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Replicating TUG in gazebo #280
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OMG, that's simply awesome! ❤️
To be definitely merged after CI completes (keep an eye at Codacy and BCH failures if they're related) 🚀
For crafting the corresponding documentation, I would consider remaking the videos with less background noise and more machines in order to speed up the avatar's movements. This way, we would be able to bundle that material as a showcase to FDG. Also, R1's home position could be pushed closer to the chair, what do you think?
Again, superb ✨
Having more machines would definitely help. For the documentation I will remake the videos as you suggested. I'll have a look to the CI failures. |
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This PR replicates the TUG in
gazebo
.We can handle:
question-simulator.sh
script. We can choose 4 keywords, specificallyspeed
,repetition
,aid
,feedback
, each associated with two or three questions (as defined here). The script randomly selects a question associated to the chosen keyword and sends it togoogleSpeechProcess
, which analyses the sentence;googleSpeechProcess
provides the output tomanagerTUG
, the human model / the robot starts again.The following videos show the described functionalities (click on the images to open the videos):
Successful TUG and questions:
Target not reached:
Human model stopping: