Updated demo

chrismbirmingham · chrismbirmingham · commit b41f2ba5b9d2 · 2021-07-07T10:10:34.000-07:00
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 @@`
	`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
`@@ -2,12 +2,20 @@`
`2`	`2`	`{`
`3`	`3`	`"set": "sequence",`
`4`	`4`	`"steps": [`
	`5`	`+ {`
	`6`	`+ "gesture_qt": {`
	`7`	`+ "action_goal": "DO",`
	`8`	`+ "resource_type": "actuator",`
	`9`	`+ "wait_for": "",`
	`10`	`+ "trigger": "{'gesture':'QT/bye', 'timing': 0.5}"`
	`11`	`+ }`
	`12`	`+ },`
`5`	`13`	`{`
`6`	`14`	`"tts_default": {`
`7`	`15`	`"action_goal": "REQUEST",`
`8`	`16`	`"resource_type": "service",`
`9`	`17`	`"wait_for": "new",`
`10`		`- "trigger": "Hi Ashley, how are you doing today? I know it has been a tough time lately."`
	`18`	`+ "trigger": "Hey Ashley, it is good to see you! How are you doing today?"`
`11`	`19`	`}`
`12`	`20`	`},`
`13`	`21`	`[`
`@@ -18,14 +26,6 @@`
`18`	`26`	`"wait_for": ""`
`19`	`27`	`}`
`20`	`28`	`},`
`21`		`- {`
`22`		`- "gesture_qt": {`
`23`		`- "action_goal": "DO",`
`24`		`- "resource_type": "actuator",`
`25`		`- "wait_for": "",`
`26`		`- "trigger": "{'gesture':'QT/bye', 'timing': 0.5}"`
`27`		`- }`
`28`		`- },`
`29`	`29`	`{`
`30`	`30`	`"face_mouth_default": {`
`31`	`31`	`"action_goal": "DO",`
`@@ -39,12 +39,20 @@`
`39`	`39`	`{`
`40`	`40`	`"set": "sequence",`
`41`	`41`	`"steps": [`
	`42`	`+ {`
	`43`	`+ "gesture_qt": {`
	`44`	`+ "action_goal": "DO",`
	`45`	`+ "resource_type": "actuator",`
	`46`	`+ "wait_for": "",`
	`47`	`+ "trigger": "{'gesture':'QT/sad', 'timing': 0.5}"`
	`48`	`+ }`
	`49`	`+ },`
`42`	`50`	`{`
`43`	`51`	`"tts_default": {`
`44`	`52`	`"action_goal": "REQUEST",`
`45`	`53`	`"resource_type": "service",`
`46`	`54`	`"wait_for": "new",`
`47`		`- "trigger": "That is good to hear, thank you for sharing."`
	`55`	`+ "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."`
`48`	`56`	`}`
`49`	`57`	`},`
`50`	`58`	`[`
`@@ -55,22 +63,22 @@`
`55`	`63`	`"wait_for": ""`
`56`	`64`	`}`
`57`	`65`	`},`
`58`		`- {`
`59`		`- "gesture_qt": {`
`60`		`- "action_goal": "DO",`
`61`		`- "resource_type": "actuator",`
`62`		`- "wait_for": "",`
`63`		`- "trigger": "{'gesture':'QT/bye', 'timing': 0.5}"`
`64`		`- }`
`65`		`- },`
`66`	`66`	`{`
`67`	`67`	`"face_mouth_default": {`
`68`	`68`	`"action_goal": "DO",`
`69`	`69`	`"resource_type": "actuator",`
`70`	`70`	`"wait_for": "new"`
`71`	`71`	`}`
`72`	`72`	`}`
`73`		`- ]`
	`73`	`+ ],`
	`74`	`+ {`
	`75`	`+ "gesture_qt": {`
	`76`	`+ "action_goal": "DO",`
	`77`	`+ "resource_type": "actuator",`
	`78`	`+ "wait_for": "new",`
	`79`	`+ "trigger": "{'gesture':'QT/bye', 'timing': 0.5}"`
	`80`	`+ }`
	`81`	`+ }`
`74`	`82`	`]`
`75`	`83`	`}`
`76`	`84`	`]`