diff --git a/architecture.json b/architecture.json
index 85c48db0de32afb7d6cfa4142611de888bc85f43..d534807209a9222c08ff5b352d440754ce58790e 100644
--- a/architecture.json
+++ b/architecture.json
@@ -9,178 +9,184 @@
{
"connections" : [
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:interaction state",
+ "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:`/h/v/voiceID/audio`",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:robot state",
- "uuid" : "0a79dcb8-dd0c-44de-ab5a-69905131ab0e"
+ "to" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604:input",
+ "uuid" : "b3b69e14-260e-4ecc-9f4a-e13ef36783f7"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:nav goals",
+ "from" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:scene graph",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:following/nav goals",
- "uuid" : "8349f12e-ea96-4d0d-a315-1ad231539936"
+ "to" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:scene graph",
+ "uuid" : "b10cbc39-5513-44e6-81ef-1c010a9c940b"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:images",
+ "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:`GazeDirection`",
"name" : "anonymous",
- "to" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:images",
- "uuid" : "deec310c-9738-4df9-9ca5-83acc6e68ede"
+ "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:gaze direction",
+ "uuid" : "0de8cacd-26a8-4d65-b9d1-266658e3c74c"
},
{
- "from" : "49998d33-7c64-4557-b1c9-56b241b59600:`/h/v/voiceID/speech`",
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:next utterance",
"name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:speech",
- "uuid" : "ffdb876d-4113-4a72-808d-a0a624d50ca7"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:speech output",
+ "uuid" : "426656f1-0bfe-4b24-b55c-f1fbe35d0f24"
},
{
- "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:`GazeDirection`",
+ "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:`/h/f/faceID/roi`",
"name" : "anonymous",
- "to" : "d715b004-7177-4001-bd9d-725e87789c94:gaze direction",
- "uuid" : "030d86be-bbbc-4e20-8ec6-07484f776a21"
+ "to" : "e9861836-caed-4c19-87e2-13ba1a380613:faces",
+ "uuid" : "a2a69657-28ce-4f09-96d3-d68d1f73dced"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:images",
+ "from" : "b70f5085-b32c-47de-b158-73fc4d83fb93:`personID`",
"name" : "anonymous",
- "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:images",
- "uuid" : "f02baefa-2160-49be-ada0-6cf0e843447f"
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:matchers",
+ "uuid" : "bd9d1c95-32d1-4be0-b858-5bd71b12fdd8"
},
{
- "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:`/h/f/faceID/demographics`",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:interaction state",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
- "uuid" : "29cfa94f-c3b2-4feb-a256-44b7d1dbb304"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:interaction messages",
+ "uuid" : "ed16d30f-ff2e-4f62-b96d-ba128166c0f6"
},
{
- "from" : "1929373a-59ae-474d-bc1b-a2d0be2417cd:images",
+ "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:`/h/v/voiceID/audio`",
"name" : "anonymous",
- "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:images",
- "uuid" : "e9177abe-32ec-4bd8-b453-ec2e84f9a2da"
+ "to" : "e9861836-caed-4c19-87e2-13ba1a380613:voices",
+ "uuid" : "bcf61ec7-9e2d-4b9b-a753-33f2a011e819"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:low-level actions",
+ "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:`/audio/raw_audio` [respeaker_ros/RawAudioData]",
"name" : "anonymous",
- "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
- "uuid" : "76376fcb-a31a-40db-9220-1fef7cf68fc8"
+ "to" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:input",
+ "uuid" : "725d3768-1e9d-4591-8590-c2ad18a22db6"
},
{
- "from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:`DialogueState`",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:semantic scene description",
- "uuid" : "0c15a3cf-3d24-491b-bbc4-e6d34b1c265c"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:dialogue state",
+ "uuid" : "edb67b60-5748-4e4f-bc1c-66f386b4a870"
},
{
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:`tf: /person_id`",
+ "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:`/h/p/personID/...`",
"name" : "anonymous",
- "to" : "cea219fc-27ef-457e-8e99-3540074dc430:input",
- "uuid" : "4236dfb6-3852-45d6-a061-05af75a502cf"
+ "to" : "e9861836-caed-4c19-87e2-13ba1a380613:face/voice mapping",
+ "uuid" : "fdb30713-15cd-474e-984f-a609ecf54382"
},
{
- "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:`/h/b/bodyID/roi`",
+ "from" : "1929373a-59ae-474d-bc1b-a2d0be2417cd:images",
"name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:matchers",
- "uuid" : "5c32d0f0-6f03-4866-8fea-f333ec994fc6"
+ "to" : "814e358a-b568-4082-99f3-4629d35e7f2e:input",
+ "uuid" : "ff126a79-e742-43f3-af26-df44dc0363ae"
},
{
- "from" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:scene graph",
+ "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:`/h/f/faceID/roi`",
"name" : "anonymous",
- "to" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:scene graph",
