Behavior Tree

.gitignore

@@ -122,3 +122,5 @@ harmoni_actuators/harmoni_tts/content/*
 doc/_build
 harmoni_actuators/harmoni_tts/scale_stats.npy
 harmoni_actuators/harmoni_tts/temp_data/tts.wav
+harmoni_detectors/harmoni_imageai/src/*.h5
+harmoni_detectors/harmoni_imageai/src/*.json

dockerfiles/harmoni/noetic/face_detect/dockerfile

@@ -8,4 +8,4 @@ RUN \
     facenet-pytorch \
     Pillow
 
-CMD ["/bin/bash"]
+CMD ["/bin/bash"]

dockerfiles/harmoni/noetic/full/dockerfile

@@ -29,10 +29,10 @@ RUN mkdir -p $ROS_WS/src
 WORKDIR $ROS_WS
 
 #caching protection for Harmoni, per https://stackoverflow.com/a/39278224/5715374
-ADD https://api.github.com/repos/interaction-lab/HARMONI/git/refs/heads/develop /root/version.json
+#ADD https://api.github.com/repos/micolspitale93/git/refs/heads/develop /root/version.json
 RUN git -C src clone \
     -b develop \
-    https://github.com/interaction-lab/HARMONI.git 
+    https://github.com/micolspitale93/HARMONI.git 
 
 # ==================================================================
 # Build Harmoni from source

harmoni_actuators/harmoni_face/setup.py

@@ -5,7 +5,8 @@
 
 # fetch values from package.xml
 setup_args = generate_distutils_setup(
-    packages=["harmoni_face"], package_dir={"": "src"},
+    packages=["harmoni_face"], 
+    package_dir={"": "src"},
 )
 
 setup(**setup_args)

harmoni_actuators/harmoni_face/src/harmoni_face/face_client.py

@@ -44,7 +44,6 @@ def setup_ros(self):
             queue_size=1,
         )
         rospy.loginfo("Checking that face is connected to ROS websocket")
-        print(self.name + "/is_connected")
         rospy.wait_for_service(self.name + "/is_connected")
         rospy.loginfo("Done, face is connected to ROS websocket")
         self.connected=True

harmoni_actuators/harmoni_face/src/harmoni_face/face_service.py

@@ -274,12 +274,10 @@ def _get_viseme_data(self, data):
             rospy.loginfo("The validated visemes are %s" % viseme_set)
         return viseme_bool, viseme_set
 
-
-
 def main():
     """Set names, collect params, and give service to server"""
     service_name = ActuatorNameSpace.face.name
-    instance_id = rospy.get_param("/instance_id")
+    instance_id = rospy.get_param("/instance_id") #default
     service_id_mouth = f"{service_name}_mouth_{instance_id}"
     service_id_eyes = f"{service_name}_eyes_{instance_id}"
     service_id_nose = f"{service_name}_nose_{instance_id}"
@@ -296,13 +294,21 @@ def main():
         service_server_eyes = HarmoniServiceServer(service_id_eyes, s_eyes)
         service_server_mouth = HarmoniServiceServer(service_id_mouth, s_mouth)
         service_server_nose = HarmoniServiceServer(service_id_nose, s_nose)
+
+        print(service_name)
+        print("****************************************************************************")
+        print(service_id_eyes)
+        print(service_id_mouth)
+        print(service_id_nose)
+
         service_server_eyes.start_sending_feedback()
         service_server_mouth.start_sending_feedback()
         service_server_nose.start_sending_feedback()
+
         rospy.spin()
     except rospy.ROSInterruptException:
         pass
 
 
 if __name__ == "__main__":
-    main()
+    main()

harmoni_actuators/harmoni_face/test/face.test

@@ -7,7 +7,7 @@
 	<include ns="bridge_face" file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
 		<arg name="port" value="9000"/>
 	</include>
-    <node pkg="harmoni_face" type="face_service.py" name="harmoni_face_default" output="screen"/>eyes
+    <node pkg="harmoni_face" type="face_service.py" name="harmoni_face_default" output="screen"/>
 	<param name="test_face_input" value="[{'start':10,  'type': 'gaze', 'id':'target', 'point': [1,5 ,10]},{'start': 1,   'type': 'au', 'id': 'au13', 'pose': 1}, {'start': 2,   'type': 'action', 'id': 'breath_face'}, {'start': 5,   'type': 'action', 'id': 'saucy_face'}, {'start': 8, 'type': 'viseme', 'id': 'POSTALVEOLAR'}]"/>
     <test test-name="test_face" pkg="harmoni_face" type="rostest_face.py" />
 </launch>

harmoni_actuators/harmoni_face/test/rostest_face.py

@@ -140,4 +140,4 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
+    main()

harmoni_actuators/harmoni_gesture/launch/gesture_service.launch

@@ -1,6 +1,6 @@
 <!-- This is an example launch file for how a ROS application could use a node --> <launch>
 	<arg name="use_gesture" default="true"/>
-	<arg name="use_simulator" default="true"/>
+	<arg name="use_simulator" default="false"/>
 	<arg name="use_simulator_with_robot" default="false"/>
 	<arg name="instance_id" default="qt"/>
 	<arg name="robot_joints" default="qt_robot/joints/state_rad"/>

harmoni_actuators/harmoni_gesture/nodes/gesture_service.py

@@ -46,6 +46,7 @@ def __init__(self, name, param):
         )
         self.state = State.INIT
         self.setup_gesture()
+
         return
 
     def _gesture_done_callback(self, data):
@@ -219,7 +220,6 @@ def _get_gesture_data(self, data):
                 self.gesture_pub.publish(str(data))
         return True
 
