def test_face_interaction1(self):
positive_gestures = [
x.strip() for x in self.behavior_config.get(
'gesture', 'positive_gestures').split(',')]
pub, msg_class = rostopic.create_publisher(
'/blender_api/available_emotion_states',
'blender_api_msgs/AvailableEmotionStates', True)
pub.publish(msg_class(['happy']))
queue = MessageQueue()
queue.subscribe('/blender_api/set_emotion_state', EmotionState)
queue.subscribe('/blender_api/set_gesture', SetGesture)
time.sleep(1)
self.behavior_switch('btree_on')
pub, msg_class = rostopic.create_publisher(
'/camera/face_event', 'pi_face_tracker/FaceEvent', True)
pub.publish(msg_class('new_face', 1))
time.sleep(20)
self.assertTrue(not queue.queue.empty())
emotions = []
gestures = []
while not queue.queue.empty():
msg = queue.get(timeout=1)
if isinstance(msg, EmotionState):
emotions.append(msg.name)
elif isinstance(msg, SetGesture):
gestures.append(msg.name)
self.assertTrue(set(['happy']) | set(emotions))
self.assertTrue(set(positive_gestures) & set(gestures))
def test_face_interaction1(self):
positive_gestures = [
x.strip() for x in self.behavior_config.get(
'gesture', 'positive_gestures').split(',')
]
pub, msg_class = rostopic.create_publisher(
'/blender_api/available_emotion_states',
'blender_api_msgs/AvailableEmotionStates', True)
pub.publish(msg_class(['happy']))
queue = MessageQueue()
queue.subscribe('/blender_api/set_emotion_state', EmotionState)
queue.subscribe('/blender_api/set_gesture', SetGesture)
time.sleep(1)
self.behavior_switch('btree_on')
pub, msg_class = rostopic.create_publisher(
'/camera/face_event', 'pi_face_tracker/FaceEvent', True)
pub.publish(msg_class('new_face', 1))
time.sleep(20)
self.assertTrue(not queue.queue.empty())
emotions = []
gestures = []
while not queue.queue.empty():
msg = queue.get(timeout=1)
if isinstance(msg, EmotionState):
emotions.append(msg.name)
elif isinstance(msg, SetGesture):
gestures.append(msg.name)
self.assertTrue(set(['happy']) | set(emotions))
self.assertTrue(set(positive_gestures) & set(gestures))
def test(self):
new_arrival_emotions = [
x.strip() for x in self.behavior_config.get(
'emotion', 'new_arrival_emotions').split(',')
]
pub, msg_class = rostopic.create_publisher('/behavior_switch',
'std_msgs/String', True)
pub.publish(msg_class('btree_on'))
bag_file = get_rosbag_file('face')
emo_msg_listener = create_msg_listener(
'/blender_api/set_emotion_state', EmotionState, 10)
emo_msg_listener.start()
cam_output = '%s/cam_new_arrival_emotion.avi' % \
self.output_video
screen_output = '%s/screen_new_arrival_emotion.avi' % \
self.output_video
duration = 5
with capture_camera(cam_output, duration):
with capture_screen(screen_output, duration):
job = play_rosbag([bag_file, '-q'])
job.join()
emo_msg = emo_msg_listener.join()
self.assertIn(emo_msg.name, new_arrival_emotions)
def behavior_switch(self, msg):
while not self.runner.is_node_running(self.node):
time.sleep(0.01)
topic = '/behavior_switch'
pub, msg_class = rostopic.create_publisher(
topic, 'std_msgs/String', True)
pub.publish(msg_class(msg))
def behavior_switch(self, msg):
while not self.runner.is_node_running(self.node):
time.sleep(0.01)
topic = '/behavior_switch'
pub, msg_class = rostopic.create_publisher(topic, 'std_msgs/String',
True)
pub.publish(msg_class(msg))
def test_chat(self):
import re
r = re.compile('[\W_]+')
pub, msg_class = rostopic.create_publisher(
'/chatbot_speech', 'chatbot/ChatMessage', True)
words = ['Hi', 'How are you', 'What\'s your name']
duration = 5
queue = MessageQueue()
queue.subscribe('/chatbot_responses', String)
for word in words:
cam_output = '%s/cam_%s.avi' % (
self.output_video, r.sub('', word))