- "uuid" : "b10cbc39-5513-44e6-81ef-1c010a9c940b"
+ "to" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b:faces",
+ "uuid" : "c379435f-7cba-4ecc-9b49-405379374dfe"
},
{
- "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:`GazeDirection`",
+ "from" : "b62de7f5-7899-48fd-a64d-3226e68bb21f:`/? [nav_msgs/OccupancyGrid]`",
"name" : "anonymous",
- "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:gaze direction",
- "uuid" : "0de8cacd-26a8-4d65-b9d1-266658e3c74c"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:occupancy map",
+ "uuid" : "fd48565b-cdbc-4fcd-a5fd-f3983311a074"
},
{
- "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:dense 3d map",
+ "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:`/h/f/faceID/demographics`",
"name" : "anonymous",
- "to" : "b62de7f5-7899-48fd-a64d-3226e68bb21f:dense 3d map",
- "uuid" : "24a4329e-5669-4cd5-bc57-08fbb0c1f859"
+ "to" : "35d5af59-53e3-466c-874d-89131352c403:demographics",
+ "uuid" : "8497fa30-5d68-4f2d-809d-c596395cc58f"
},
{
- "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:`/h/f/faceID/demographics`",
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:`DialogueState`",
"name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:demographics",
- "uuid" : "524ee896-7eeb-4b36-96f8-e03fa454f837"
+ "to" : "35d5af59-53e3-466c-874d-89131352c403:dialogue state",
+ "uuid" : "0607f6c5-e3fd-4b79-9efb-eda2576505dd"
},
{
- "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:`tf: /odom`",
+ "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:dense 3d map",
"name" : "anonymous",
- "to" : "e4848564-4b20-4667-b107-b1abe9b97cb5:input",
- "uuid" : "5982159d-2eb1-426c-85e6-8e5379198dc5"
+ "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:dense 3d map",
+ "uuid" : "42b5f41f-7a83-4ed2-88c5-c23ed58b6742"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:gestures",
+ "from" : "1929373a-59ae-474d-bc1b-a2d0be2417cd:images",
+ "name" : "anonymous",
+ "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:images",
+ "uuid" : "e9177abe-32ec-4bd8-b453-ec2e84f9a2da"
+ },
+ {
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:low-level actions",
"name" : "anonymous",
"to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
- "uuid" : "1b666d89-6a0a-46bb-9b96-72e8a7cbe369"
+ "uuid" : "76376fcb-a31a-40db-9220-1fef7cf68fc8"
},
{
- "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:`/h/v/voiceID/audio`",
+ "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:`tf: /odom`",
"name" : "anonymous",
- "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:input",
- "uuid" : "85ab3981-0dca-4f74-beb1-8d4c940bd930"
+ "to" : "e4848564-4b20-4667-b107-b1abe9b97cb5:input",
+ "uuid" : "5982159d-2eb1-426c-85e6-8e5379198dc5"
},
{
"from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:images",
"name" : "anonymous",
- "to" : "c9c1df26-7274-4765-8772-b06e15f87c3c:images",
- "uuid" : "8350e9d1-a6df-40bc-b74a-03efc53c5254"
+ "to" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:images",
+ "uuid" : "deec310c-9738-4df9-9ca5-83acc6e68ede"
},
{
- "from" : "1929373a-59ae-474d-bc1b-a2d0be2417cd:images",
+ "from" : "49998d33-7c64-4557-b1c9-56b241b59600:`/h/v/voiceID/speech`",
"name" : "anonymous",
- "to" : "814e358a-b568-4082-99f3-4629d35e7f2e:input",
- "uuid" : "ff126a79-e742-43f3-af26-df44dc0363ae"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:speech",
+ "uuid" : "ffdb876d-4113-4a72-808d-a0a624d50ca7"
},
{
- "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:dense 3d map",
+ "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:`GazeDirection`",
"name" : "anonymous",
- "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:dense 3d map",
- "uuid" : "42b5f41f-7a83-4ed2-88c5-c23ed58b6742"
+ "to" : "d715b004-7177-4001-bd9d-725e87789c94:gaze direction",
+ "uuid" : "030d86be-bbbc-4e20-8ec6-07484f776a21"
},
{
- "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:`/h/v/voiceID/audio`",
+ "from" : "b357b248-d5a8-445d-9c09-5c567d074966:/detected_objects [label + 6D pos]",
"name" : "anonymous",
- "to" : "b70f5085-b32c-47de-b158-73fc4d83fb93:input",
- "uuid" : "33421a71-54bc-484c-8110-48814a68a15b"
+ "to" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:scene graph",
+ "uuid" : "9c1781a3-c390-4628-acdc-cc8617942046"
},
{
- "from" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b:`personID`",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:active personID",
"name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:matchers",
- "uuid" : "c0e2fb4b-26a7-498e-896b-e3278a6224e6"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:speech input",
+ "uuid" : "edb7145b-77e7-463a-8b29-f8f2df17cfee"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:images",
+ "from" : "49998d33-7c64-4557-b1c9-56b241b59600:`/h/v/voiceID/speech`",
"name" : "anonymous",
- "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:3d ground",
- "uuid" : "bc98685f-cced-4a13-9b13-6590f31fc577"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:speech input",
+ "uuid" : "db3221a7-783a-4ffb-9ca2-8d074e9706fd"
},
{
- "from" : "b70f5085-b32c-47de-b158-73fc4d83fb93:`personID`",
+ "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:`/h/b/bodyID/roi`",
