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

scripts/seed-dev.ts

@@ -262,6 +262,35 @@ async function main() {
     // 5. Create Steps & Actions (The Interactive Storyteller Protocol)
     console.log("🎬 Creating experiment steps (Interactive Storyteller)...");
 
+    // Pre-create steps that will be referenced before they're defined
+    // --- Step 5: Story Continues (Convergence point for both branches) ---
+    const [step5] = await db
+      .insert(schema.steps)
+      .values({
+        experimentId: experiment!.id,
+        name: "Story Continues",
+        description: "Both branches converge here",
+        type: "robot",
+        orderIndex: 5,
+        required: true,
+        durationEstimate: 15,
+      })
+      .returning();
+
+    // --- Step 6: Conclusion ---
+    const [step6] = await db
+      .insert(schema.steps)
+      .values({
+        experimentId: experiment!.id,
+        name: "Conclusion",
+        description: "End the story and thank participant",
+        type: "robot",
+        orderIndex: 6,
+        required: true,
+        durationEstimate: 25,
+      })
+      .returning();
+
     // --- Step 1: The Hook ---
     const [step1] = await db
       .insert(schema.steps)
@@ -363,38 +392,6 @@ async function main() {
       },
     ]);
 
-    // --- Step 3: Comprehension Check (Wizard Decision Point) ---
-    const [step3] = await db
-      .insert(schema.steps)
-      .values({
-        experimentId: experiment!.id,
-        name: "Comprehension Check",
-        description:
-          "Ask participant about rock color and wait for wizard input",
-        type: "conditional",
-        orderIndex: 2,
-        required: true,
-        durationEstimate: 30,
-        conditions: {
-          variable: "last_wizard_response",
-          options: [
-            {
-              label: "Correct Response (Red)",
-              value: "Correct",
-              nextStepId: step5!.id,
-              variant: "default",
-            },
-            {
-              label: "Incorrect Response",
-              value: "Incorrect",
-              nextStepId: step5!.id,
-              variant: "destructive",
-            },
-          ],
-        },
-      })
-      .returning();
-
     // --- Step 4a: Correct Response Branch ---
     const [step4a] = await db
       .insert(schema.steps)
@@ -423,6 +420,38 @@ async function main() {
       })
       .returning();
 
+    // --- Step 3: Comprehension Check (Wizard Decision Point) ---
+    const [step3] = await db
+      .insert(schema.steps)
+      .values({
+        experimentId: experiment!.id,
+        name: "Comprehension Check",
+        description:
+          "Ask participant about rock color and wait for wizard input",
+        type: "conditional",
+        orderIndex: 2,
+        required: true,
+        durationEstimate: 30,
+        conditions: {
+          variable: "last_wizard_response",
+          options: [
+            {
+              label: "Correct Response (Red)",
+              value: "Correct",
+              nextStepId: step4a!.id,
+              variant: "default",
+            },
+            {
+              label: "Incorrect Response",
+              value: "Incorrect",
+              nextStepId: step4b!.id,
+              variant: "destructive",
+            },
+          ],
+        },
+      })
+      .returning();
+
     await db.insert(schema.actions).values([
       {
         stepId: step3!.id,
@@ -440,12 +469,11 @@ async function main() {
         name: "Wait for Choice",
         type: "wizard_wait_for_response",
         orderIndex: 1,
-        // Define the options that will be presented to the Wizard
         parameters: {
           prompt_text: "Did participant answer 'Red' correctly?",
           options: [
-            { label: "Correct", value: "Correct", nextStepId: step5!.id },
+            { label: "Correct", value: "Correct", nextStepId: step4a!.id },
-            { label: "Incorrect", value: "Incorrect", nextStepId: step5!.id },
+            { label: "Incorrect", value: "Incorrect", nextStepId: step4b!.id },
           ],
         },
         sourceKind: "core",
@@ -551,20 +579,7 @@ async function main() {
       },
     ]);
 
-    // --- Step 5: Story Continues (Convergence point for both branches) ---
+    // --- Step 5 actions: Story Continues ---
-    const [step5] = await db
-      .insert(schema.steps)
-      .values({
-        experimentId: experiment!.id,
-        name: "Story Continues",
-        description: "Both branches converge here",
-        type: "robot",
-        orderIndex: 5,
-        required: true,
-        durationEstimate: 15,
-      })
-      .returning();
-
     await db.insert(schema.actions).values([
       {
         stepId: step5!.id,
@@ -584,37 +599,19 @@ async function main() {
       {
         stepId: step5!.id,
         name: "Wave Goodbye",
-        type: "nao6-ros2.move_arm",
+        type: "nao6-ros2.wave_goodbye",
         orderIndex: 1,
         parameters: {
-          arm: "right",
+          text: "See you later!",
-          shoulder_pitch: 0.5,
-          shoulder_roll: 0.3,
-          elbow_yaw: -0.5,
-          elbow_roll: 0.8,
-          speed: 0.4,
         },
         pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
         pluginVersion: "2.2.0",
-        category: "movement",
+        category: "interaction",
         retryable: true,
       },
     ]);
 
-    // --- Step 6: Conclusion ---
+    // --- Step 6 actions: Conclusion ---
-    const [step6] = await db
-      .insert(schema.steps)
-      .values({
-        experimentId: experiment!.id,
-        name: "Conclusion",
-        description: "End the story and thank participant",
-        type: "robot",
-        orderIndex: 6,
-        required: true,
-        durationEstimate: 25,
-      })
-      .returning();
-
     await db.insert(schema.actions).values([
       {
         stepId: step6!.id,

src/lib/ros/wizard-ros-service.ts

@@ -493,35 +493,43 @@ export class WizardRosService extends EventEmitter {
 
       case "move_head":
       case "turn_head":
-        this.publish("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
+        this.publish(
-          joint_names: ["HeadYaw", "HeadPitch"],
+          "/joint_angles",
-          joint_angles: [
+          "naoqi_bridge_msgs/JointAnglesWithSpeed",
-            Number(parameters.yaw) || 0,
+          {
-            Number(parameters.pitch) || 0,
+            joint_names: ["HeadYaw", "HeadPitch"],
-          ],
+            joint_angles: [
-          speed: Number(parameters.speed) || 0.3,
+              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", {
+        this.publish(
-          joint_names: [
+          "/joint_angles",
-            `${prefix}ShoulderPitch`,
+          "naoqi_bridge_msgs/JointAnglesWithSpeed",
-            `${prefix}ShoulderRoll`,
+          {
-            `${prefix}ElbowYaw`,
+            joint_names: [
-            `${prefix}ElbowRoll`,
+              `${prefix}ShoulderPitch`,
-          ],
+              `${prefix}ShoulderRoll`,
-          joint_angles: [
+              `${prefix}ElbowYaw`,
-            Number(parameters.shoulder_pitch) || 0,
+              `${prefix}ElbowRoll`,
-            Number(parameters.shoulder_roll) || 0,
+            ],
-            Number(parameters.elbow_yaw) || 0,
+            joint_angles: [
-            Number(parameters.elbow_roll) || 0,
+              Number(parameters.shoulder_pitch) || 0,
-          ],
+              Number(parameters.shoulder_roll) || 0,
-          speed: Number(parameters.speed) || 0.3,
+              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
    */