screen_output = '%s/screen_%s.avi' % (
self.output_video, r.sub('',word))
with capture_camera(cam_output, duration):
with capture_screen(screen_output, duration):
pub.publish(msg_class(word, 100))
msg = queue.get()
cam_output_new = '%s/cam_%s_%s.avi' % (
self.output_video, r.sub('', word), r.sub('', msg.data))
shutil.move(cam_output, cam_output_new)
screen_output_new = '%s/screen_%s_%s.avi' % (
self.output_video, r.sub('', word), r.sub('', msg.data))
shutil.move(screen_output, screen_output_new)
files = glob.glob('%s/*.wav' % self.tts_output)
self.assertEqual(len(files), 1)
shutil.move(
files[0], '%s/%s.wav' % (self.output_audio, r.sub('', msg.data)))
def test_chat(self):
import re
r = re.compile('[\W_]+')
pub, msg_class = rostopic.create_publisher('/chatbot_speech',
'chatbot/ChatMessage', True)
words = ['Hi', 'How are you', 'What\'s your name']
duration = 5
queue = MessageQueue()
queue.subscribe('/chatbot_responses', String)
for word in words:
cam_output = '%s/cam_%s.avi' % (self.output_video, r.sub('', word))
screen_output = '%s/screen_%s.avi' % (self.output_video,
r.sub('', word))
with capture_camera(cam_output, duration):
with capture_screen(screen_output, duration):
pub.publish(msg_class(word, 100))
msg = queue.get()
cam_output_new = '%s/cam_%s_%s.avi' % (
self.output_video, r.sub('', word), r.sub('', msg.data))
shutil.move(cam_output, cam_output_new)
screen_output_new = '%s/screen_%s_%s.avi' % (
self.output_video, r.sub('', word), r.sub('', msg.data))
shutil.move(screen_output, screen_output_new)
files = glob.glob('%s/*.wav' % self.tts_output)
self.assertEqual(len(files), 1)
shutil.move(files[0],
'%s/%s.wav' % (self.output_audio, r.sub('', msg.data)))
def check_msg(self, msg_str, expects):
pub, msg_class = rostopic.create_publisher(
'/blender_api/get_pau', 'pau2motors/pau', True)
msg = msg_class()
fill_message_args(msg, yaml.load(msg_str))
pub.publish(msg)
msg = wait_for_message('/joint_states_combined', JointState, 2)
for key in ['position', 'name']:
self.assertListEqual(list(getattr(msg, key)), expects[key])
pub.unregister()
def check_msg(self, msg_str, expects):
pub, msg_class = rostopic.create_publisher('/blender_api/get_pau',
'pau2motors/pau', True)
msg = msg_class()
fill_message_args(msg, yaml.load(msg_str))
pub.publish(msg)
msg = wait_for_message('/joint_states_combined', JointState, 2)
for key in ['position', 'name']:
self.assertListEqual(list(getattr(msg, key)), expects[key])
pub.unregister()
def test_btree_on(self):
timeout = 30
queue = MessageQueue()
queue.subscribe('/blender_api/set_gesture', SetGesture)
time.sleep(1)
self.behavior_switch('btree_off')
pub, msg_class = rostopic.create_publisher(
'/camera/face_event', 'pi_face_tracker/FaceEvent', True)
pub.publish(msg_class('new_face', 1))
time.sleep(timeout)
self.assertTrue(queue.queue.empty())
def main():
#rospy.init_node('goal_sender')
argv = sys.argv
#argv = rospy.myargv(argv)
from optparse import OptionParser
parser = OptionParser(usage="usage: %prog list [/namespace]", prog=NAME)
parser.add_option("-f",
dest="filename",
default=None,
help="Name of yaml file name of options")
parser.add_option("-w",
dest="timeout",
default=3,
type="float",
help="time to wait for server and response")
parser.add_option("-t", dest="topicname", default=None)
parser.add_option("-r", dest="responsetopic", default=None)
parser.add_option("--topic-type", dest="topictype", default=None)
(options, args) = parser.parse_args(argv)
if not options.filename or not options.topicname:
rospy.logfatal("No yaml file name given")
sys.exit(-1)
topictype, topicname, fn = rostopic.get_topic_type(options.topicname,
False)