"name" : "anonymous",
"to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:matchers",
- "uuid" : "bd9d1c95-32d1-4be0-b858-5bd71b12fdd8"
+ "uuid" : "5c32d0f0-6f03-4866-8fea-f333ec994fc6"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:interaction state",
+ "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:`/h/v/voiceID/audio`",
"name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:interaction messages",
- "uuid" : "ed16d30f-ff2e-4f62-b96d-ba128166c0f6"
+ "to" : "b70f5085-b32c-47de-b158-73fc4d83fb93:input",
+ "uuid" : "33421a71-54bc-484c-8110-48814a68a15b"
},
{
- "from" : "b357b248-d5a8-445d-9c09-5c567d074966:/detected_objects [label + 6D pos]",
+ "from" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b:`personID`",
"name" : "anonymous",
- "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:detected_objects",
- "uuid" : "7c0fa9d2-5c6c-402b-bc90-78d2f32807e5"
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:matchers",
+ "uuid" : "c0e2fb4b-26a7-498e-896b-e3278a6224e6"
},
{
"from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:images",
"name" : "anonymous",
- "to" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:images",
- "uuid" : "b3a71142-345b-4c68-b172-a31a74ba1626"
+ "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:ground plane",
+ "uuid" : "bc98685f-cced-4a13-9b13-6590f31fc577"
},
{
"from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:`/h/p/personID/...`",
@@ -189,64 +195,46 @@
"uuid" : "9c3a70db-3bc2-46bb-9af3-2402bf296ceb"
},
{
- "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:`/h/v/voiceID/audio`",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:gestures",
"name" : "anonymous",
- "to" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604:input",
- "uuid" : "b3b69e14-260e-4ecc-9f4a-e13ef36783f7"
+ "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
+ "uuid" : "1b666d89-6a0a-46bb-9b96-72e8a7cbe369"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:`DialogueState`",
+ "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:`/h/v/voiceID/audio`",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:dialogue state",
- "uuid" : "edb67b60-5748-4e4f-bc1c-66f386b4a870"
+ "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:input",
+ "uuid" : "85ab3981-0dca-4f74-beb1-8d4c940bd930"
},
{
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:`/h/p/personID/...`",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:images",
"name" : "anonymous",
- "to" : "e9861836-caed-4c19-87e2-13ba1a380613:face/voice mapping",
- "uuid" : "fdb30713-15cd-474e-984f-a609ecf54382"
+ "to" : "c9c1df26-7274-4765-8772-b06e15f87c3c:images",
+ "uuid" : "8350e9d1-a6df-40bc-b74a-03efc53c5254"
},
{
- "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:`/h/f/faceID/roi`",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:nav goals",
"name" : "anonymous",
- "to" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b:faces",
- "uuid" : "c379435f-7cba-4ecc-9b49-405379374dfe"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:following/nav goals",
+ "uuid" : "8349f12e-ea96-4d0d-a315-1ad231539936"
},
{
- "from" : "b62de7f5-7899-48fd-a64d-3226e68bb21f:`/? [nav_msgs/OccupancyGrid]`",
+ "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:dense 3d map",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:2d map",
- "uuid" : "fd48565b-cdbc-4fcd-a5fd-f3983311a074"
+ "to" : "b62de7f5-7899-48fd-a64d-3226e68bb21f:dense 3d map",
+ "uuid" : "24a4329e-5669-4cd5-bc57-08fbb0c1f859"
},
{
"from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:`/h/f/faceID/demographics`",
"name" : "anonymous",
- "to" : "35d5af59-53e3-466c-874d-89131352c403:demographics",
- "uuid" : "8497fa30-5d68-4f2d-809d-c596395cc58f"
- },
- {
- "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/tts/feedback",
- "name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/tts/feedback",
- "uuid" : "d18bf8c0-9a5e-478d-9d8a-a6ebc5ac0188"
- },
- {
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:`/h/p/personID/...`",
- "name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:speech",
- "uuid" : "fc419899-3ae9-4c37-93e0-39a8ea402c21"
- },
- {
- "from" : "4071a411-0acc-401d-8bbb-bb47fdc00697:`tf: /body_id`",
- "name" : "anonymous",
- "to" : "709731e0-4ed1-4681-8f7f-7a96a622db37:input",
- "uuid" : "7bb790c9-5a5d-43ec-bd4e-cd396ae84b09"
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:demographics",
+ "uuid" : "524ee896-7eeb-4b36-96f8-e03fa454f837"
},
{
- "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:`/h/f/faceID/roi`",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:images",
"name" : "anonymous",
- "to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:faces",
- "uuid" : "b819aafe-995f-4dfa-9249-a5ac05b0eb87"
+ "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:images",
+ "uuid" : "f02baefa-2160-49be-ada0-6cf0e843447f"
},
{
"from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:images",
@@ -255,22 +243,22 @@
"uuid" : "52344796-4c01-4c66-b4f7-95bd4729c3d8"
},
{
- "from" : "e9861836-caed-4c19-87e2-13ba1a380613:`/h/p/personID/expression`",
