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feat: emotion engine (Issue #429) #435

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sl-jetson merged 2 commits from sl-webui/issue-429-emotion-engine into main 2026-03-05 08:59:15 -05:00
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sl-jetson commented 2026-03-05 08:54:02 -05:00
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Context-aware expression selection with personality awareness and social memory

Context-aware expression selection with personality awareness and social memory
sl-jetson added 2 commits 2026-03-05 08:54:02 -05:00 
Implement ROS2 node for fun behavior routines:
- spin: 360° rotation with audio
- dance: sway side-to-side + bob
- nod: head yes/no patterns
- celebrate: spin + look up + smile
- shy: back away + head down + bashful

Features:
- Voice command integration (/saltybot/voice_command)
- Timed sequences: /cmd_vel + pan_tilt controls
- Obstacle safety abort on /scan near-field detection
- 10s cooldown between tricks to prevent repetition
- Trick state publishing (/saltybot/trick_state)
- Background execution thread for non-blocking operation

Package structure:
- saltybot_tricks/trick_routines_node.py (main node)
- launch/tricks.launch.py (configurable launch)
- config/tricks_params.yaml (tuning parameters)
- test/test_tricks.py (module structure tests)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
- ROS2 node subscribing to orchestrator state, battery, balance, person tracker, voice commands, health
- State-to-emotion mapping: navigation → excited, social → happy/curious, low battery → concerned, etc.
- Smooth emotion transitions (0.3–1.2s) with confidence tracking
- Idle behaviors: blink (~3s), look-around (~8s), breathing (sine wave)
- Social memory: familiarity-based warmth modifier (0.3–1.0) for known people
- Personality-aware responses: extroversion, playfulness, responsiveness, anxiety (0.0–1.0 configurable)
- Publishes /saltybot/emotion_state (JSON): emotion, intensity, confidence, expression name, context, idle_flags
- Configurable via emotion_engine.yaml: personality traits, battery thresholds, update rate
- Launch file: emotion_engine.launch.py

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 2203773377 into main 2026-03-05 08:59:15 -05:00
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#435
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