last fixes to ensure running on new system

Author: selBaez

mac_requirements.txt

@@ -0,0 +1,29 @@
+numpy==1.16.2
+scipy==1.2.3
+sklearn
+
+nltk==3.4
+fuzzywuzzy
+python-Levenshtein
+
+rdflib
+iribaker
+SPARQLWrapper
+
+PyObjC
+playsound
+webrtcvad
+
+google-cloud-speech
+google-cloud-TextToSpeech
+google-cloud-translate
+
+Pillow==5.4.1
+opencv-python
+
+tornado==5.1.1
+typing
+pyaudio
+
+pycountry
+reverse-geocoder

pepper/__init__.py

@@ -19,7 +19,7 @@
 
 
 # Global Logging Setup
-LOGGING_LEVEL = logging.DEBUG
+LOGGING_LEVEL = logging.INFO  # INFO for cleaner experiments
 LOGGING_FILE = 'log.txt'
 LOGGING_FORMAT = '%(asctime)s %(levelname)-8s %(name)-35s %(message)s'
 LOGGING_DATE_FORMAT = '%x %X'

pepper/brain/LTM_statement_processing.py

@@ -35,6 +35,14 @@ def _link_entity(self, entity, graph, namespace_mapping=None):
 
 
 def _create_detections(self, cntxt, context):
+    """
+
+    Parameters
+    ----------
+    self : brain
+    cntxt: Context
+    context: Entity
+    """
     # Get ids of existing objects in this location
     memory = self.location_reasoner.get_location_memory(cntxt)
 
@@ -63,7 +71,6 @@ def _create_detections(self, cntxt, context):
             # Create detection
             objct_detection = create_claim_graph(self, self.myself, prdt, objct, UtteranceType.EXPERIENCE)
             self.claim_graph.add((objct_detection.id, self.namespaces['EPS']['hasContext'], context.id))
-
             observations.append(objct_detection)
 
             # Open ended learning

pepper/brain/infrastructure/rdf_builder.py

@@ -151,7 +151,10 @@ def _fix_nlp_types(self, types):
                 # this was just a char
                 fixed_types.append(types.split('.')[-1])
                 break
-            elif "article" in el or "prep" in el or "adj" in el:
+            elif "article" in el or "prep" in el or "adj" in el or "verb" in el:
+                pass
+            elif "deictic" in el or "article:definite" in el:
+                # need to corefer
                 pass
             elif '.' in el:
                 fixed_types.append(el.split('.')[-1])

pepper/brain/queries/content exploration/count_statements.rq

@@ -2,6 +2,7 @@ PREFIX rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#>
 PREFIX grasp: <http://groundedannotationframework.org/grasp#>
 PREFIX gaf: <http://groundedannotationframework.org/gaf#>
 
-select (COUNT(?stat) AS ?count) where {
+select (COUNT(distinct ?stat) AS ?count) where {
 ?stat rdf:type gaf:Assertion .
+?stat gaf:denotedBy ?m .
 }

pepper/brain/queries/trust/count_statements_by.rq

@@ -4,7 +4,7 @@ PREFIX gaf: <http://groundedannotationframework.org/gaf#>
 PREFIX rdfs: <http://www.w3.org/2000/01/rdf-schema#>
 PREFIX prov: <http://www.w3.org/ns/prov#>
 
-select (COUNT(?stat) AS ?num_stat) where {
+select (COUNT(distinct ?stat) AS ?num_stat) where {
 ?stat rdf:type gaf:Assertion .
 ?stat gaf:denotedBy ?m .
 ?m grasp:wasAttributedTo ?author .

pepper/brain/reasoners/location_reasoner.py

@@ -86,7 +86,7 @@ def get_location_memory(self, cntxt):
         response = self._submit_query(query)
 
         location_memory = {}
-        if response[0]['type']['value'] != '':
+        if response and response[0]['type']['value'] != '':
             for elem in response:
                 categories, ids = self._fill_location_memory_(elem)
                 # assign multiple categories (eg selene is person and agent)
@@ -97,7 +97,7 @@ def get_location_memory(self, cntxt):
                     location_memory[casefold_text(category, format='triple')] = temp
 
