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 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 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 testParallel_OneSucceeds_Failure(self):
"""Can we visit a failing parallel (one succeeds)?
"""
tree = owyl.parallel(owyl.sequence(owyl.fail(), owyl.fail()),
owyl.sequence(owyl.fail(), owyl.fail()),
policy=owyl.PARALLEL_SUCCESS.REQUIRE_ONE)
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [False])
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [False])
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 testParallel_OneSucceeds_Failure(self):
"""Can we visit a failing parallel (one succeeds)?
"""
tree = owyl.parallel(owyl.sequence(owyl.fail(),
owyl.fail()),
owyl.sequence(owyl.fail(),
owyl.fail()),
policy=owyl.PARALLEL_SUCCESS.REQUIRE_ONE)
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [False])
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [False])
def testStructure(self):
tree = owyl.sequence(owyl.succeed(),
owyl.fail())
viztree = OwylTree(tree)
structure = truncate(viztree.get_structure(), ['name', 'children'])
self.assertEquals(structure,
{'name': 'sequence',
'children': [{'name': 'succeed', 'children': []},
{'name': 'fail', 'children': []}]})
def testFail(self):
"""Can we fail?
"""
s = owyl.fail()
t = s()
self.assertEqual(t.next(), False)
self.assertRaises(StopIteration, t.next)
t = s()
self.assertEqual(t.next(), False)
self.assertRaises(StopIteration, t.next)
def testFail(self):
"""Can we fail?
"""
s = owyl.fail()
t = s()
self.assertEqual(t.next(), False)
self.assertRaises(StopIteration, t.next)
t = s()
self.assertEqual(t.next(), False)
self.assertRaises(StopIteration, t.next)
def testYieldHookSmallTree(self):
tree = owyl.sequence(owyl.succeed(),
owyl.fail())
viztree = OwylTree(tree)
structure = viztree.get_structure()
mock = Mock()
viztree.on_yield += [mock]
tree = viztree.tree_with_hooks
[x for x in owyl.visit(tree)]
mock.assert_has_calls([call(structure['children'][0]['id'], True),
call(structure['children'][1]['id'], False),
call(structure['id'], False)])
def testVisitSequenceFailure(self):
"""Can we visit a failing sequence?
"""
tree = owyl.sequence(owyl.succeed(), owyl.succeed(), owyl.fail(),
owyl.succeed())
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [True, True, False, False])
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [True, True, False, False])
def testParallel_DelayedSuccess(self):
"""Can parallel succeed if child succeeds later (one succeeds)?
"""
# Succeed after 5 iterations.
after = 5
tree = owyl.parallel(owyl.fail(),
owyl.succeedAfter(after=after),
policy=owyl.PARALLEL_SUCCESS.REQUIRE_ONE)
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [True])
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [True])
def testVisitSequenceFailure(self):
"""Can we visit a failing sequence?
"""
tree = owyl.sequence(owyl.succeed(),
owyl.succeed(),
owyl.fail(),
owyl.succeed())
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [True, True, False, False])
v = owyl.visit(tree)
results = [x for x in v if x is not None]
self.assertEqual(results, [True, True, False, False])
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 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 __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")