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:next utterance",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:`/h/p/personID`",
- "uuid" : "5dc5fa89-bcb0-457c-b062-01f7a8523c3b"
+ "to" : "c05b65cc-b421-49e5-b180-0ab31ca1ee7b:input",
+ "uuid" : "d614341e-5284-4dd9-85c7-ad6dfaf4ab5e"
},
{
- "from" : "c9c1df26-7274-4765-8772-b06e15f87c3c:`/h/b/bodyID/skel2d`",
+ "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:`/h/f/faceID/roi`",
"name" : "anonymous",
- "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:feet position",
- "uuid" : "917f4d3e-5b78-4fd4-bc19-b776e8913206"
+ "to" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:faces",
+ "uuid" : "30e6e7f9-cf27-4ae4-b695-058b48809f98"
},
{
- "from" : "814e358a-b568-4082-99f3-4629d35e7f2e:`tf: /odom`",
+ "from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
"name" : "anonymous",
- "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:localisation prior",
- "uuid" : "b5c8c9c8-32a9-431a-ad91-a8c3f873bee5"
+ "to" : "35d5af59-53e3-466c-874d-89131352c403:semantic scene description",
+ "uuid" : "c8b7ebbb-8ba7-4c32-9b99-76a5806b9e3b"
},
{
"from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:images",
@@ -279,28 +267,28 @@
"uuid" : "03652840-b0cc-4d5a-83cb-3436e12c0735"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:who to look at",
+ "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:`tf: /person_id`",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:look at",
- "uuid" : "24403468-2363-4349-b05e-8800f239e890"
+ "to" : "cea219fc-27ef-457e-8e99-3540074dc430:input",
+ "uuid" : "4236dfb6-3852-45d6-a061-05af75a502cf"
},
{
- "from" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604:`tf: /voice_id`",
+ "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/tts/feedback",
"name" : "anonymous",
- "to" : "2ded2b25-08c5-4cdd-9741-af9a0316c1ae:input",
- "uuid" : "6acbcd00-fda6-45c7-b4d9-3fd5397446c3"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/tts/feedback",
+ "uuid" : "d18bf8c0-9a5e-478d-9d8a-a6ebc5ac0188"
},
{
- "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:`/h/b/bodyID/roi`",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:interaction state",
"name" : "anonymous",
- "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:people RoIs",
- "uuid" : "5f1d7cad-c4ba-4c81-a411-241505837aa1"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:robot state",
+ "uuid" : "0a79dcb8-dd0c-44de-ab5a-69905131ab0e"
},
{
- "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:`/h/v/voiceID/audio`",
+ "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:`/h/f/faceID/demographics`",
"name" : "anonymous",
- "to" : "49998d33-7c64-4557-b1c9-56b241b59600:input",
- "uuid" : "e0f50043-61b7-4e94-a91e-f9a4f519e511"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
+ "uuid" : "29cfa94f-c3b2-4feb-a256-44b7d1dbb304"
},
{
"from" : "b600af28-8f8a-4da9-89df-12b621f45244:output",
@@ -309,383 +297,238 @@
"uuid" : "1f319e0a-3956-45c1-9000-adcb6c4a9dc1"
},
{
- "from" : "b357b248-d5a8-445d-9c09-5c567d074966:/detected_objects [label + 6D pos]",
+ "from" : "c9c1df26-7274-4765-8772-b06e15f87c3c:`/h/b/bodyID/skel2d`",
"name" : "anonymous",
- "to" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:scene graph",
- "uuid" : "9c1781a3-c390-4628-acdc-cc8617942046"
+ "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:feet position",
+ "uuid" : "917f4d3e-5b78-4fd4-bc19-b776e8913206"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:active personID",
+ "from" : "814e358a-b568-4082-99f3-4629d35e7f2e:`tf: /odom`",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:speech input",
- "uuid" : "edb7145b-77e7-463a-8b29-f8f2df17cfee"
+ "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:localisation prior",
+ "uuid" : "b5c8c9c8-32a9-431a-ad91-a8c3f873bee5"
},
{
- "from" : "49998d33-7c64-4557-b1c9-56b241b59600:`/h/v/voiceID/speech`",
+ "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:`/h/b/bodyID/roi`",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:speech input",
- "uuid" : "db3221a7-783a-4ffb-9ca2-8d074e9706fd"
+ "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:people RoIs",
+ "uuid" : "5f1d7cad-c4ba-4c81-a411-241505837aa1"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:next utterance",
+ "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:`/h/v/voiceID/audio`",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:speech output",
- "uuid" : "426656f1-0bfe-4b24-b55c-f1fbe35d0f24"
+ "to" : "49998d33-7c64-4557-b1c9-56b241b59600:input",
+ "uuid" : "e0f50043-61b7-4e94-a91e-f9a4f519e511"
},
{
- "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:`/h/v/voiceID/audio`",
+ "from" : "c05b65cc-b421-49e5-b180-0ab31ca1ee7b:speech",
"name" : "anonymous",
- "to" : "e9861836-caed-4c19-87e2-13ba1a380613:voices",
- "uuid" : "bcf61ec7-9e2d-4b9b-a753-33f2a011e819"
+ "to" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:input",
+ "uuid" : "438c370d-ac3d-4bce-a3b1-288ac9d99671"
},
{
- "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:`/audio/raw_audio` [respeaker_ros/RawAudioData]",
+ "from" : "e9861836-caed-4c19-87e2-13ba1a380613:`/h/p/personID/expression`",
"name" : "anonymous",
- "to" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:input",
