Open source performances module

modules/performances/.gitignore

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+*.pyc
+.vscode

modules/performances/CMakeLists.txt

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+##
+## Copyright (C) 2017-2025 Hanson Robotics
+##
+## This program is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see <https://www.gnu.org/licenses/>.
+##
+
+cmake_minimum_required(VERSION 2.8.3)
+project(performances)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  std_msgs
+  message_generation
+  dynamic_reconfigure
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  Event.msg
+)
+
+## Generate services in the 'srv' folder
+add_service_files(
+  FILES
+  Run.srv
+  RunByName.srv
+  Stop.srv
+  Pause.srv
+  Resume.srv
+  Current.srv
+  Load.srv
+  LoadPerformance.srv
+  SetProperties.srv
+)
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+generate_dynamic_reconfigure_options(
+  cfg/Performances.cfg
+  cfg/Rules.cfg
+  cfg/Generator.cfg
+
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES performances
+#  CATKIN_DEPENDS rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(performances
+#   src/${PROJECT_NAME}/performances.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(performances ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(performances_node src/performances_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(performances_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(performances_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+install(PROGRAMS
+  scripts/runner.py
+  scripts/speech_motion_controller.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark executables and/or libraries for installation
+# install(TARGETS performances performances_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_performances.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

modules/performances/README.md

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+# Performances
+
+A ROS-based system for controlling robot behaviors, animations, and speech for Hanson Robotics robots. This package provides a framework for sequencing and executing robot performances through a combination of speech, gestures, animations, and interactive behaviors.
+
+The Performances package allows you to:
+- Load and run predefined performance sequences
+- Control robot animations, gestures, and speech
+- Manage interactive behaviors through dialog rules
+- Coordinate multiple performance timelines
+- Configure automated gestures and expressions
+
+## Available Services:
+
+#### `/performances/reload_properties`
+`std_srvs.srv.Trigger`
+Reads and loads performance configurations from .properties files.
+##### Response
+* `boolean success`
+
+#### `/performances/set_properties`
+`performances.srv.SetProperties`
+Sets variables for a specific performance.
+
+##### Arguments
+* `string id` - performance id
+* `string properties` - a json string of an object containing key value pairs of variables to be set
+
+##### Response
+* `boolean success`
+
+#### `/performances/load`
+`performances.srv.Load`
+Loads performance with the specified id into current session.
+
+##### Arguments
+* `id` - performance id
+
+##### Response
+* `boolean success`
+* `string performance` - json data string of a loaded performance
+
+#### `/performances/load_sequence`
+`performances.srv.LoadSequence`
+Loads a sequence of performances.
+
+##### Arguments
+* `string[] ids` - ids of performances to load
+
+##### Response
+* `boolean success`
+* `string performances` - json data string of loaded performances
+
+#### `/performances/load_performance`
+`performances.srv.LoadPerformance`
+Load performance data directly.
+
+##### Arguments
+* `string performance` - json data of a performance to load
+
+##### Response
+* `boolean success`
+
+#### `/performances/run`
+`performances.srv.Run`
+Run currently loaded performance(s) at the given time.
+
+##### Arguments
+* `float64 startTime` - start time
+
+##### Response
+* `boolean success`
+
+#### `/performances/run_by_name`
+`performances.srv.RunByName`
+Load performance by id and run immediately.
+
+##### Arguments
+* `string id` - performance id
+
+##### Response
+* `boolean success`
+
+#### `/performances/run_full_performance`
+`performances.srv.RunByName`
+Load all performances in the specified directory and run immediately.
+
+##### Arguments
+* `string id` - path of the directory
+
+##### Response
+* `boolean success`
+
+#### `/performances/resume`
+`performances.srv.Resume`
+Resume runner if paused.
+
+##### Response
+* `boolean success`
+* `float64 time`
+
+#### `/performances/pause`
+`performances.srv.Pause`
+Pause runner if currently running.
+
+##### Response
+* `boolean success`
+* `float64 time`
+
+#### `/performances/stop`
+`performances.srv.Stop`
+Stop runner if active.
+
+##### Response
+* `boolean success`
+* `float64 time`
+
+#### `/performances/current`
+`performances.srv.Current`
+Get information about the current state of runner.
+
+##### Response
+`string performances` - json array of currently loaded performances
+`float32 current_time` - current run time
+`bool running` - run status
+`bool paused` - pause status

modules/performances/cfg/Generator.cfg

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+#!/usr/bin/env python
+
+##
+## Copyright (C) 2017-2025 Hanson Robotics
+##
+## This program is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see <https://www.gnu.org/licenses/>.
+##
+
+PACKAGE = 'performances'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+import yaml_config
+
+gen = ParameterGenerator()
+# Tracking parameters
+gen.add("name", str_t, 0, "Performance path", '')
+gen.add("lines", str_t, 0, "Sophia lines", '')
+gen.add("pause_between_sentences", double_t, 0, "Pause between sentences", 0.5, 0, 4)
+#gen.add("other_rules", str_t, 0, "other_rules", '[]')
+# UI schema for gestures and expressions
+gen.add("min_speed", int_t, 0, "Min speed of speech ", 100,50,150)
+gen.add("max_speed", int_t, 0, "Max speed of speech ", 100,50,150)
+gen.add("split_sentences", bool_t, 0, "Do not split to sentences", True)
+
+gen.add("lang", str_t, 0, "Language code (en-US or similar that supported by TTS)", 'en-US')
+
+gen.add("start", bool_t, 0, "Start Generation", True)
+gen.add("progress", str_t, 0, "Current Progress", 'idle')
+gen.add("node_schema", str_t, 0, '', '{"lines":{"type": "string","format": "textarea"}}')
+# package name, node name, config name
+exit(gen.generate(PACKAGE, "generator", "Generator"))