(in-package 'USER) ;; -*- Mode: LISP; Syntax: Common-Lisp; Package: (USER); -*- ;----------------------------------------------------------- ; ; act-defs.lisp ; -contains Actions ; ; 'Ymir Agent System, 1996 ; ; Action definitions for Gandalf 1.0 ; 3/3/1996 ; ;----------------------------------------------------------- ; ;INCLUDES (unless (fboundp 'make-instance) (load "/mas/lib/ds/lisp/clos.mbin")) (load "foreign2.mbin") (load "my-net-io.mbin") (load "demo.lisp") ; Motor2 loaded at end of file (defparameter act-list '()) ; RULES FOR ACTS: ; 1. Only one option allowed at mot-level ; 2. There has to be one mot-lev action for any act made. ; 3. Delay is from beginning of whole act ; 4. For spatial actions, there are always two motors for the head, four motors for the eyes. ; 5. You cannot mix spatial motors and other motors in higher-level actions. ; Hint: when developing actions, make them with only one option; then, when ready, combine. ; To try out a new act, call (make-all-objects), then call (manual-execute act-object) ; All time-related numbers are in milliseconds; all angles are degrees; ranges are 0-100. (setf act-list ;GENERAL LAYOUT: ( (()()) ; ()) ; ) ;ACT TEMPLATE: (name class (((act-name-of-option-1 delay exec-time)(act-name delay exec-time) etc*) ; (etc*))) ;MOTORS: (motor-name class delay exec-time pos/data) '( ; MORPHOLOGICAL DEFINITIONS ;Features ;neutral (face-neutral act (((mouth-neutral 100 400) (eyes-neutral 0 300) (brows-neutral 0 500)) )) (brows-neutral act (((left-brow-neutral 0 400)(right-brow-neutral 0 400)) )) (left-brow-neutral mot-lev (((Bll 0 400 30) (Blc 0 400 30) ;Brow, left, central (Blm 0 400 30)) ;Brow, left, medial )) (right-brow-neutral mot-lev (((Brm 0 400 30) (Brc 0 400 30) (Brl 0 400 30)) )) (eyes-neutral act (((upper-lids-neutral 0 100)(lower-lids-neutral 0 100)))) (upper-lids-neutral mot-lev (((Eru 0 100 75)(Elu 0 100 80)))) (upper-lids-open-wide mot-lev (((Eru 0 100 89)(Elu 0 100 94)))) (lids-neutral act (((upper-lids-neutral 0 300)(lower-lids-neutral 0 200)))) (mouth-neutral mot-lev (((Mb 0 200 15) ;Mouth, bottom (Mlv 0 200 60) ;Mouth, left, vertical (Mlh 0 200 40) (Mrv 0 200 60) (Mrh 0 200 40)) )) (mouth-in-n-shape mot-lev (((Mb 0 200 15)(Mlv 0 40)(Mrv 0 40)(Mlh 0 50)(Mrh 0 50)))) (head-at-zero-zero mot-lev (((Hh 0 800 0)(Hv 0 150 0)))) (head-diag-up-left mot-lev (((Hh 0 1000 20)(Hv 0 1000 20)))) ;for debugging (gaze-at-zero-zero mot-lev (((Plv 0 50 0)(Plh 0 50 0)(Prv 0 50 0)(Prh 0 50 0)))) ;actions (raise-brows mot-lev (((Bll 0 400 90)(Blc 0 300 100)(Blm 0 400 90) (Brl 0 400 90)(Brc 0 300 100)(Brm 0 400 90)))) (lower-brows mot-lev (((Bll 0 400 5)(Blc 0 400 5)(Blm 0 400 5) (Brl 0 400 5)(Brc 0 400 5)(Brm 0 400 5)))) (brows-in-v-shape mot-lev (((Bll 0 400 90)(Blc 0 300 40)(Blm 0 400 10) (Brl 0 400 90)(Brc 0 300 40)(Brm 0 400 10)))) (brows-in-roof-shape mot-lev (((Bll 0 400 10)(Blc 0 300 50)(Blm 0 400 90) (Brl 0 400 10)(Brc 0 300 50)(Brm 0 400 70)))) (brows-in-n-shape mot-lev (((Bll 0 400 50)(Blc 0 300 