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 interact_with_people(self) : tree = owyl.sequence( self.is_face_target(), 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 interaction"), owyl.selector( owyl.sequence( self.is_more_than_one_face_target(), self.dice_roll(event="group_interaction"), self.select_a_glance_target(), self.glance_at(id="current_glance_target") ), owyl.succeed() ), self.interact_with_face_target(id="current_face_target", new_face=False) ) ) ) return tree
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 testRepeatUntilFail(self):
"""Can we repeat a behavior until it fails?
"""
bb = blackboard.Blackboard('test', value="foo")
checker = lambda x: x and True or False # must eval to True
parallel = owyl.parallel
repeat = owyl.repeatUntilFail
checkBB = blackboard.checkBB
setBB = blackboard.setBB
tree = parallel(
repeat(checkBB(key='value', check=checker), final_value=True),
# That should succeed until this sets the value:
owyl.selector(owyl.fail(), owyl.fail(),
setBB(key='value', value=None)),
policy=owyl.PARALLEL_SUCCESS.REQUIRE_ALL)
v = owyl.visit(tree, blackboard=bb)
results = [x for x in v]
result = results[-1]
self.assertEqual(result, True)
# Need to reset the blackboard to get the same results.
bb = blackboard.Blackboard('test', value="foo")
v = owyl.visit(tree, blackboard=bb)
results = [x for x in v]
result = results[-1]
self.assertEqual(result, True)
def testRepeatUntilSucceed(self):
"""Can we repeat a behavior until it succeeds?
"""
bb = blackboard.Blackboard('test', ) # 'value' defaults to None.
checker = lambda x: x is not None
parallel = owyl.parallel
repeat = owyl.repeatUntilSucceed
checkBB = blackboard.checkBB
setBB = blackboard.setBB
tree = parallel(
repeat(checkBB(key='value', check=checker), final_value=True),
# That should fail until this sets the value:
owyl.selector(owyl.fail(), owyl.fail(),
setBB(key='value', value='foo')),
policy=owyl.PARALLEL_SUCCESS.REQUIRE_ALL)
v = owyl.visit(tree, blackboard=bb)
results = [x for x in v]
result = results[-1]
self.assertEqual(result, True)
# Need to reset the blackboard to get the same results.
bb = blackboard.Blackboard('test', ) # 'value' defaults to None.
v = owyl.visit(tree, blackboard=bb)
results = [x for x in v]
result = results[-1]
self.assertEqual(result, True)
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 someone_arrived(self) : tree = owyl.sequence( self.is_someone_arrived(), owyl.selector( ##### There previously were no people in the scene ##### owyl.sequence( self.were_no_people_in_the_scene(), self.assign_face_target(variable="current_face_target", value="new_face"), self.record_start_time(variable="interact_with_face_target_since"), self.show_expression(emo_class="new_arrival_emotions", trigger="someone_arrived"), self.interact_with_face_target(id="current_face_target", new_face=True, trigger="someone_arrived") ), ##### Currently interacting with someone ##### owyl.sequence( self.is_interacting_with_someone(), self.dice_roll(event="glance_new_face"), self.glance_at_new_face(trigger="someone_arrived") ), ##### Does Nothing ##### owyl.sequence( self.print_status(str="----- Ignoring the new face!"), self.log(behavior="ignore_face", trigger="someone_arrived"), owyl.succeed() ) ), self.clear_new_face_target() ) return tree
def someone_left(self) : tree = owyl.sequence( self.is_someone_left(), owyl.selector( ##### Was Interacting With That Person ##### owyl.sequence( self.was_interacting_with_that_person(), self.return_to_neutral_position(trigger="someone_left"), self.show_frustrated_expression(trigger="someone_left") ), ##### Is Interacting With Someone Else ##### owyl.sequence( self.is_interacting_with_someone(), self.dice_roll(event="glance_lost_face"), self.glance_at_lost_face(trigger="someone_left") ), ##### Does Nothing ##### owyl.sequence( self.print_status(str="----- Ignoring the lost face!"), self.log(behavior="ignore_face", trigger="someone_left"), owyl.succeed() ) ), self.clear_lost_face_target() ) return tree
def testRepeatUntilSucceed(self):
"""Can we repeat a behavior until it succeeds?
"""
bb = blackboard.Blackboard('test', ) # 'value' defaults to None.
checker = lambda x: x is not None
parallel = owyl.parallel
repeat = owyl.repeatUntilSucceed
checkBB = blackboard.checkBB
setBB = blackboard.setBB
tree = parallel(repeat(checkBB(key='value',
check=checker),
final_value=True),
# That should fail until this sets the value:
owyl.selector(owyl.fail(),
owyl.fail(),
setBB(key='value',
value='foo')),
policy=owyl.PARALLEL_SUCCESS.REQUIRE_ALL)
v = owyl.visit(tree, blackboard=bb)
results = [x for x in v]
result = results[-1]
self.assertEqual(result, True)
# Need to reset the blackboard to get the same results.
bb = blackboard.Blackboard('test', ) # 'value' defaults to None.
v = owyl.visit(tree, blackboard=bb)
results = [x for x in v]
result = results[-1]
self.assertEqual(result, True)
def testRepeatUntilFail(self):
"""Can we repeat a behavior until it fails?
