Update configs on plaipin expressive eyes

Author: kPatch

coffee_ws/README.md

@@ -10,7 +10,8 @@ ros2 launch coffee_head all_nodes.launch.py
 - Camera node handles opening the camera, tracking faces (`src/coffee_head/coffee_head/camera_node.py`).
 - Head tracking handles the PID controller, and is in coordination with the camera node to move the motors to center the detected face in frame (`src/coffee_head/coffee_head/head_tracking.py`).
   - Subscribes to the camera node.
-  - Coffee Eyes shows the eye visuals for the Coffee Buddy robot,  (`src/coffee_face/coffee_face/coffee_eyes.py`).
+- Coffee Expression show the latest version of the eye shapes with a new topic message (`src/coffee_expressions/coffee_expressions/plaipin_expressive_eyes.py`)
+- Coffee Eyes shows the eye visuals for the Coffee Buddy robot,  (`src/coffee_face/coffee_face/coffee_eyes.py`).
   - Subscribes to the camera node to adjust eye position in window.
 
 Commands to launch separate nodes:
@@ -22,8 +23,11 @@ ros-source
 ros2 run coffee_head camera_node
 ros2 run coffee_head head_tracking
 ros2 run coffee_head eye_tracking
+ros2 run coffee_expressions plaipin_expressive_eyes
 ros2 run coffee_face coffee_eyes
 ```
 
+**NOTE:** We define the location of `expressions.json` in the `setup.py` file inside `coffee_expressions` directory.
+
 Running the animator
 - Animations are saved in `~/.ros/motion_files` as `.json` files.

coffee_ws/src/coffee_expressions/coffee_expressions/plaipin_expressive_eyes.py

@@ -27,25 +27,25 @@ def __init__(self):
 
         # Initialize Pygame and Plaipin components
         pygame.init()
-        self.screen_width = 800
-        self.screen_height = 400
-        self.screen = pygame.display.set_mode((self.screen_width, self.screen_height))
+        self.screen_width = 1080
+        self.screen_height = 600
+        # self.screen = pygame.display.set_mode((self.screen_width, self.screen_height))
         pygame.display.set_caption("Coffee Buddy - Plaipin Eyes")
 
         # Create custom eye configuration
         config = EyeConfig(
-            width=60,  # Scaled down for 800x400 display
-            height=240,  # Scaled down for 800x400 display
-            spacing=70,  # Scaled down for 800x400 display
+            width=120,  # Scaled down for 800x400 display
+            height=480,  # Scaled down for 800x400 display
+            spacing=140,  # Scaled down for 800x400 display
             blink_interval=120,
             blink_speed=0.1,
             blink_close_frames=5,
             outline_color=(255, 255, 255),
             fill_color=(255, 255, 255),
             outline_width=2,
             background_color=(0, 0, 0),
-            base_screen_width=800,  # Match our display
-            base_screen_height=400  # Match our display
+            base_screen_width=self.screen_width,    # Match our display
+            base_screen_height=self.screen_height   # Match our display
         )
 
         # Get package share directory path
@@ -100,7 +100,8 @@ def affective_state_callback(self, msg: AffectiveState):
             )
         else:
             # Return to center when idle
-            self.eye_controller.set_eye_positions((0.0, 0.0))
+            # self.eye_controller.set_eye_positions((0.0, 0.0))
+            self.eye_controller.set_eye_positions((msg.gaze_target.x, msg.gaze_target.y))
 
     def run(self):
         """Main animation loop"""