UP', 'brow_inner_UP.R', 'brow_outer_UP.L',
'brow_inner_UP.L', 'eye-flare.LO.L', 'brow_center_DN',
'lips-smile.R', 'lip-JAW.DN', 'lip-DN.R.DN', 'wince.L',
'lips-smile.L', 'eye-blink.LO.R', 'lip-UP.R.UP', 'lip-UP.C.DN',
'eye-blink.LO.L', 'brow_center_UP', 'lip-DN.L.DN', 'lip-DN.L.UP',
'wince.R', 'sneer.L', 'lips-wide.L', 'brow_outer_DN.R',
'lip-UP.R.DN', 'brow_inner_DN.L', 'brow_outer_up.R',
'brow_inner_DN.R', 'lip-DN.C.DN', 'lip-UP.L.DN', 'brow_outer_DN.L',
'lip-UP.C.UP', 'lips-wide.R', 'sneer.R'
]
#msg.m_shapekeys = ['EyeBlink_L', 'EyeBlink_R', 'EyeSquint_L', 'EyeSquint_R', 'EyeDown_L', 'EyeDown_R', 'EyeIn_L', 'EyeIn_R', 'EyeOpen_L', 'EyeOpen_R', 'EyeOut_L', 'EyeOut_R', 'EyeUp_L', 'EyeUp_R', 'BrowsD_L', 'BrowsD_R', 'BrowsU_C_L', 'BrowsU_C_R', 'BrowsU_L', 'BrowsU_R', 'BrowsSqueeze_L', 'BrowsSqueeze_R', 'JawOpen', 'LipsTogether', 'JawLeft', 'JawRight', 'JawFwd', 'LipsUpperUp_L', 'LipsUpperUp_R', 'LipsLowerDown_L', 'LipsLowerDown_R', 'LipsUpperClose', 'LipsLowerClose', 'LipsLowerOpen', 'LipsUpperOpen', 'MouthSharpCornerPull_L', 'MouthSharpCornerPull_R', 'MouthSmile_L', 'MouthSmile_R', 'MouthDimple_L', 'MouthDimple_R', 'LipsStretch_L', 'LipsStretch_R', 'MouthFrown_L', 'MouthFrown_R', 'MouthPress_L', 'MouthPress_R', 'LipsPucker_L', 'LipsPucker_R', 'LipsFunnel_L', 'LipsFunnel_R', 'MouthLeft', 'MouthRight', 'ChinLowerRaise', 'ChinUpperRaise', 'Sneer_L', 'Sneer_R', 'Puff', 'CheekSquint_L', 'CheekSquint_R' ]
rospy.loginfo("sending frame.")
pub.publish(msg)
rate.sleep()
if rospy.is_shutdown():
break
def talker():
pub = rospy.Publisher('/blender_api/set_pau', pau, queue_size=10)
rospy.init_node('csv2pau', anonymous=True)
rate = rospy.Rate(120) # 29fps approx. measure this exactly.
data = np.loadtxt(sys.argv[1], delimiter=',')
rospy.loginfo("loaded file with %d frames." % len(data))
angle_range = 45.0
for frame in data:
msg = pau()
msg.m_headRotation.x = frame[0]
msg.m_headRotation.y = frame[1]
msg.m_headRotation.z = frame[2]
msg.m_headRotation.w = frame[3]
msg.m_headTranslation.x = 0
msg.m_headTranslation.y = 0
msg.m_headTranslation.z = 0
msg.m_neckRotation.x = 0
msg.m_neckRotation.y = 0
msg.m_neckRotation.z = 0
msg.m_neckRotation.w = 0
msg.m_eyeGazeLeftPitch = 0
msg.m_eyeGazeLeftYaw = 0
msg.m_eyeGazeRightPitch = 0
msg.m_eyeGazeRightYaw = 0
frame = np.power(frame, 2.0)
msg.m_coeffs = frame[16:]
msg.m_shapekeys = [
'brow_center_DN', 'brow_center_UP', 'brow_inner_DN.L',
'brow_inner_UP.L', 'brow_inner_DN.R', 'brow_inner_UP.R',
'brow_outer_DN.L', 'brow_outer_UP.L', 'brow_outer_DN.R',
'brow_outer_up.R', 'wince.L', 'wince.R', 'lip-JAW.DN',
'eye-blink.LO.L', 'eye-flare.LO.L', 'eye-blink.LO.R',
'eye-flare.LO.R', 'eye-blink.UP.L', 'eye-flare.UP.L',
'eye-blink.UP.R', 'eye-flare.UP.R', 'lips-wide.L', 'lips-narrow.L',
'lips-wide.R', 'lips-narrow.R', 'lips-frown.L', 'lips-frown.R',
'lip-DN.C.DN', 'lip-DN.C.UP', 'lip-DN.L.DN', 'lip-DN.L.UP',
'lip-DN.R.DN', 'lip-DN.R.UP', 'lips-smile.L', 'lips-smile.R',
'lip-UP.C.DN', 'lip-UP.C.UP', 'lip-UP.L.DN', 'lip-UP.L.UP',
'lip-UP.R.DN', 'lip-UP.R.UP', 'sneer.L', 'sneer.R'
]
rospy.loginfo("sending frame.")