- "uuid" : "725d3768-1e9d-4591-8590-c2ad18a22db6"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:`/h/p/personID`",
+ "uuid" : "5dc5fa89-bcb0-457c-b062-01f7a8523c3b"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:`DialogueState`",
+ "from" : "b357b248-d5a8-445d-9c09-5c567d074966:/detected_objects [label + 6D pos]",
"name" : "anonymous",
- "to" : "35d5af59-53e3-466c-874d-89131352c403:dialogue state",
- "uuid" : "0607f6c5-e3fd-4b79-9efb-eda2576505dd"
+ "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:detected_objects",
+ "uuid" : "7c0fa9d2-5c6c-402b-bc90-78d2f32807e5"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:next utterance",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:images",
"name" : "anonymous",
- "to" : "c05b65cc-b421-49e5-b180-0ab31ca1ee7b:input",
- "uuid" : "d614341e-5284-4dd9-85c7-ad6dfaf4ab5e"
+ "to" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:images",
+ "uuid" : "b3a71142-345b-4c68-b172-a31a74ba1626"
},
{
- "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:`/h/f/faceID/roi`",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:who to look at",
"name" : "anonymous",
- "to" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:faces",
- "uuid" : "30e6e7f9-cf27-4ae4-b695-058b48809f98"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:look at",
+ "uuid" : "24403468-2363-4349-b05e-8800f239e890"
+ },
+ {
+ "from" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604:`tf: /voice_id`",
+ "name" : "anonymous",
+ "to" : "2ded2b25-08c5-4cdd-9741-af9a0316c1ae:input",
+ "uuid" : "6acbcd00-fda6-45c7-b4d9-3fd5397446c3"
},
{
"from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
"name" : "anonymous",
- "to" : "35d5af59-53e3-466c-874d-89131352c403:semantic scene description",
- "uuid" : "c8b7ebbb-8ba7-4c32-9b99-76a5806b9e3b"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:semantic scene description",
+ "uuid" : "0c15a3cf-3d24-491b-bbc4-e6d34b1c265c"
},
{
- "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:`/h/f/faceID/roi`",
+ "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:`/h/p/personID/...`",
"name" : "anonymous",
- "to" : "e9861836-caed-4c19-87e2-13ba1a380613:faces",
- "uuid" : "a2a69657-28ce-4f09-96d3-d68d1f73dced"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:speech",
+ "uuid" : "fc419899-3ae9-4c37-93e0-39a8ea402c21"
},
{
- "from" : "c05b65cc-b421-49e5-b180-0ab31ca1ee7b:speech",
+ "from" : "4071a411-0acc-401d-8bbb-bb47fdc00697:`tf: /body_id`",
"name" : "anonymous",
- "to" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:input",
- "uuid" : "438c370d-ac3d-4bce-a3b1-288ac9d99671"
+ "to" : "709731e0-4ed1-4681-8f7f-7a96a622db37:input",
+ "uuid" : "7bb790c9-5a5d-43ec-bd4e-cd396ae84b09"
+ },
+ {
+ "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:`/h/f/faceID/roi`",
+ "name" : "anonymous",
+ "to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:faces",
+ "uuid" : "b819aafe-995f-4dfa-9249-a5ac05b0eb87"
}
],
"description" : "EU H2020 SPRING architecture",
"name" : "SPRING architecture",
"nodes" : [
{
- "cognitive_function" : "INRIA",
- "name" : "MOCK: People 3D tracker [position/orientation]",
+ "cognitive_function" : "HWU",
+ "name" : "MOCK: Dialogue manager",
"ports" : [
- {
- "direction" : "in",
- "name" : "3d ground"
- },
- {
- "direction" : "in",
- "name" : "feet position"
- },
{
"direction" : "out",
- "name" : "`tf: /body_id`"
- },
- {
- "direction" : "in",
- "name" : "people RoIs"
- }
- ],
- "position" : [ 1580, 820 ],
- "size" : [ 360, 180 ],
- "uuid" : "4071a411-0acc-401d-8bbb-bb47fdc00697"
- },
- {
- "cognitive_function" : "BIU",
- "name" : "MOCK: Speaker recognition",
- "ports" : [
- {
- "direction" : "in",
- "name" : "input"
+ "name" : "`DialogueState`"
},
- {
- "direction" : "out",
- "name" : "`personID`"
- }
- ],
- "position" : [ 1700, 400 ],
- "size" : [ 200, 120 ],
- "uuid" : "b70f5085-b32c-47de-b158-73fc4d83fb93"
- },
- {
- "cognitive_function" : "INRIA",
- "name" : "MOCK: Person manager",
- "ports" : [
{
"direction" : "in",
- "name" : "demographics"
+ "name" : "interaction messages"
},
{
"direction" : "in",
- "name" : "TF (faces)"
- },
- {
- "direction" : "out",
- "name" : "`/h/p/personID/...`"
+ "name" : "speech"
},
{
"direction" : "out",
- "name" : "`tf: /person_id`"
- },
- {
- "direction" : "in",
- "name" : "TF (voices)"
- },
- {
- "direction" : "in",
- "name" : "matchers"
+ "name" : "next utterance"
}
],
- "position" : [ 1660, 1040 ],
- "size" : [ 260, 276 ],
- "uuid" : "43da963c-18a8-4ad7-86f6-f361a9d25d36"
+ "position" : [ 2620, 180 ],
+ "size" : [ 240, 169 ],
+ "uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2"
},
{
- "cognitive_function" : "UNITN",
- "name" : "MOCK: Body 2D pose [openpose]",
+ "cognitive_function" : "BIU",
+ "name" : "MOCK: Speech diarization",
"ports" : [
{
"direction" : "in",
- "name" : "images"
- },
- {
- "direction" : "in",
- "name" : "body RoIs"
+ "name" : "input"
},
{
"direction" : "out",
- "name" : "`/h/b/bodyID/skel2d`"
- }
- ],
- "position" : [ 580, 600 ],
- "size" : [ 240, 140 ],
- "uuid" : "c9c1df26-7274-4765-8772-b06e15f87c3c"
- },
- {
- "cognitive_function" : "PAL",
- "name" : "MOCK: RGB-D + camera_info",
- "ports" : [
- {
- "direction" : "out",
- "name" : "images"
+ "name" : "`/h/v/voiceID/audio`"
}
],
- "position" : [ 80, 1300 ],
+ "position" : [ 1300, 320 ],
"size" : [ 220, 120 ],
- "uuid" : "1929373a-59ae-474d-bc1b-a2d0be2417cd"
- },
- {
- "cognitive_function" : "UNITN",
- "name" : "MOCK: Face detection",
- "ports" : [
- {
- "direction" : "out",
- "name" : "`/h/f/faceID/roi`"
- },
- {
- "direction" : "in",
- "name" : "images"
- }
- ],
- "position" : [ 720, 960 ],
- "size" : [ 160, 120 ],
- "uuid" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9"
+ "uuid" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3"
},
{
- "cognitive_function" : "Other",
- "name" : "TF",
+ "cognitive_function" : "PAL",
+ "name" : "MOCK: Robot functional layer",
"ports" : [
{
"direction" : "in",
"name" : "input"
}
],
- "position" : [ 1960, 60 ],
- "size" : [ 160, 120 ],
- "uuid" : "2ded2b25-08c5-4cdd-9741-af9a0316c1ae"
- },
- {
- "cognitive_function" : "UNITN",
- "name" : "MOCK: Mask detection",
- "ports" : [
- {
- "direction" : "out",
- "name" : "`/h/f/faceID/mask`"
- },
- {
- "direction" : "in",
- "name" : "faces"
- }
- ],
- "position" : [ 960, 1100 ],
- "size" : [ 200, 120 ],
- "uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a"
+ "position" : [ 4780, 1700 ],
+ "size" : [ 240, 120 ],
+ "uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
},
{
"cognitive_function" : "HWU",
- "name" : "MOCK: Scene understanding [internal HWU, to clarify]",
+ "name" : "MOCK: Robot utterances [passthrough]",
"ports" : [
- {
- "direction" : "out",
- "name" : "semantic description"
- },
{
"direction" : "in",
- "name" : "scene graph"
- }
- ],
- "position" : [ 2140, 1880 ],
- "size" : [ 400, 120 ],
- "uuid" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef"
- },
- {
- "cognitive_function" : "UNITN",
- "name" : "MOCK: F-formation",
- "ports" : [
- {
- "direction" : "out",
- "name" : "`/h/i/groups`"
+ "name" : "input"
},
{
- "direction" : "in",
- "name" : "TF (persons)"
+ "direction" : "out",
+ "name" : "speech"
}
],
- "position" : [ 2920, 920 ],
- "size" : [ 160, 144 ],
- "uuid" : "4a610776-d94b-4f35-9871-b835e8e0faf7"
+ "position" : [ 3700, 540 ],
+ "size" : [ 300, 120 ],
+ "uuid" : "c05b65cc-b421-49e5-b180-0ab31ca1ee7b"
},
{
"cognitive_function" : "HWU",
- "name" : "MOCK: Dialogue manager",
+ "name" : "MOCK: Interaction manager",
"ports" : [
{
"direction" : "in",
- "name" : "interaction messages"
- },
- {
- "direction" : "in",
- "name" : "speech"
+ "name" : "input"
},
{
"direction" : "out",
- "name" : "next utterance"
+ "name" : "active personID"
},
{
"direction" : "out",
- "name" : "`DialogueState`"
- }
- ],
- "position" : [ 2620, 180 ],
- "size" : [ 240, 169 ],
- "uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2"
- },
- {
- "cognitive_function" : "CVUT",
- "name" : "MOCK: Semantic mapping [resources permitting]",
- "ports" : [
+ "name" : "verbal command"
+ },
{
"direction" : "in",
- "name" : "dense 3d map"
+ "name" : "`/h/p/personID`"
},
{
"direction" : "in",
- "name" : "detected_objects"
+ "name" : "TF"
},
{
"direction" : "out",
- "name" : "scene graph"
- }
- ],
- "position" : [ 1260, 1720 ],
- "size" : [ 400, 144 ],
- "uuid" : "dc52fa2f-b098-4f96-a830-eb329bcf282b"
- },
- {
- "cognitive_function" : "HWU",
- "name" : "MOCK: High-level planner [decision making]",
- "ports" : [
- {
- "direction" : "in",
- "name" : "dialogue state"
+ "name" : "gestures"
},
{
"direction" : "in",
- "name" : "TF (persons)"
+ "name" : "semantic scene description"
},
{
"direction" : "out",
- "name" : "interaction state"
+ "name" : "who to look at"
},
{
- "direction" : "out",
- "name" : "output"
+ "direction" : "in",
+ "name" : "dialogue state"
},
{
"direction" : "in",
- "name" : "demographics"
+ "name" : "robot state"
},
{
"direction" : "out",
"name" : "nav goals"
- },
- {
- "direction" : "in",
- "name" : "semantic scene description"
}
],
- "position" : [ 3400, 1700 ],
- "size" : [ 400, 293 ],
- "uuid" : "35d5af59-53e3-466c-874d-89131352c403"
+ "position" : [ 3380, 1280 ],
+ "size" : [ 400, 386 ],
+ "uuid" : "bc526a14-c5aa-466e-ba5b-30a78b14d672"
},
{
- "cognitive_function" : "INRIA",
- "name" : "MOCK: Multi-people tracker",
+ "cognitive_function" : "CVUT",
+ "name" : "MOCK: Occupancy map",
"ports" : [
{
- "direction" : "in",
- "name" : "images"
+ "direction" : "out",
+ "name" : "`/? [nav_msgs/OccupancyGrid]`"
},
{
- "direction" : "out",
- "name" : "`/h/b/bodyID/roi`"
- }
- ],
- "position" : [ 580, 1260 ],
- "size" : [ 440, 120 ],
- "uuid" : "d609252f-2fd4-4439-86c3-ece9fd387a3a"
- },
- {
- "cognitive_function" : "Other",
- "name" : "TF",
- "ports" : [
+ "direction" : "in",
+ "name" : "TF (bodies)"
+ },
{
"direction" : "in",
- "name" : "input"
+ "name" : "dense 3d map"
}
- ],
- "position" : [ 2000, 900 ],
- "size" : [ 160, 120 ],
- "uuid" : "709731e0-4ed1-4681-8f7f-7a96a622db37"
+ ],
+ "position" : [ 1560, 1520 ],
+ "size" : [ 240, 144 ],
+ "uuid" : "b62de7f5-7899-48fd-a64d-3226e68bb21f"
},
{
"cognitive_function" : "PAL",
@@ -706,180 +549,226 @@
},
{
"cognitive_function" : "UNITN",
- "name" : "MOCK: Non-verbal behaviours",
+ "name" : "MOCK: User attention",
"ports" : [
{
"direction" : "in",