if not topictype:
rospy.logerror("Topic not currently subscribed %s" % topicname)
if not options.topictype and not topictype:
exit(-1)
if options.topictype and topictype and options.topictype is not topictype:
rospy.logerror(
"Topic type does not agree: topic %s, given type: %s, detected type: %s"
% (topicname, options.topictype, topictype))
exit(-1)
if options.topictype:
topictype = options.topictype
pub, msg_class = rostopic.create_publisher(options.topicname, topictype,
False)
rostopic.stdin_publish(pub, msg_class, 1, True, options.filename, True)
if options.responsetopic:
subtype, responsetopic, fn = rostopic.get_topic_class(
options.responsetopic, False)
msg = rospy.wait_for_message(options.responsetopic, subtype,
options.timeout)
print(msg)
def test_btree_on(self):
timeout = 30
queue = MessageQueue()
queue.subscribe('/blender_api/set_gesture', SetGesture)
time.sleep(1)
self.behavior_switch('btree_off')
pub, msg_class = rostopic.create_publisher(
'/camera/face_event', 'pi_face_tracker/FaceEvent', True)
pub.publish(msg_class('new_face', 1))
time.sleep(timeout)
self.assertTrue(queue.queue.empty())
def main():
#rospy.init_node('goal_sender')
argv = sys.argv
#argv = rospy.myargv(argv)
from optparse import OptionParser
parser = OptionParser(usage="usage: %prog list [/namespace]", prog=NAME)
parser.add_option("-f",
dest="filename", default=None,
help="Name of yaml file name of options")
parser.add_option("-w",
dest="timeout", default=3, type="float",
help="time to wait for server and response")
parser.add_option("-t",
dest="topicname", default=None)
parser.add_option("-r",
dest="responsetopic", default=None)
parser.add_option("--topic-type",
dest="topictype", default=None)
(options, args) = parser.parse_args(argv)
if not options.filename or not options.topicname:
rospy.logfatal("No yaml file name given")
sys.exit(-1)
topictype, topicname, fn = rostopic.get_topic_type(options.topicname, False)
if not topictype:
rospy.logerror("Topic not currently subscribed %s"%topicname)
if not options.topictype and not topictype:
exit(-1)
if options.topictype and topictype and options.topictype is not topictype:
rospy.logerror("Topic type does not agree: topic %s, given type: %s, detected type: %s"
% (topicname, options.topictype, topictype))
exit(-1)
if options.topictype:
topictype = options.topictype
pub, msg_class = rostopic.create_publisher(options.topicname, topictype, False)
rostopic.stdin_publish(pub, msg_class, 1, True, options.filename, True)
if options.responsetopic:
subtype, responsetopic, fn = rostopic.get_topic_class(options.responsetopic, False)
msg = rospy.wait_for_message(options.responsetopic, subtype, options.timeout)
print(msg)
def test_long_viseme(self):
filename = get_rosbag_file("long_viseme")
# job = play_rosbag(filename)
# job.join()
pub, msg_class = rostopic.create_publisher("/blender_api/queue_viseme", "blender_api_msgs/Viseme", True)
bag = rosbag.Bag(filename)
duration = bag.get_end_time() - bag.get_start_time()
fps = bag.get_message_count() / float(duration)
wait = 1.0 / fps / 10 # 10 times faster than the speed of the msg recoreded
for topic, msg, _ in rosbag_msg_generator(filename):
pub.publish(msg)
time.sleep(wait)
# Test if blender is still alive
self.assertIn("/blender_api", rosnode.get_node_names())
self.assertTrue(any(["blender_api" in name for name in self.runner.pm.get_active_names()]))
def test_face_tf(self):
pub, msg_class = rostopic.create_publisher('/camera/face_locations',
'pi_face_tracker/Faces',
True)
msg = msg_class()
msg_str = """faces:
- id: 1
point:
x: 0.76837966452
y: -0.132697071241
z: 0.0561996095957
attention: 0.990000009537