90)(Blm 0 400 50) (Brl 0 400 50)(Brc 0 300 90)(Brm 0 400 50)))) (brows-in-pensive-shape mot-lev (((Bll 0 400 95)(Blc 0 300 40)(Blm 0 400 40) (Brl 0 400 50)(Brc 0 300 10)(Brm 0 400 5)))) (squint mot-lev (((Elu 0 300 60)(Eru 0 300 60)(Ell 0 300 20)(Erl 0 300 20)))) (half-closed-eyes mot-lev (((Elu 0 500 50)(Eru 0 500 60)))) (lower-lids-neutral mot-lev (((Erl 0 300 30)(Ell 0 300 50)))) (lower-lids-up mot-lev (((Ell 0 300 0)(Erl 0 400 0)))) (pull-l-mouth-corner mot-lev (((Mlh 0 500 90)))) (quickly-glance-sideways-and-back act (((gaze-right 0 100)(gaze-at-zero-zero 100 100)))) ;symbolic (shake-head act (((turn-head-left 0 50) (turn-head-right 50 100) (turn-head-left 100 100) (head-at-zero-zero 150 50)) )) (nod mot-lev (((Hv 0 105 -15)(Hv 105 100 0)))) (wink mot-lev (((Elu 0 100 0)(Elu 300 100 90)))) (say-ahh mot-lev (((Sp 0 250 "[_<,110>aa<550,100>]")))) (gaze-up mot-lev (((Plv 0 100 30)(Plh 0 100 40)(Prv 0 100 30)(Prh 0 100 40)))) (gaze-away mot-lev (((Plv 0 100 20)(Plh 0 100 -30)(Prv 0 100 20)(Prh 0 100 -30)))) (gaze-right mot-lev (((Plv 0 100 20)(Plh 0 100 40)(Prv 0 100 20)(Prh 0 100 40)))) ;emotional symbols (emblems) (smile mot-lev (((Mlh 0 400 99)(Mrh 0 400 99)(Mlv 0 200 99)(Mrv 0 200 99)))) (smile-a-little mot-lev (((Mlh 0 400 99)(Mrh 0 400 99)(Mlv 0 200 88)(Mrv 0 200 88)))) (grin-broadly mot-lev (((Mrh 0 1000 80)(Mrv 0 500 60)(Mlh 0 1000 80)(Mlv 0 500 60)))) (grin-a-little mot-lev (((Mrh 0 1000 75)(Mrv 0 500 55)(Mlh 0 200 40)(Mlv 0 200 50)))) ;self adjustors (blink act (((close-eyes 0 50)(open-eyes 50 50)))) (blink-slowly act (((close-eyes 0 300)(open-eyes 300 200)))) ; FUNCTIONAL DEFINITIONS ;Back channel feedback / turn control (say-aha mot-lev (((Sp 0 250 "[_<,110>aahxaa<250,130>]")))) (look-pensive act (((gaze-away 0 100)(pull-l-mouth-corner 300 500)) ;option 1 )) (look-aloof act (((gaze-away 0 50)(turn-head-left 200 1000)(raise-brows 800 800)))) (look-puzzled act (((squint 200 200)(brows-in-roof-shape 0 400)))) (look-drowsy act (((half-closed-eyes 0 800)(lower-lids-neutral 0 400)))) (show-give-turn act (((face-neutral 0 200) (gaze-at-zero-zero 0 100) (head-at-zero-zero 0 600)(raise-brows 0 200)))) (show-take-turn act (((open-mouth-wide 0 100) (quickly-glance-sideways-and-back 0 300)(blink-slowly 300 400)) ;option 1 ((eyebrow-greet 0 500)(quickly-glance-sideways-and-back 0 200)) ;option 2 )) (hesitate act (((say-ahh 0 400)) ;option 1 ((gaze-up 0 200)) ;option 2 ((look-pensive 0 600)))) ;option 3 ; Notice that show-give-turn is controlled from the DKB, but should be composed completely here. ; Below action for illustrative purposes only - it is incorrect, 2/19/96 ; (show-give-turn act (((look-at user)))) (show-listening act (((blink-slowly 0 500)))) (back-ch-feedb-normal act (((say-aha 0 100)) ;option 1 ((nod 0 200)) ;option 2 )) ;other (happy act (((raise-brows 0 400)(brows-in-n-shape 400 200)(lower-lids-up 0 300) (open-eyes-wide 0 300)(smile 0 200)))) (greet act (((eyebrow-greet 0 1500)))) (eyebrow-greet act (((raise-brows 0 200)(upper-lids-open-wide 