"""
bb = blackboard.Blackboard('test', value="foo")
checker = lambda x: x and True or False # must eval to True
parallel = owyl.parallel
repeat = owyl.repeatUntilFail
checkBB = blackboard.checkBB
setBB = blackboard.setBB
tree = parallel(repeat(checkBB(key='value',
check=checker),
final_value=True),
# That should succeed until this sets the value:
owyl.selector(owyl.fail(),
owyl.fail(),
setBB(key='value',
value=None)),
policy=owyl.PARALLEL_SUCCESS.REQUIRE_ALL)
v = owyl.visit(tree, blackboard=bb)
results = [x for x in v]
result = results[-1]
self.assertEqual(result, True)
# Need to reset the blackboard to get the same results.
bb = blackboard.Blackboard('test', value="foo")
v = owyl.visit(tree, blackboard=bb)
results = [x for x in v]
result = results[-1]
self.assertEqual(result, True)
def nothing_is_happening(self) : tree = owyl.sequence( owyl.selector( ##### Is Not Sleeping ##### owyl.sequence( self.is_not_sleeping(), owyl.selector( ##### Go To Sleep ##### owyl.sequence( self.dice_roll(event="go_to_sleep"), self.record_start_time(variable="sleep_since"), self.print_status(str="----- Go to sleep!"), self.go_to_sleep(trigger="nothing_is_happening") ), ##### Search For Attention ##### self.search_for_attention(trigger="nothing_is_happening") ) ), ##### Is Sleeping ##### owyl.selector( ##### Wake Up ##### owyl.sequence( self.dice_roll(event="wake_up"), self.is_time_to_wake_up(), self.wake_up(trigger="time_to_wake_up"), ), ##### Continue To Sleep ##### owyl.sequence( self.print_status(str="----- Continue to sleep."), self.go_to_sleep(trigger="nothing_is_happening") ) ) ), ##### If Interruption && Sleeping -> Wake Up ##### owyl.sequence( self.is_interruption(), self.is_sleeping(), self.wake_up(trigger="interruption"), self.print_status(str="----- Interruption: Wake up!"), ) ) return tree
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 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 interact_with_people(self) : tree = owyl.sequence( self.is_face_target(), 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, trigger="people_in_scene") ), ##### Glance At Other Faces & Continue With The Last Interaction ##### owyl.sequence( self.print_status(str="----- Continue interaction"), owyl.selector( owyl.sequence( self.is_more_than_one_face_target(), self.dice_roll(event="group_interaction"), self.select_a_glance_target(), self.glance_at(id="current_glance_target", trigger="people_in_scene") ), owyl.succeed() ), self.interact_with_face_target(id="current_face_target", new_face=False, trigger="people_in_scene"), owyl.selector( owyl.sequence( self.dice_roll(event="face_study_saccade"), self.face_study_saccade(id="current_face_target", trigger="people_in_scene") ), owyl.succeed() ) ) ) ) return tree
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 testVisitSelectorFailure(self):
"""Can we visit a failing selector?
"""
tree = owyl.selector(owyl.fail(), owyl.fail(), owyl.fail())
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [False, False, False, False])
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [False, False, False, False])
def testVisitSelectorSuccess(self):
"""Can we visit a successful selector?
"""
tree = owyl.selector(owyl.fail(), owyl.fail(), owyl.succeed(),
owyl.fail())
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [False, False, True, True])
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [False, False, True, True])
def testVisitSelectorFailure(self):
"""Can we visit a failing selector?
"""
tree = owyl.selector(owyl.fail(),
owyl.fail(),
owyl.fail())
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [False, False, False, False])
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [False, False, False, False])
def testVisitSelectorSuccess(self):
"""Can we visit a successful selector?
"""
tree = owyl.selector(owyl.fail(),
owyl.fail(),
owyl.succeed(),
owyl.fail())
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [False, False, True, True])
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [False, False, True, True])
def buildTree(self):
"""
Build the behavior tree.
"""
tree = owyl.selector(
owyl.sequence(self.is_win_move_available(), self.play_win_move()),
owyl.sequence(self.is_block_move_available(),
self.play_block_move()),
owyl.sequence(self.is_fork_available(), self.play_fork_move()),
owyl.sequence(self.is_block_fork_available(),
self.play_block_fork_move()),
owyl.sequence(self.is_center_available(), self.play_center()),
owyl.sequence(self.is_opposite_corner_available(),
self.play_opposite_corner_move()),
owyl.sequence(self.is_corner_available(), self.play_corner_move()),
owyl.sequence(self.is_edge_available(), self.play_edge_move()))
return owyl.visit(tree)
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 __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 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 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)
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 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)