Updated demo

interaction-lab · Jul 7, 2021 · b41f2ba · b41f2ba
1 parent fa33068
commit b41f2ba
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Showing 4 changed files with 31 additions and 20 deletions.
diff --git a/harmoni_core/harmoni_decision/config/configuration.yaml b/harmoni_core/harmoni_decision/config/configuration.yaml
@@ -15,4 +15,5 @@ demo:
   tts: ["default"]
   face: ["default"]
   speaker: ["default"]
-  gesture: ["qt"]
+demo2:
+  gesture: ["qt"]
diff --git a/harmoni_core/harmoni_decision/launch/demo2_service.launch b/harmoni_core/harmoni_decision/launch/demo2_service.launch
@@ -0,0 +1 @@
+<launch><include file="$(find harmoni_gesture)/launch/gesture_service.launch"><arg name="instance_id" value="qt" /></include></launch>
diff --git a/harmoni_core/harmoni_decision/launch/demo_service.launch b/harmoni_core/harmoni_decision/launch/demo_service.launch
@@ -0,0 +1 @@
+<launch><include file="$(find harmoni_tts)/launch/tts_service.launch"><arg name="instance_id" value="default" /></include><include file="$(find harmoni_face)/launch/face_service.launch"><arg name="instance_id" value="default" /></include><include file="$(find harmoni_speaker)/launch/speaker_service.launch"><arg name="instance_id" value="default" /></include></launch>
diff --git a/harmoni_core/harmoni_pattern/pattern_scripting/speak_for_demo.json b/harmoni_core/harmoni_pattern/pattern_scripting/speak_for_demo.json
@@ -2,12 +2,20 @@
     {
         "set": "sequence",
         "steps": [
+            {
+                "gesture_qt": {
+                    "action_goal": "DO",
+                    "resource_type": "actuator",
+                    "wait_for": "",
+                    "trigger": "{'gesture':'QT/bye', 'timing': 0.5}"
+                }
+            },
             {
                 "tts_default": {
                     "action_goal": "REQUEST",
                     "resource_type": "service",
                     "wait_for": "new",
-                    "trigger": "Hi Ashley, how are you doing today? I know it has been a tough time lately."
+                    "trigger": "Hey Ashley, it is good to see you! How are you doing today?"
                 }
             },
             [
@@ -18,14 +26,6 @@
                         "wait_for": ""
                     }
                 },
-                {
-                    "gesture_qt": {
-                        "action_goal": "DO",
-                        "resource_type": "actuator",
-                        "wait_for": "",
-                        "trigger": "{'gesture':'QT/bye', 'timing': 0.5}"
-                    }
-                },
                 {
                     "face_mouth_default": {
                         "action_goal": "DO",
@@ -39,12 +39,20 @@
     {
         "set": "sequence",
         "steps": [
+            {
+                "gesture_qt": {
+                    "action_goal": "DO",
+                    "resource_type": "actuator",
+                    "wait_for": "",
+                    "trigger": "{'gesture':'QT/sad', 'timing': 0.5}"
+                }
+            },
             {
                 "tts_default": {
                     "action_goal": "REQUEST",
                     "resource_type": "service",
                     "wait_for": "new",
-                    "trigger": "That is good to hear, thank you for sharing."
+                    "trigger": "Thank you for sharing. It sounds as though you are having a hard time with frustration right now. Would you like to expand on that? We can talk more about why you are feeling frustrated."
                 }
             },
             [
@@ -55,22 +63,22 @@
                         "wait_for": ""
                     }
                 },
-                {
-                    "gesture_qt": {
-                        "action_goal": "DO",
-                        "resource_type": "actuator",
-                        "wait_for": "",
-                        "trigger": "{'gesture':'QT/bye', 'timing': 0.5}"
-                    }
-                },
                 {
                     "face_mouth_default": {
                         "action_goal": "DO",
                         "resource_type": "actuator",
                         "wait_for": "new"
                     }
                 }
-            ]
+            ],
+            {
+                "gesture_qt": {
+                    "action_goal": "DO",
+                    "resource_type": "actuator",
+                    "wait_for": "new",
+                    "trigger": "{'gesture':'QT/bye', 'timing': 0.5}"
+                }
+            }
         ]
     }
 ]
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		<launch><include file="$(find harmoni_gesture)/launch/gesture_service.launch"><arg name="instance_id" value="qt" /></include></launch>
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		<launch><include file="$(find harmoni_tts)/launch/tts_service.launch"><arg name="instance_id" value="default" /></include><include file="$(find harmoni_face)/launch/face_service.launch"><arg name="instance_id" value="default" /></include><include file="$(find harmoni_speaker)/launch/speaker_service.launch"><arg name="instance_id" value="default" /></include></launch>