0 200) (brows-neutral 900 200)(eyes-neutral 1000 300)))) ;acknowledge (ack) (ack-normal act (((say-ok-normal 0 250)))) (say-ok-normal mot-lev (((Sp 0 250 "[_<,120>ow<,130>kehiy<250,95>]")))) (say-ok-bored mot-lev (((Sp 0 250 "[ow<,130>k<100,100>ehiy]")))) (say-all-right-normal mot-lev (((Sp 0 250 "[<,120>ow<,130>lraet<250,95>]")))) ;other (close-eyes mot-lev (((Eru 0 300 10)(Elu 0 300 10)))) (open-eyes mot-lev (((Eru 0 300 75)(Elu 0 300 80)))) (open-mouth-wide mot-lev (((Mb 0 400 60)))) (close-mouth-tight mot-lev (((Mb 0 300 15)))) (open-eyes-wide mot-lev (((Elu 0 100 99)(Eru 0 100 95)(Ell 0 100 95)(Erl 0 100 95)))) ; WILDCARD SPEECH ;Star is replaced by a value from the spatial knowledge base (deliver-speech mot-lev (((Sp 0 250 *)))) ; SPATIAL DEFINITIONS ;gaze ;Star is replaced by a value from the spatial knowledge base (gaze-at-user spatial-mot-lev (((Plh 0 250 *)(Plv 0 250 *)(Prh 0 250 *)(Prv 0 250 *)))) (look-at spatial-mot-lev (((Plh 0 250 *)(Plv 0 250 *)(Prh 0 250 *)(Prv 0 250 *)))) (turn-to spatial-mot-lev (((Hh 0 1000 *)(Hv 0 800 *)))) ;head (mostly for debugging) (turn-head-toward spatial-mot-lev (((Hh 0 900 *)(Hv 0 900 *)))) (turn-head-left mot-lev (((Hh 0 150 -20)))) (turn-head-right mot-lev (((Hh 0 150 20)))) (turn-head-up mot-lev (((Hv 0 300 20)))) (turn-head-down mot-lev (((Hv 0 300 -20)))) (head-at-zero-horiz mot-lev (((Hh 0 500 0)))) (head-at-zero-vert mot-lev (((Hv 0 500 0)))) (turn-head-90-left mot-lev (((Hh 0 150 -90)))) (turn-head-90-right mot-lev (((Hh 0 150 90)))) (turn-head-45-right mot-lev (((Hh 0 500 45)))) (turn-head-45-left mot-lev (((Hh 0 500 -45)))) ; MANUAL GESTURE ;motor level (gest-very-slow-beat mot-lev (((Gb 0 8000 0)))) (gest-slow-beat mot-lev (((Gb 0 1500 0)))) (gest-fast-beat mot-lev (((Gb 0 600 0)))) (gest-rest mot-lev (((Gr 0 1000 0)))) (hand-raise-palm-fwd mot-lev (((Gw 0 600 0)))) (drum-with-fingers mot-lev (((Gd 0 600 0)))) (point-to-big-screen mot-lev (((Gp 0 1000 0)))) ;act level [functional descriptions] (gest-greet act (((hand-raise-palm-fwd 0 600)) ((hand-raise-palm-fwd 0 1000)))) (manual-hold-it-signal act (((hand-raise-palm-fwd 0 900)))) (restless act (((drum-with-fingers 0 400)))) ;bilbo demo gestures (drive mot-lev (((Gc 0 0 0)))) (stumble mot-lev (((Gf 0 0 0)))) (walk mot-lev (((Gp 0 0 0)))) )) ;End all ;------------------------------------------ ; MOTOR SPECIFICATIONS ;------------------------------------------ ; Notice that "right" and "left" refer ; to the *agent's* right and left. (defparameter *motor-list* nil) (setf *motor-list* ;Control numbers ;TEMPLATE: (name class number default-time) ; on animation side '((Brl motor 3 700) ;Brow, right, lateral ; (Brc motor 2 700) ;Brow, right, central ; (Brm motor 1 700) ;Brow, right, medial ; (Blm motor 4 700) ;Brow, left, medial ; (Blc motor 5 700) ; (Bll motor 6 700) ; (Elu motor 8 300) ;Eye, right, upper ; (Ell motor 10 700) ;Eye, left, upper ; (Plh motor 151 0) ;Pupil, right, horizontal ; (Plv motor 150 0) ;Pupil, right, vertical ; (Eru motor 7 300) ;Eye, right, upper ; (Erl motor 9 700) ;Eye, left, lower ; (Prh motor 161 0) ;Pupil, left, horizontal ; (Prv motor 160 0) ; (Mb motor 12 800) ;Mouth, bottom ; (Mrv motor 140 800) ;Mouth, left, vertical ; (Mrh motor 141 800) ; (Mlv motor 130 800) ; (Mlh motor 131 800) ; (Hh motor 171 1000) ;Head ; (Hv motor 170 1000) ; (Gr motor 30 1000) ;Gesture "rest" ; (Gw motor 31 1000) ; "waive" ; (Gb motor 32 1000) ; "beat" ; (Gd motor 33 1000) ; "drum" ; (Gp motor 34 1000) ; "pace"/"point" ; (Gc motor 35 1000) ; "car" ; (Gf motor 36 1000) ; "finger" ; (Sp motor 0 0) ;Speak ; )) (defvar Brl-m 3) ; (defvar Brc-m 2) ; All ranges are 0 - 100 (defvar Brm-m 1) ; (defvar Blm-m 4) ; __________________ (defvar Blc-m 5) ; / \ (defvar Bll-m 6) ; / \ (defvar Eru-m 7) ; / \ 170 [0 - 90] (defvar Erl-m 9) ; / 3--2--1 4--5--6 \ ^ (defvar Prh-m 151) ; / \ | ; | 7 8 | | (defvar Prv-m 150) ; | / \ / \ | | (defvar Elu-m 8) ; | + 150/1 + + 160/1 + |----------- (defvar Ell-m 10) ; | \ / \ / | | (defvar Plh-m 161) ; | 9 10 | | (defvar Plv-m 160) ; \ (11) / | (defvar Mb-m 12) ; \ ---+--- / \/ (defvar Mlv-m 140) ; \ / \ / 170 [0 - -90] (defvar Mlh-m 141) ; \ 130/1 140/1 / (defvar Mrv-m 130) ; \ \ / / (defvar Mrh-m 131) ; \ ----12--- / (defvar Hh-m 171) ; \ / (defvar Hv-m 170) ; --------- (defvar G0-m 20) ; | (defvar Ga-m 21) ; | (defvar Gd-m 22) ; 171 [90]<----- 0------> 171 [-90] (defvar Sp-m 0) ; | ; | ; ; SPEAK: 0 ; (defclass act () ((name :accessor name :initarg :name :initform nil) (acts :accessor acts :initarg :acts :initform nil) (delay :accessor delay :initarg :delay :initform 0) (execution-time :accessor exec-time :initarg :exec-time :initform nil) )) (defclass motor (act) ((ctrlpt :accessor ctrlpt :initarg :ctrlpt :initform nil) (pos :accessor pos :initarg :pos :initform nil) ;only used in making out-obj. (start-time :accessor start-time :initarg :start-time :initform nil) ;stamped when initiated. )) (defclass mot-lev (act) ()) (defclass spatial () ; Spatial class is EXECUTEd differently from other acts ((coords :accessor coords :initarg :coords :initform nil) )) (defclass spatial-mot-lev (spatial mot-lev) ()) ;treated as mot-lev when TRACEd-DOWN (defclass spatial-act (spatial act) ()) ;treated as act when TRACEd-DOWN ;----------- VOICES ----------- (defun init-voice () (load "my-net-io") (speak "[:nr :dv ap 130]")) (defun gandalf-voice () (load "my-net-io") (say "[:nr :dv ap 130]")) (defun roland-voice () (load "my-net-io") (say "[:nr :dv ap 180 hs 136 gn 65 as 20 ri 100 sm 50]")) (defun bilbo-voice () (load "my-net-io") (say "[:nr :dv ap 280 hs 76 gn 65 as 20]")) ;(gandalf-voice) ;defaults to Gandalf's voice... ;----------- LOAD ----------- (defvar act-in-socket-# 1998) (setf act-in-socket-# 1999) (defun compile-all () (compile-file "act-defs.lisp") (compile-file "Motor2.lisp")) (defun compile-net () (compile-file "my-net-io.lisp") (compile-file "foreign2.lisp")) (defun load-all () (load "act-defs") (load "Motor2")) (load "Motor2") (make-all-objects)