         # Local object memories
-        for item in cntxt.objects: # Error, this skips the first element?
+        for item in cntxt.objects:  # Error, this skips the first element?
             if item.name.lower() != 'person':
                 temp = location_memory.get(casefold_text(item.name, format='triple'),
                                            {'brain_ids': [], 'local_ids': []})

pepper/brain/reasoners/thought_generator.py

@@ -75,7 +75,7 @@ def get_statement_novelty(self, statement_uri):
         query = read_query('thoughts/statement_novelty') % statement_uri
         response = self._submit_query(query)
 
-        if response[0] != {}:
+        if response and response[0] != {}:
             response = [self._fill_statement_novelty_(elem) for elem in response]
         else:
             response = []
@@ -193,11 +193,11 @@ def get_overlaps(self, utterance):
         """
         # Role as subject
         query = read_query('thoughts/object_overlap') % (
-        utterance.triple.predicate_name, utterance.triple.complement_name,
-        utterance.triple.subject_name)
+            utterance.triple.predicate_name, utterance.triple.complement_name,
+            utterance.triple.subject_name)
         response = self._submit_query(query)
 
-        if response[0]['types']['value'] != '':
+        if response and response[0]['types']['value'] != '':
             complement_overlap = [self._fill_overlap_(elem) for elem in response]
         else:
             complement_overlap = []
@@ -208,7 +208,7 @@ def get_overlaps(self, utterance):
             utterance.triple.complement_name)
         response = self._submit_query(query)
 
-        if response[0]['types']['value'] != '':
+        if response and response[0]['types']['value'] != '':
             subject_overlap = [self._fill_overlap_(elem) for elem in response]
         else:
             subject_overlap = []
@@ -303,7 +303,7 @@ def get_complement_cardinality_conflicts(self, utterance):
                                                                        utterance.triple.complement_name)
 
         response = self._submit_query(query)
-        if response[0] != {}:
+        if response and response[0] != {}:
             conflicts = [self._fill_cardinality_conflict_(elem) for elem in response]
         else:
             conflicts = []
@@ -327,7 +327,7 @@ def get_negation_conflicts(self, utterance):
                                                              utterance.triple.complement_name)
 
         response = self._submit_query(query)
-        if response[0] != {}:
+        if response and response[0] != {}:
             conflicts = [self._fill_negation_conflict_(elem) for elem in response]
         else:
             conflicts = []
@@ -350,7 +350,7 @@ def get_trust(self, speaker):
         # chat based feature
         num_chats = float(self.count_chat_with(speaker))
         friends = self.get_best_friends()
-        best_friend_chats = float(friends[0][1])
+        best_friend_chats = float(friends[0][1]) if friends else num_chats
         chat_feature = num_chats / best_friend_chats
 
         # new content feature
@@ -361,7 +361,7 @@ def get_trust(self, speaker):
         # conflicts feature
         num_conflicts = float(len(self.get_conflicts_by(speaker)))
         all_conflicts = float(len(self.get_conflicts()))
-        conflicts_feature = (num_conflicts / all_conflicts) - 1
+        conflicts_feature = -(num_conflicts / all_conflicts) - 1 if all_conflicts != 0 else 1
 
         # Aggregate
         # TODO scale

pepper/framework/backend/system/camera.py

@@ -64,11 +64,16 @@ def _run(self):
         t0 = time()
 
         # Get frame from camera
-        status, image = self._camera.read()
+        # Sometimes the camera fails on the first image. We introduce a three trial policy to initialize the camera
+        status = False
+        image = None
+        for chance in range(3):
+            status, image = self._camera.read()
+            if status:
+                break
 
         if status:
             if self._running:
-
                 # Resize Image and Convert to RGB
                 image = cv2.resize(image, (self.width, self.height))
                 image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)

pepper/framework/backend/system/text_to_speech.py

@@ -73,6 +73,7 @@ def _play_sound(self, mp3):
             playsound(file_hash)
         finally:
             if os.path.exists(file_hash):
+                # TODO: Sometimes we need to save all data from an experiment. Comment the line below and pass
                 os.remove(file_hash)