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# -*- coding: utf-8 -*-
# @Author: Dongsheng Yang
# @Email: yang.dongsheng.46w@st.kyoto-u.ac.jp
# @Copyright = Copyright 2021, The Riken Robotics Project
# @Date: 2021-05-20 17:28:50
# @Last Modified by: dongshengyang
# @Last Modified time: 2021-05-20 18:22:30
# -----------------------------------------------------------
#
# Action Unit Program
#
# -----------------------------------------------------------
actionUnitParams = {
"StandardPose" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"AU1" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"AU2" : [86, 86, 128, 128, 128, 0, 0, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"AU4" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"AU5" : [0, 0, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"AU6" : [86, 86, 128, 128, 128, 255, 255, 0, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"AU7" : [86, 86, 128, 128, 128, 255, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"AU10" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 0, 0, 128, 128, 122],
"AU12" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"LAU12" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"AU14" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"AU15" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"AU16" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 0, 0, 0, 128, 128, 122],
"AU18" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 0, 0, 0, 0, 0, 128, 128, 122],
"AU20" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"AU22" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 0, 255, 0, 0, 0, 128, 128, 122],
"AU25" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 0, 0, 255, 128, 128, 122],
"AU26" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 128, 128, 122],
"AU43" : [255, 255, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
}
prototypeFacialExpressions = {
"netural" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"anger" : [0, 0, 128, 128, 128, 255, 255, 0, 0, 0, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"disgust" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 0, 0, 128, 128, 122],
"fear" : [0, 0, 128, 128, 128, 0, 0, 255, 0, 255, 255, 255, 0, 255, 255, 0, 0, 0, 0, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"happyness" : [86, 86, 128, 128, 128, 255, 255, 0, 255, 0, 0, 0, 255, 0, 0, 255, 255, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"sadness" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 255, 255, 0, 0, 255, 255, 0, 0, 0, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
"suprise" : [0, 0, 128, 128, 128, 0, 0, 255, 0, 128, 0, 255, 0, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122],
}
hotExpressions = {
"hotAnger" : [0, 0, 128, 128, 128, 255, 255, 0, 0, 0, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 0, 0, 255, 128, 128, 122],
"hotDisgust" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 255, 0, 255, 128, 128, 122],
"hotFear" : [0, 0, 128, 128, 128, 0, 0, 255, 0, 255, 255, 255, 0, 255, 255, 0, 0, 0, 0, 255, 0, 0, 0, 255, 0, 0, 0, 255, 255, 0, 0, 255, 128, 128, 122],
"hotHappyness" : [86, 86, 128, 128, 128, 255, 255, 0, 255, 0, 0, 0, 255, 0, 0, 255, 255, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 255, 255, 0, 0, 255, 128, 128, 122],
"hotSadness" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 255, 255, 0, 0, 255, 255, 0, 0, 0, 255, 0, 0, 0, 255, 0, 0, 0, 0, 255, 255, 0, 0, 255, 128, 128, 122],
"hotSuprise" : [0, 0, 128, 128, 128, 0, 0, 255, 0, 255, 0, 255, 0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 0, 0, 255, 128, 128, 122]
}
experiment1 = {
"lookDown" : [255, 255, 128, 128, 128, 2, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 0, 122],
"closeEye" : [255, 255, 128, 128, 128, 2, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 175, 122],
"netural" : [86, 86, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 175, 122],
"happyness" : [86, 86, 128, 128, 128, 255, 255, 0, 255, 0, 0, 0, 255, 0, 0, 255, 255, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 175, 122],
"anger" : [0, 0, 128, 128, 128, 255, 255, 0, 0, 0, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 175, 122],
}
# -----------------------------------------------------------
#
# Checker Program
#
# -----------------------------------------------------------
# DefaultPose is corresbonding to the checker program
# 0 標準 pic 1, 11
# 1 笑顔 pic 2
# 2 怒り pic 5
# 3 悲しみ pic 6
# 4 驚き pic 7, 17
# 5 微笑 pic 3
# 6 None
# 7 くさい pic 8
# 8 ウィンク左 pic 9
# 9 ウィンク右 pic 10
# 10 None
# 11「あ」 pic 12
# 12「い」 pic 13
# 13「う」 pic 14
# 14「え」 pic 15
# 15「お」 pic 16
defaultPose = [
[64, 64, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 122]
,
[20, 33, 99, 99, 127, 112, 107, 0, 255, 0, 0, 56, 255, 91, 0, 153, 183, 239, 0, 0, 94, 191, 0, 0, 0, 0, 0, 109, 255, 0, 0, 186, 128, 173, 128]
,
[51, 56, 81, 81, 255, 40, 38, 226, 0, 0, 196, 239, 0, 0, 206, 0, 0, 0, 0, 0, 255, 0, 0, 0, 255, 0, 0, 0, 0, 0, 0, 0, 128, 68, 147]
,
[58, 68, 128, 128, 61, 0, 0, 0, 0, 124, 137, 0, 0, 147, 140, 0, 0, 0, 68, 0, 0, 0, 91, 0, 0, 0, 0, 0, 5, 104, 0, 0, 142, 12, 128]
,
[0, 0, 99, 99, 127, 0, 0, 130, 0, 0, 0, 117, 0, 0, 0, 0, 0, 0, 0, 0, 94, 89, 0, 0, 0, 160, 160, 76, 219, 0, 0, 201, 128, 160, 128]
,
[20, 33, 99, 99, 127, 84, 86, 0, 255, 0, 0, 56, 255, 91, 0, 63, 112, 186, 0, 0, 94, 89, 0, 0, 0, 0, 0, 109, 181, 0, 0, 40, 128, 147, 128]
,
[]
,
[68, 61, 128, 128, 128, 91, 0, 0, 0, 0, 252, 0, 0, 142, 0, 0, 0, 0, 191, 0, 0, 51, 255, 0, 0, 0, 0, 255, 137, 150, 0, 0, 81, 153, 107]
,
[219, 33, 107, 107, 127, 178, 86, 0, 255, 0, 0, 56, 255, 91, 0, 53, 45, 255, 0, 0, 94, 89, 0, 0, 0, 0, 0, 109, 181, 0, 0, 40, 94, 147, 160]
,
[30, 209, 145, 145, 127, 76, 221, 0, 255, 0, 0, 56, 255, 91, 0, 48, 140, 99, 0, 0, 94, 255, 0, 0, 0, 0, 0, 109, 181, 0, 0, 40, 150, 147, 104]
,
[]
,
[64, 64, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 79, 140, 0, 0, 140, 128, 128, 122]
,
[64, 64, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 112, 165, 0, 0, 117, 165, 0, 0, 0, 96, 255, 0, 0, 0, 128, 128, 122]
,
[64, 64, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 155, 130, 68, 63, 0, 0, 76, 128, 128, 122]
,
[64, 64, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 165, 0, 117, 0, 150, 0, 119, 0, 0, 0, 0, 63, 96, 255, 165, 128, 128, 122]
,
[64, 64, 128, 128, 128, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 140, 0, 0, 0, 0, 193, 188, 0, 0, 0, 0, 214, 128, 128, 128]
]
# AU01_r, AU02_r, AU04_r, AU05_r, AU06_r, AU07_r, AU09_r, AU10_r, AU12_r,
# AU14_r, AU15_r, AU17_r, AU20_r, AU23_r, AU25_r, AU26_r, AU45_r
# 1
defaultPoseAUByHand = [
[0.89, 0.44, 0.09, 0.00, 0.00, 0.39, 0.00, 0.00, 0.52, 1.79, 0.91, 0.70, 1.38, 0.39, 0.73, 1.71, 0.27, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 0.0, 0.0 ]
,
[0.43, 0.00, 0.03, 0.00, 0.15, 1.59, 0.35, 0.93, 1.44, 1.05, 0.59, 0.00, 1.62, 0.00, 2.85, 2.41, 0.07, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0 ]
,
[1.46, 0.90, 0.00, 0.00, 0.31, 2.14, 0.46, 0.00, 1.56, 1.76, 0.00, 0.44, 1.29, 0.92, 0.61, 1.66, 0.00, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 0.0, 0.0 ]
,
[0.30, 0.00, 1.23, 0.00, 0.00, 1.47, 0.89, 0.00, 0.88, 1.54, 0.00, 0.47, 0.29, 0.51, 0.01, 1.30, 0.73, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0 ]
,
[0.72, 0.33, 0.00, 1.70, 0.00, 0.00, 0.00, 0.00, 0.30, 0.27, 0.01, 0.00, 1.04, 0.00, 2.44, 3.01, 0.00, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 ]
,
[0.81, 0.02, 0.00, 0.00, 0.27, 1.51, 0.39, 0.99, 1.78, 1.62, 0.56, 0.00, 1.27, 0.22, 2.25, 2.07, 0.00, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0, 1.0, 0.0, 0.0, 0.0 ]
,
[]
,
[1.00, 0.00, 0.57, 0.89, 0.00, 0.46, 0.00, 0.44, 0.12, 0.00, 1.41, 0.59, 0.77, 0.00, 2.28, 1.76, 0.00, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0 ]
,
[0.86, 0.00, 0.00, 0.00, 0.00, 1.51, 0.00, 0.00, 0.66, 0.88, 0.20, 0.00, 0.63, 0.27, 1.44, 2.35, 0.43, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0, 1.0, 0.0, 0.0, 0.0 ]
,
[0.72, 0.00, 0.00, 0.01, 0.11, 0.94, 0.00, 0.00, 0.57, 0.63, 0.00, 0.00, 1.32, 0.00, 2.03, 1.27, 0.33, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0 ]
,
[]
,
[0.51, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.15, 0.39, 0.00, 0.00, 0.65, 0.00, 1.93, 2.17, 0.09, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 ]
,
[0.11, 0.00, 0.00, 0.00, 0.00, 0.02, 0.00, 0.00, 0.63, 0.74, 0.31, 0.00, 0.96, 0.00, 1.56, 1.49, 0.05, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, 1.0, 0.0, 0.0, 0.0 ]
,
[0.32, 0.06, 0.10, 0.11, 0.00, 0.00, 0.00, 0.00, 0.46, 0.56, 0.00, 0.00, 0.37, 0.00, 1.80, 2.78, 0.31, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 ]
,
[0.59, 0.28, 0.05, 0.10, 0.00, 0.00, 0.00, 0.00, 0.33, 0.85, 0.00, 0.00, 0.66, 0.00, 1.81, 1.84, 0.00, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 ]
,
[1.44, 0.53, 0.52, 0.45, 0.00, 0.59, 0.00, 0.00, 0.79, 0.21, 0.00, 0.63, 0.64, 0.00, 2.11, 4.32, 0.28, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 ]
]