- id: 2
point:
x: 0.807249662369
y: -0.00428759906469
z: 0.035407830253
attention: 0.990000009537"""
fill_message_args(msg, [yaml.load(msg_str)])
pub.publish(msg)
msg = wait_for_message('/tf', tfMessage, 5)
expect_str = """
transforms:
-
header:
seq: 0
stamp:
nsecs: 752310037
frame_id: camera
child_frame_id: face_base1
transform:
translation:
x: 0.76837966452
y: -0.132697071241
z: 0.0561996095957
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
"""
expect = tfMessage()
fill_message_args(expect, [yaml.load(expect_str)])
#self.assertEqual(msg.transforms[0].child_frame_id,
# expect.transforms[0].child_frame_id)
self.assertEqual(msg.transforms[0].transform,
expect.transforms[0].transform)
pub.unregister()
def test_left_pololu_message(self):
reader = PololuSerialReader('%s/left_pololu1' % CWD)
topic = '/han/left/command'
pub, msg_class = rostopic.create_publisher(
topic, 'ros_pololu/MotorCommand', True)
time.sleep(3) # wait for pololu to be connected
loop = 100
for i in range(loop):
pub.publish(msg_class('EyeLid_L_L', 0.1, 2.0, 2.0))
pub.publish(msg_class('EyeLid_U_L', 0.1, 2.0, 2.0))
for i in range(3*2*loop):
id, cmd, value = reader.read()
print "set motor %s %s value %s" % (id, cmd, value)
def test_middle_pololu_message(self):
reader = PololuSerialReader('%s/middle_pololu1' % CWD)
topic = '/han/middle/command'
pub, msg_class = rostopic.create_publisher(
topic, 'ros_pololu/MotorCommand', True)
time.sleep(3) # wait for pololu to be connected
loop = 100
for i in range(loop):
pub.publish(msg_class('Brow_Inner_L', 0.1, 2.0, 2.0)) #1
pub.publish(msg_class('Inner_Brow_R_UD', 0.1, 2.0, 2.0)) #4
for i in range(3*2*loop):
id, cmd, value = reader.read()
print "set motor %s %s value %s" % (id, cmd, value)
def test_face_tf(self):
pub, msg_class = rostopic.create_publisher(
'/camera/face_locations', 'pi_face_tracker/Faces', True)
msg = msg_class()
msg_str = """faces:
- id: 1
point:
x: 0.76837966452
y: -0.132697071241
z: 0.0561996095957
attention: 0.990000009537
- id: 2
point:
x: 0.807249662369
y: -0.00428759906469
z: 0.035407830253
attention: 0.990000009537"""
fill_message_args(msg, [yaml.load(msg_str)])
pub.publish(msg)
msg = wait_for_message('/tf', tfMessage, 5)
expect_str = """
transforms:
-
header:
seq: 0
stamp:
nsecs: 752310037
frame_id: camera
child_frame_id: face_base1
transform:
translation:
x: 0.76837966452
y: -0.132697071241
z: 0.0561996095957
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
"""
expect = tfMessage()
fill_message_args(expect, [yaml.load(expect_str)])
#self.assertEqual(msg.transforms[0].child_frame_id,
# expect.transforms[0].child_frame_id)
self.assertEqual(msg.transforms[0].transform,
expect.transforms[0].transform)
pub.unregister()
def test_emotion_state(self):
available_emotions = parse_msg(run_shell_cmd("rostopic echo -n1 /blender_api/available_emotion_states", True))
available_emotions = available_emotions[:1]
pub, msg_class = rostopic.create_publisher(
"/blender_api/set_emotion_state", "blender_api_msgs/EmotionState", True
)
timeout = 2
videos = []
for emotion in available_emotions:
video = "%s/emotion-%s.avi" % (self.output_dir, emotion)
with capture_screen(video, timeout):
pub.publish(msg_class(emotion, 1, Duration(1, 0)))
add_text_to_video(video)
videos.append(video)
ofile = "%s/emotions.avi" % self.output_dir
concatenate_videos(videos, ofile, True)
pub.unregister()
def test_gesture(self):
available_gestures = parse_msg(run_shell_cmd("rostopic echo -n1 /blender_api/available_gestures", True))
available_gestures = available_gestures[:2]
pub, msg_class = rostopic.create_publisher("/blender_api/set_gesture", "blender_api_msgs/SetGesture", True)