pub.publish(msg)
rate.sleep()
if rospy.is_shutdown():
break
def talker():
pub = rospy.Publisher('/blender_api/set_pau', pau, queue_size=10)
rospy.init_node('csv2pau', anonymous=True)
rate = rospy.Rate(120) # 29fps approx. measure this exactly.
file_name = sys.argv[1]
file_type = file_name.split('_')[-1]
data = np.loadtxt(file_name, delimiter=',')
if file_name.endswith('_face.dat'):
data = np.delete(data, np.s_[13:27], axis=1)
rospy.loginfo("loaded file with %d frames." % len(data))
phon = np.loadtxt(sys.argv[2], delimiter=',', dtype=str)
angle_range = 45.0
for frame in data:
msg = pau()
msg.m_headRotation.x = 0
msg.m_headRotation.y = 0
msg.m_headRotation.z = 0
msg.m_headRotation.w = 0
msg.m_headTranslation.x = 0
msg.m_headTranslation.y = 0
msg.m_headTranslation.z = 0
msg.m_neckRotation.x = 0
msg.m_neckRotation.y = 0
msg.m_neckRotation.z = 0
msg.m_neckRotation.w = 0
msg.m_eyeGazeLeftPitch = 0
msg.m_eyeGazeLeftYaw = 0
msg.m_eyeGazeRightPitch = 0
msg.m_eyeGazeRightYaw = 0
if file_type = '_mout.dat':
msg.m_coeffs = frame
msg.m_shapekeys = ['lip-JAW.DN',
'lips-wide.L', 'lips-narrow.L', 'lips-wide.R', 'lips-narrow.R',
'lips-frown.L', 'lips-frown.R'
'lip-DN.C.DN', 'lip-DN.C.UP',
'lip-DN.L.DN', 'lip-DN.L.UP', 'lip-DN.R.DN', 'lip-DN.R.UP',
'lips-smile.L', 'lips-smile.R',
'lip-UP.C.DN', 'lip-UP.C.UP',
'lip-UP.L.DN', 'lip-UP.L.UP', 'lip-UP.R.DN', 'lip-UP.R.UP']
else:
msg.m_coeffs = frame[16:]
msg.m_shapekeys = ['brow_center_DN', 'brow_center_UP',
'brow_inner_DN.L', 'brow_inner_UP.L', 'brow_inner_DN.R', 'brow_inner_UP.R',
'brow_outer_DN.L', 'brow_outer_UP.L', 'brow_outer_DN.R', 'brow_outer_up.R',
'wince.L', 'wince.R',
'lip-JAW.DN',
'eye-blink.LO.L', 'eye-flare.LO.L', 'eye-blink.LO.R', 'eye-flare.LO.R',
'eye-blink.UP.L', 'eye-flare.UP.L', 'eye-blink.UP.R', 'eye-flare.UP.R',
'lips-wide.L', 'lips-narrow.L', 'lips-wide.R', 'lips-narrow.R',
'lips-frown.L', 'lips-frown.R',
'lip-DN.C.DN', 'lip-DN.C.UP',
'lip-DN.L.DN', 'lip-DN.L.UP', 'lip-DN.R.DN', 'lip-DN.R.UP',
'lips-smile.L', 'lips-smile.R',
'lip-UP.C.DN', 'lip-UP.C.UP',
'lip-UP.L.DN', 'lip-UP.L.UP', 'lip-UP.R.DN', 'lip-UP.R.UP',
'sneer.L', 'sneer.R']
rospy.loginfo("sending frame.")
pub.publish(msg)
rate.sleep()
if rospy.is_shutdown():
break