- "name" : "voices"
+ "name" : "TF (bodies)"
},
{
"direction" : "in",
- "name" : "faces"
+ "name" : "gaze direction"
+ },
+ {
+ "direction" : "in",
+ "name" : "input"
+ },
+ {
+ "direction" : "in",
+ "name" : "TF (faces)"
},
{
"direction" : "out",
- "name" : "`/h/p/personID/expression`"
+ "name" : "current attentive person"
+ },
+ {
+ "direction" : "out",
+ "name" : "[?] output"
},
{
"direction" : "in",
- "name" : "face/voice mapping"
+ "name" : "TF (persons)"
}
],
- "position" : [ 2260, 580 ],
- "size" : [ 240, 177 ],
- "uuid" : "e9861836-caed-4c19-87e2-13ba1a380613"
+ "position" : [ 3300, 600 ],
+ "size" : [ 260, 276 ],
+ "uuid" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5"
},
{
- "cognitive_function" : "BIU",
- "name" : "MOCK: Speech diarization",
+ "cognitive_function" : "ERM",
+ "name" : "MOCK: Robot GUI [tablet]",
"ports" : [
{
"direction" : "in",
- "name" : "input"
+ "name" : "/tts/feedback"
},
{
- "direction" : "out",
- "name" : "`/h/v/voiceID/audio`"
+ "direction" : "in",
+ "name" : "speech output"
+ },
+ {
+ "direction" : "in",
+ "name" : "speech input"
+ },
+ {
+ "direction" : "in",
+ "name" : "additional support material"
}
],
- "position" : [ 1360, 320 ],
- "size" : [ 180, 120 ],
- "uuid" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3"
+ "position" : [ 4520, 400 ],
+ "size" : [ 400, 180 ],
+ "uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
},
{
- "cognitive_function" : "PAL",
- "name" : "MOCK: Fisheye stereo + RGB head",
+ "cognitive_function" : "UNITN",
+ "name" : "MOCK: Face detection",
"ports" : [
{
"direction" : "out",
+ "name" : "`/h/f/faceID/roi`"
+ },
+ {
+ "direction" : "in",
"name" : "images"
}
],
- "position" : [ 80, 1040 ],
- "size" : [ 260, 120 ],
- "uuid" : "a284bd3a-0273-4d81-89ce-bc8d042b2674"
+ "position" : [ 720, 960 ],
+ "size" : [ 160, 120 ],
+ "uuid" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9"
},
{
- "cognitive_function" : "BIU",
- "name" : "MOCK: Sound localisation",
+ "cognitive_function" : "Other",
+ "name" : "TF",
"ports" : [
- {
- "direction" : "out",
- "name" : "`tf: /voice_id`"
- },
{
"direction" : "in",
"name" : "input"
}
],
- "position" : [ 1700, 60 ],
- "size" : [ 180, 120 ],
- "uuid" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604"
+ "position" : [ 1960, 60 ],
+ "size" : [ 160, 120 ],
+ "uuid" : "2ded2b25-08c5-4cdd-9741-af9a0316c1ae"
},
{
- "cognitive_function" : "HWU",
- "name" : "MOCK: Robot utterances [passthrough]",
+ "cognitive_function" : "PAL",
+ "name" : "MOCK: RGB-D + camera_info",
"ports" : [
- {
- "direction" : "in",
- "name" : "input"
- },
{
"direction" : "out",
- "name" : "speech"
+ "name" : "images"
}
],
- "position" : [ 3700, 540 ],
- "size" : [ 300, 120 ],
- "uuid" : "c05b65cc-b421-49e5-b180-0ab31ca1ee7b"
+ "position" : [ 80, 1300 ],
+ "size" : [ 220, 120 ],
+ "uuid" : "1929373a-59ae-474d-bc1b-a2d0be2417cd"
},
{
- "cognitive_function" : "Other",
- "name" : "TF",
+ "cognitive_function" : "BIU",
+ "name" : "MOCK: ASR",
"ports" : [
{
"direction" : "in",
"name" : "input"
+ },
+ {
+ "direction" : "out",
+ "name" : "`/h/v/voiceID/speech`"
}
],
- "position" : [ 2040, 1300 ],
- "size" : [ 160, 120 ],
- "uuid" : "cea219fc-27ef-457e-8e99-3540074dc430"
+ "position" : [ 1700, 220 ],
+ "size" : [ 180, 140 ],
+ "uuid" : "49998d33-7c64-4557-b1c9-56b241b59600"
},
{
"cognitive_function" : "PAL",
- "name" : "MOCK: Robot functional layer",
+ "name" : "MOCK: Fisheye stereo + RGB head",
"ports" : [
{
- "direction" : "in",
- "name" : "input"
+ "direction" : "out",
+ "name" : "images"
}
],
- "position" : [ 4780, 1700 ],
- "size" : [ 240, 120 ],
- "uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
+ "position" : [ 80, 1040 ],
+ "size" : [ 260, 120 ],
+ "uuid" : "a284bd3a-0273-4d81-89ce-bc8d042b2674"
},
{
"cognitive_function" : "UNITN",
- "name" : "MOCK: User attention",
+ "name" : "MOCK: Demographics [age/gender]",
"ports" : [
{
"direction" : "in",
- "name" : "TF (bodies)"
+ "name" : "faces"
},
+ {
+ "direction" : "out",
+ "name" : "`/h/f/faceID/demographics`"
+ }
+ ],
+ "position" : [ 960, 900 ],
+ "size" : [ 260, 120 ],
+ "uuid" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e"
+ },
+ {
+ "cognitive_function" : "HWU",
+ "name" : "MOCK: High-level planner [decision making]",
+ "ports" : [
{
"direction" : "in",
- "name" : "gaze direction"
+ "name" : "dialogue state"
},
{
"direction" : "in",
- "name" : "input"
+ "name" : "TF (persons)"
},
{
- "direction" : "in",
- "name" : "TF (faces)"
+ "direction" : "out",
+ "name" : "interaction state"
},
{
"direction" : "out",
- "name" : "current attentive person"
+ "name" : "output"
+ },
+ {
+ "direction" : "in",
+ "name" : "demographics"
},
{
"direction" : "out",
- "name" : "[?] output"
+ "name" : "nav goals"
},
{
"direction" : "in",
- "name" : "TF (persons)"
+ "name" : "semantic scene description"
}
],
- "position" : [ 3300, 600 ],
- "size" : [ 260, 276 ],
- "uuid" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5"
+ "position" : [ 3400, 1700 ],
+ "size" : [ 400, 293 ],
+ "uuid" : "35d5af59-53e3-466c-874d-89131352c403"
},
{
- "cognitive_function" : "ERM",
- "name" : "MOCK: Robot GUI [tablet]",
+ "cognitive_function" : "UNITN",