timeout = 2
videos = []
for gesture in available_gestures:
if gesture == "all":
continue
video = "%s/gesture-%s.avi" % (self.output_dir, gesture)
with capture_screen(video, timeout):
pub.publish(msg_class(gesture, 1, 1, 1))
add_text_to_video(video)
videos.append(video)
ofile = "%s/gestures.avi" % self.output_dir
concatenate_videos(videos, ofile, True)
pub.unregister()
def test_viseme(self):
available_visemes = parse_msg(run_shell_cmd("rostopic echo -n1 /blender_api/available_visemes", True))
available_visemes = available_visemes[:1]
pub, msg_class = rostopic.create_publisher("/blender_api/queue_viseme", "blender_api_msgs/Viseme", True)
timeout = 2
videos = []
for viseme in available_visemes:
if "old" in viseme:
continue
video = "%s/viseme-%s.avi" % (self.output_dir, viseme)
with capture_screen(video, timeout):
pub.publish(msg_class(viseme, Duration(0, 0), Duration(0, 5 * 1e8), 0.1, 0.8, 1))
add_text_to_video(video)
videos.append(video)
ofile = "%s/viseme.avi" % self.output_dir
concatenate_videos(videos, ofile, True)
pub.unregister()
def test_middle_pololu_message(self):
reader = PololuSerialReader('%s/middle_pololu1' % CWD)
topic = '/han/middle/command'
pub, msg_class = rostopic.create_publisher(topic,
'ros_pololu/MotorCommand',
True)
time.sleep(3) # wait for pololu to be connected
loop = 100
for i in range(loop):
pub.publish(msg_class('Brow_Inner_L', 0.1, 2.0, 2.0)) #1
pub.publish(msg_class('Inner_Brow_R_UD', 0.1, 2.0, 2.0)) #4
for i in range(3 * 2 * loop):
id, cmd, value = reader.read()
print "set motor %s %s value %s" % (id, cmd, value)
def test_left_pololu_message(self):
reader = PololuSerialReader('%s/left_pololu1' % CWD)
topic = '/han/left/command'
pub, msg_class = rostopic.create_publisher(topic,
'ros_pololu/MotorCommand',
True)
time.sleep(3) # wait for pololu to be connected
loop = 100
for i in range(loop):
pub.publish(msg_class('EyeLid_L_L', 0.1, 2.0, 2.0))
pub.publish(msg_class('EyeLid_U_L', 0.1, 2.0, 2.0))
for i in range(3 * 2 * loop):
id, cmd, value = reader.read()
print "set motor %s %s value %s" % (id, cmd, value)
def test_gesture(self):
available_gestures = parse_msg(
run_shell_cmd('rostopic echo -n1 /blender_api/available_gestures',
True))
pub, msg_class = rostopic.create_publisher(
'/blender_api/set_gesture', 'blender_api_msgs/SetGesture', True)
timeout = 2
videos = []
for gesture in available_gestures:
if gesture == 'all': continue
video = '%s/gesture-%s.avi' % (self.output_dir, gesture)
with capture_screen(video, timeout):
pub.publish(msg_class(gesture, 1, 1, 1))
add_text_to_video(video)
videos.append(video)
ofile = '%s/gestures.avi' % self.output_dir
concatenate_videos(videos, ofile, True)
pub.unregister()
def test_emotion_state(self):
available_emotions = parse_msg(
run_shell_cmd(
'rostopic echo -n1 /blender_api/available_emotion_states',
True))
pub, msg_class = rostopic.create_publisher(
'/blender_api/set_emotion_state', 'blender_api_msgs/EmotionState',
True)
timeout = 2
videos = []
for emotion in available_emotions:
video = '%s/emotion-%s.avi' % (self.output_dir, emotion)
with capture_screen(video, timeout):
pub.publish(msg_class(emotion, 1, Duration(1, 0)))
add_text_to_video(video)
videos.append(video)
ofile = '%s/emotions.avi' % self.output_dir
concatenate_videos(videos, ofile, True)
pub.unregister()
def test_viseme(self):
available_visemes = parse_msg(
run_shell_cmd('rostopic echo -n1 /blender_api/available_visemes',
True))
pub, msg_class = rostopic.create_publisher('/blender_api/queue_viseme',
'blender_api_msgs/Viseme',
True)
timeout = 2
videos = []
for viseme in available_visemes:
if 'old' in viseme: continue