-
 def main():
     service_name = ActuatorNameSpace.gesture.name
     instance_id = rospy.get_param("/instance_id")

harmoni_actuators/harmoni_gesture/test/gesture.test

@@ -17,4 +17,4 @@
 		<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 	<param name="test_gesture_input" value="{'gesture':'QT/bye', 'timing': 0.5}"/>
     <test test-name="test_gesture" pkg="harmoni_gesture" type="rostest_gesture.py" />
-</launch>
+</launch>

harmoni_actuators/harmoni_speaker/launch/speaker_service.launch

@@ -5,9 +5,4 @@
 	<param name="instance_id" value="$(arg instance_id)"/>
     <node pkg="harmoni_speaker" type="speaker_service.py" name="harmoni_speaker_$(arg instance_id)" output="screen"/>
 
-    <include file="$(find audio_play)/launch/play.launch">
-        <arg name="do_timestamp" value = "false"/> 
-        <arg name="format" value = "wave"/>
-        <arg name="sample_rate" value="22050"/>
-    </include>
 </launch>

harmoni_actuators/harmoni_speaker/nodes/speaker_service.py → harmoni_actuators/harmoni_speaker/src/harmoni_speaker/speaker_service.py

@@ -19,6 +19,7 @@
 import wave
 import os
 
+AUDIO_DELAY = 0.5 # this constant is used to make shorter the duration in which the service is sleeping.  
 
 class SpeakerService(HarmoniServiceManager):
     """Takes sound and publishes it to the default audio topic for the audio_play package
@@ -57,7 +58,7 @@ def do(self, data):
             if type(data) == str:
                 if ".wav" in data:
                     data = self.file_path_to_audio_data(data)
-                    duration = data["duration"]
+                    duration = data["duration"] - AUDIO_DELAY
                 else:
                     data = ast.literal_eval(data)
             data = data["audio_data"]
@@ -106,7 +107,6 @@ def file_path_to_audio_data(self, path):
             os.remove(file_handle)
         return {"audio_data": data, "duration": duration}
 
-
 def main():
     """Set names, collect params, and give service to server"""
 
@@ -123,6 +123,10 @@ def main():
 
         service_server = HarmoniServiceServer(service_id, s)
 
+        print(service_name)
+        print("****************************************************************************")
+        print(service_id)
+
         service_server.start_sending_feedback()
         rospy.spin()
     except rospy.ROSInterruptException:

harmoni_actuators/harmoni_speaker/test/speaker_qt.test

@@ -0,0 +1,8 @@
+<launch>
+    <param name="instance_id" value="default"/>
+    <!-- <param name="name_speaker" value="speaker"/> -->
+    <node pkg="harmoni_speaker" type="speaker_service.py" name="harmoni_speaker_default" output="screen"/>
+
+	<param name="test_speaker_input" value="$(find harmoni_tts)/temp_data/tts.wav"/>
+    <test test-name="test_speaker" pkg="harmoni_speaker" type="rostest_speaker.py" />
+</launch>

harmoni_actuators/harmoni_tts/config/configuration.yaml

@@ -2,7 +2,7 @@
 tts:
   default_param:
     region_name: "us-west-2"
-    language: "en-US"
+    language: "it-IT"
     outdir: "$(find harmoni_tts)/temp_data"
     wav_header_length: 24
-    voice: "Ivy"
+    voice: "Bianca"

harmoni_actuators/harmoni_tts/nodes/aws_tts_service.py → harmoni_actuators/harmoni_tts/src/harmoni_tts/aws_tts_service.py

@@ -54,6 +54,8 @@ def _setup_aws_tts(self):
             "S": "POSTALVEOLAR",
             "r": "POSTALVEOLAR",
             "k": "VELAR_GLOTTAL",
+            "J": "PALATAL_NASAL",
+            "L": "PALATAL_LATERAL_APPROXIMANT",
             "i": "CLOSE_FRONT_VOWEL",
             "u": "CLOSE_BACK_VOWEL",
             "@": "MID_CENTRAL_VOWEL",
@@ -298,7 +300,6 @@ def request(self, input_text):
             self.result_msg = ""
         return {"response": self.state, "message": self.result_msg}
 
-
 def main():
     """[summary]
     Main function for starting HarmoniPolly service
@@ -315,11 +316,15 @@ def main():
 
         service_server = HarmoniServiceServer(service_id, s)
 
