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Fix say_with_emotion with proper NAOqi markup, add transform functions, update seed script for linear branching

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This commit is contained in:
Sean O'Connor
2026-03-21 19:29:28 -04:00
parent 91d03a789d
commit 70064f487e
3 changed files with 167 additions and 98 deletions
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120
src/lib/ros/wizard-ros-service.ts
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@@ -493,35 +493,43 @@ export class WizardRosService extends EventEmitter {
case "move_head":
case "turn_head":
this.publish("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
joint_names: ["HeadYaw", "HeadPitch"],
joint_angles: [
Number(parameters.yaw) || 0,
Number(parameters.pitch) || 0,
],
speed: Number(parameters.speed) || 0.3,
});
this.publish(
"/joint_angles",
"naoqi_bridge_msgs/JointAnglesWithSpeed",
{
joint_names: ["HeadYaw", "HeadPitch"],
joint_angles: [
Number(parameters.yaw) || 0,
Number(parameters.pitch) || 0,
],
speed: Number(parameters.speed) || 0.3,
},
);
await new Promise((resolve) => setTimeout(resolve, 1000));
break;
case "move_arm":
const arm = String(parameters.arm || "right");
const prefix = arm.toLowerCase() === "left" ? "L" : "R";
this.publish("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
joint_names: [
`${prefix}ShoulderPitch`,
`${prefix}ShoulderRoll`,
`${prefix}ElbowYaw`,
`${prefix}ElbowRoll`,
],
joint_angles: [
Number(parameters.shoulder_pitch) || 0,
Number(parameters.shoulder_roll) || 0,
Number(parameters.elbow_yaw) || 0,
Number(parameters.elbow_roll) || 0,
],
speed: Number(parameters.speed) || 0.3,
});
this.publish(
"/joint_angles",
"naoqi_bridge_msgs/JointAnglesWithSpeed",
{
joint_names: [
`${prefix}ShoulderPitch`,
`${prefix}ShoulderRoll`,
`${prefix}ElbowYaw`,
`${prefix}ElbowRoll`,
],
joint_angles: [
Number(parameters.shoulder_pitch) || 0,
Number(parameters.shoulder_roll) || 0,
Number(parameters.elbow_yaw) || 0,
Number(parameters.elbow_roll) || 0,
],
speed: Number(parameters.speed) || 0.3,
},
);
await new Promise((resolve) => setTimeout(resolve, 1000));
break;
@@ -533,7 +541,9 @@ export class WizardRosService extends EventEmitter {
break;
default:
throw new Error(`Unknown action: ${actionId}. Define this action in your robot plugin.`);
throw new Error(
`Unknown action: ${actionId}. Define this action in your robot plugin.`,
);
}
}
@@ -741,12 +751,74 @@ export class WizardRosService extends EventEmitter {
speed: Number(parameters.speed) || 0.2,
};
case "transformToEmotionalSpeech":
return this.transformToEmotionalSpeech(parameters);
default:
console.warn(`Unknown transform function: ${transformFn}`);
return parameters;
}
}
/**
* Transform parameters for emotional speech
* NAOqi markup: \rspd=<speed>\<text>
* For animated speech: ^start(animations/Stand/Gestures/...)
*/
private transformToEmotionalSpeech(parameters: Record<string, unknown>): {
data: string;
} {
const text = String(parameters.text || "Hello");
const emotion = String(parameters.emotion || "neutral");
const speed = Number(parameters.speed || 1.0);
const speedPercent = Math.round(speed * 100);
let markedText = text;
switch (emotion) {
case "happy":
markedText = `\\rspd=120\\^start(animations/Stand/Gestures/Happy_4) ${text}`;
break;
case "excited":
markedText = `\\rspd=140\\^start(animations/Stand/Gestures/Enthusiastic_1) ${text}`;
break;
case "sad":
markedText = `\\rspd=80\\vct=80\\${text}`;
break;
case "calm":
markedText = `\\rspd=90\\${text}`;
break;
case "neutral":
default:
markedText = `\\rspd=${speedPercent}\\${text}`;
break;
}
return { data: markedText };
}
/**
* Transform for wave goodbye - animated speech with waving
*/
private transformToWaveGoodbye(parameters: Record<string, unknown>): {
data: string;
} {
const text = String(parameters.text || "Goodbye!");
const markedText = `\\rspd=110\\^start(animations/Stand/Gestures/Hey_1) ${text} ^start(animations/Stand/Gestures/Hey_1)`;
return { data: markedText };
}
/**
* Transform for playing animations
*/
private transformToAnimation(parameters: Record<string, unknown>): {
data: string;
} {
const animation = String(parameters.animation || "Hey_1");
const markedText = `^start(animations/Stand/Gestures/${animation})`;
return { data: markedText };
}
/**
* Schedule reconnection attempt
*/