video = '%s/viseme-%s.avi' % (self.output_dir, viseme)
with capture_screen(video, timeout):
pub.publish(
msg_class(viseme, Duration(0, 0), Duration(0, 5 * 1e8),
0.1, 0.8, 1))
add_text_to_video(video)
videos.append(video)
ofile = '%s/viseme.avi' % self.output_dir
concatenate_videos(videos, ofile, True)
pub.unregister()
def test_face_target(self):
pub, msg_class = rostopic.create_publisher("/blender_api/set_face_target", "blender_api_msgs/Target", True)
timeout = 2
targets = {
"center": (1, 0, 0, 1),
"right": (0, 1, 0, 1),
"left": (0, -1, 0, 1),
"up": (1, 0, 0.5, 1),
"down": (1, 0, -0.5, 1),
}
videos = []
# for name in ['right', 'up', 'left', 'down', 'center']:
for name in ["right", "center"]:
video = "%s/face-%s.avi" % (self.output_dir, name)
with capture_screen(video, timeout):
pub.publish(msg_class(*targets[name]))
add_text_to_video(video)
videos.append(video)
ofile = "%s/face.avi" % self.output_dir
concatenate_videos(videos, ofile, True)
pub.unregister()
def test_face_target(self):
pub, msg_class = rostopic.create_publisher(
'/blender_api/set_face_target', 'blender_api_msgs/Target', True)
timeout = 2
targets = {
'center': (1, 0, 0),
'right': (0, 1, 0),
'left': (0, -1, 0),
'up': (1, 0, 0.5),
'down': (1, 0, -0.5)
}
videos = []
for name in ['right', 'up', 'left', 'down', 'center']:
video = '%s/face-%s.avi' % (self.output_dir, name)
with capture_screen(video, timeout):
pub.publish(msg_class(*targets[name]))
add_text_to_video(video)
videos.append(video)
ofile = '%s/face.avi' % self.output_dir
concatenate_videos(videos, ofile, True)
pub.unregister()
def test_face_target(self):
pub, msg_class = rostopic.create_publisher(
'/blender_api/set_face_target',
'blender_api_msgs/Target', True)
timeout = 2
targets = {
'center': (1,0,0,1),
'right':(0,1,0,1),
'left':(0,-1,0,1),
'up':(1,0,0.5,1),
'down':(1,0,-0.5,1)}
videos = []
for name in ['right', 'up', 'left', 'down', 'center']:
video = '%s/face-%s.avi' % (self.output_dir, name)
with capture_screen(video, timeout):
pub.publish(msg_class(*targets[name]))
add_text_to_video(video)
videos.append(video)
ofile = '%s/face.avi' % self.output_dir
concatenate_videos(videos, ofile, True)
pub.unregister()
def test_long_viseme(self):
filename = get_rosbag_file('long_viseme')
#job = play_rosbag(filename)
#job.join()
pub, msg_class = rostopic.create_publisher('/blender_api/queue_viseme',
'blender_api_msgs/Viseme',
True)
bag = rosbag.Bag(filename)
duration = bag.get_end_time() - bag.get_start_time()
fps = bag.get_message_count() / float(duration)
wait = 1.0 / fps / 10 # 10 times faster than the speed of the msg recoreded
for topic, msg, _ in rosbag_msg_generator(filename):
pub.publish(msg)
time.sleep(wait)
# Test if blender is still alive
self.assertIn('/blender_api', rosnode.get_node_names())
self.assertTrue(
any([
'blender_api' in name
for name in self.runner.pm.get_active_names()
]))
def test(self):
new_arrival_emotions = [
x.strip() for x in self.behavior_config.get(
'emotion', 'new_arrival_emotions').split(',')]
pub, msg_class = rostopic.create_publisher(
'/behavior_switch', 'std_msgs/String', True)
pub.publish(msg_class('btree_on'))
bag_file = get_rosbag_file('face')
emo_msg_listener = create_msg_listener(
'/blender_api/set_emotion_state', EmotionState, 10)
emo_msg_listener.start()
cam_output = '%s/cam_new_arrival_emotion.avi' % \
self.output_video
screen_output = '%s/screen_new_arrival_emotion.avi' % \
self.output_video
duration = 5
with capture_camera(cam_output, duration):
with capture_screen(screen_output, duration):
job = play_rosbag([bag_file, '-q'])
job.join()
emo_msg = emo_msg_listener.join()
self.assertIn(emo_msg.name, new_arrival_emotions)