+        print(service_name)
+        print("****************************************************************************")
+        print(service_id)
+
         service_server.start_sending_feedback()
         rospy.spin()
     except rospy.ROSInterruptException:
         pass
 
 
 if __name__ == "__main__":
-    main()
+    main()

harmoni_actuators/harmoni_web/setup.py

@@ -5,8 +5,7 @@
 
 # fetch values from package.xml
 setup_args = generate_distutils_setup(
-    packages=['harmoni_web'],
-    package_dir={'': 'src'},
+    packages=['harmoni_web'], package_dir={'': 'src'},
 )
 
 setup(**setup_args)

harmoni_actuators/harmoni_web/nodes/web_service.py → harmoni_actuators/harmoni_web/src/harmoni_web/web_service.py

@@ -195,7 +195,6 @@ def _event_click_callback(self, event):
         self.result_msg = event.data
         return
 
-
 def main():
     """Set names, collect params, and give service to server"""
     service_name = ActuatorNameSpace.web.name
@@ -206,11 +205,16 @@ def main():
         # params = rospy.get_param(service_name + "/" + instance_id + "_param/")
         s = WebService(service_id)
         service_server = HarmoniServiceServer(service_id, s)
+
+        print(service_name)
+        print("**********************************************************************************************")
+        print(service_id)
+
         service_server.start_sending_feedback()
         rospy.spin()
     except rospy.ROSInterruptException:
         pass
 
 
 if __name__ == "__main__":
-    main()
+    main()

harmoni_actuators/harmoni_web/web/index.html

@@ -12,7 +12,7 @@
     <link href="https://fonts.googleapis.com/css?family=B612&display=swap" rel="stylesheet">
     <link rel="stylesheet" href="libs/css/bootstrap.min.css">
     <link rel="stylesheet" href="libs/css/wickedpicker.min.css">
-    <link rel="stylesheet" href="src/css/style.css">
+    <link rel="stylesheet" href="src/css/activity_style.css">
 
     <title>Harmoni Web</title>
 </head>

harmoni_actuators/harmoni_web/web/src/config/config.json

@@ -363,7 +363,24 @@
                         }
                     ]
                 }
-        ]
-    }
+            ]
+        },
+        {
+            "component": "container",
+            "id": "raccolta_container",
+            "children": [
+                {
+                    "component": "row",
+                    "id": "row_only",
+                    "children": [
+                        {
+                            "component": "img",
+                            "children": "",
+                            "id": "img_only"
+                        }
+                    ]
+                }
+            ]
+        }
     ]
 }

harmoni_actuators/harmoni_web/web/src/css/activity_style.css

@@ -0,0 +1,56 @@
+html,
+body {
+    height: 100%;
+    margin: 0;
+    overflow: hidden;
+    font-family: "Palatino Linotype", "Book Antiqua", Palatino, serif;
+    text-align: center;
+    font-size: 2vmin;
+    background-color: white;
+}
+
+.container{
+    height: 100%;
+    width: 100%;
+    text-align: center;
+    display: flex;
+}
+
+button{
+    margin: auto;
+    text-align: center;
+}
+
+div{
+    margin: auto;
+    text-align: center;
+
+}
+
+img{
+
+    background-position: center;
+    background-repeat: no-repeat;
+    background-size: cover;
+    width: 100%;
+    height: 100%;
+}
+
+
+img:hover {
+    opacity: 0.5;
+  }
+
+.row, .col{
+    margin: auto;
+    text-align: center;
+    width: 100%;
+    height: 100%;
+    display: contents;
+}
+
+.title{
+    margin: auto;
+    font-size: 3vmin;
+    text-align: center;
+}

harmoni_actuators/harmoni_web/web/src/css/style.css

@@ -8,7 +8,7 @@ body {
     font-family: "Palatino Linotype", "Book Antiqua", Palatino, serif;
     text-align: center;
     font-size: 2vmin;
-    background-color: green;
+    background-color: white;
 }
 
 .container{
@@ -33,8 +33,10 @@ div{
 img{
     margin: auto;
     text-align: center;
+    background-size: cover;
     vertical-align: auto;
     width: 100%;
+    height: 100%;
 }
 
 

harmoni_core/harmoni_common_lib/src/harmoni_common_lib/action_server.py

@@ -178,7 +178,6 @@ def set_aborted(self, result=None, text=""):
     def publish_feedback(self, state):
         self._feedback.state = state
         rospy.logdebug("(Server) The feedback is " + str(self._feedback.state))
-
         self.current_goal.publish_feedback(self._feedback)
 
     def get_default_result(self):
@@ -191,6 +190,7 @@ def set_preempted(self, result=None, text=""):
             result = self.get_default_result()
         with self.action_server.lock, self.lock:
             rospy.logdebug("Setting the current goal as canceled")
+            rospy.logdebug(self.name)
             self.current_goal.set_canceled(result, text)
 
     # @brief Allows users to register a callback to be invoked when a new goal is available