+ "name" : "MOCK: Activity reco",
"ports" : [
{
"direction" : "in",
- "name" : "/tts/feedback"
+ "name" : "gaze direction"
},
{
- "direction" : "in",
- "name" : "speech output"
+ "direction" : "out",
+ "name" : "[?] output"
},
{
"direction" : "in",
- "name" : "speech input"
- },
+ "name" : "TF (bodies)"
+ }
+ ],
+ "position" : [ 3360, 940 ],
+ "size" : [ 160, 144 ],
+ "uuid" : "d715b004-7177-4001-bd9d-725e87789c94"
+ },
+ {
+ "cognitive_function" : "Other",
+ "name" : "TF",
+ "ports" : [
{
"direction" : "in",
- "name" : "additional support material"
+ "name" : "input"
}
],
- "position" : [ 4520, 400 ],
- "size" : [ 400, 180 ],
- "uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
+ "position" : [ 1120, 1440 ],
+ "size" : [ 160, 120 ],
+ "uuid" : "e4848564-4b20-4667-b107-b1abe9b97cb5"
},
{
"cognitive_function" : "UNITN",
@@ -899,78 +788,75 @@
"uuid" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b"
},
{
- "cognitive_function" : "INRIA",
- "name" : "MOCK: Robot non-verbal behaviours",
+ "cognitive_function" : "Other",
+ "name" : "TF",
"ports" : [
{
"direction" : "in",
- "name" : "following/nav goals"
- },
- {
- "direction" : "in",
- "name" : "`/h/p/personID`"
- },
+ "name" : "input"
+ }
+ ],
+ "position" : [ 2040, 1300 ],
+ "size" : [ 160, 120 ],
+ "uuid" : "cea219fc-27ef-457e-8e99-3540074dc430"
+ },
+ {
+ "cognitive_function" : "Other",
+ "name" : "TF",
+ "ports" : [
{
"direction" : "in",
- "name" : "status"
- },
+ "name" : "input"
+ }
+ ],
+ "position" : [ 2000, 900 ],
+ "size" : [ 160, 120 ],
+ "uuid" : "709731e0-4ed1-4681-8f7f-7a96a622db37"
+ },
+ {
+ "cognitive_function" : "INRIA",
+ "name" : "MOCK: Person manager",
+ "ports" : [
{
"direction" : "in",
- "name" : "2d map"
+ "name" : "TF (faces)"
},
{
"direction" : "out",
- "name" : "low-level actions"
+ "name" : "`/h/p/personID/...`"
},
{
"direction" : "out",
- "name" : "status"
+ "name" : "`tf: /person_id`"
},
{
"direction" : "in",
- "name" : "look at"
- }
- ],
- "position" : [ 4300, 1320 ],
- "size" : [ 380, 324 ],
- "uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
- },
- {
- "cognitive_function" : "CVUT",
- "name" : "MOCK: Visual SLAM + 3D map",
- "ports" : [
- {
- "direction" : "in",
- "name" : "images"
- },
- {
- "direction" : "out",
- "name" : "dense 3d map"
+ "name" : "TF (voices)"
},
{
"direction" : "in",
- "name" : "localisation prior"
+ "name" : "matchers"
},
{
- "direction" : "out",
- "name" : "`tf: /odom`"
+ "direction" : "in",
+ "name" : "demographics"
}
],
- "position" : [ 780, 1500 ],
- "size" : [ 228, 169 ],
- "uuid" : "1e291716-8134-4fd0-8bfa-0d910d026fec"
+ "position" : [ 1660, 1040 ],
+ "size" : [ 260, 276 ],
+ "uuid" : "43da963c-18a8-4ad7-86f6-f361a9d25d36"
},
{
"cognitive_function" : "INRIA",
"name" : "MOCK: ROS openpose [used by INRIA]",
"ports" : [
- {
- "direction" : "out",
- "name" : "output"
- },
{
"direction" : "in",
"name" : "input"
+ },
+ {
+ "direction" : "out",
+ "name" : "output"
}
],
"position" : [ 760, 440 ],
@@ -992,13 +878,26 @@
"uuid" : "3e7d7601-34c6-4975-9e36-f50968f141b2"
},
{
- "cognitive_function" : "UNITN",
- "name" : "MOCK: User gaze",
+ "cognitive_function" : "BIU",
+ "name" : "MOCK: Speaker recognition",
"ports" : [
{
- "direction" : "in",
- "name" : "images"
+ "direction" : "out",
+ "name" : "`personID`"
},
+ {
+ "direction" : "in",
+ "name" : "input"
+ }
+ ],
+ "position" : [ 1700, 400 ],
+ "size" : [ 200, 120 ],
+ "uuid" : "b70f5085-b32c-47de-b158-73fc4d83fb93"
+ },
+ {
+ "cognitive_function" : "UNITN",
+ "name" : "MOCK: User gaze",
+ "ports" : [
{
"direction" : "out",
"name" : "`GazeDirection`"
@@ -1006,6 +905,10 @@
{
"direction" : "in",
"name" : "TF (faces)"
+ },
+ {
+ "direction" : "in",
+ "name" : "images"
}
],
"position" : [ 2920, 740 ],
@@ -1031,162 +934,259 @@
},
{
"cognitive_function" : "UNITN",
- "name" : "MOCK: Demographics [age/gender]",
+ "name" : "MOCK: Body 2D pose [openpose]",
"ports" : [
{
"direction" : "out",
- "name" : "`/h/f/faceID/demographics`"
+ "name" : "`/h/b/bodyID/skel2d`"
},
{
"direction" : "in",
- "name" : "faces"
+ "name" : "images"
+ },
+ {
+ "direction" : "in",
+ "name" : "body RoIs"
}
],
- "position" : [ 960, 900 ],
- "size" : [ 260, 120 ],
- "uuid" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e"
+ "position" : [ 580, 600 ],
+ "size" : [ 240, 140 ],
+ "uuid" : "c9c1df26-7274-4765-8772-b06e15f87c3c"
},
{
- "cognitive_function" : "BIU",
- "name" : "MOCK: ASR",
+ "cognitive_function" : "CVUT",
+ "name" : "MOCK: Visual SLAM + 3D map",
"ports" : [
+ {
+ "direction" : "out",
+ "name" : "dense 3d map"
+ },
{
"direction" : "in",
- "name" : "input"
+ "name" : "localisation prior"
},
{
"direction" : "out",
- "name" : "`/h/v/voiceID/speech`"
+ "name" : "`tf: /odom`"
+ },
+ {
+ "direction" : "in",
+ "name" : "images"
}
],
- "position" : [ 1700, 220 ],
- "size" : [ 180, 140 ],
- "uuid" : "49998d33-7c64-4557-b1c9-56b241b59600"
+ "position" : [ 780, 1500 ],
+ "size" : [ 228, 169 ],
+ "uuid" : "1e291716-8134-4fd0-8bfa-0d910d026fec"
},
{
- "cognitive_function" : "HWU",
- "name" : "MOCK: Interaction manager",
+ "cognitive_function" : "BIU",
+ "name" : "MOCK: Sound localisation",
"ports" : [
{
- "direction" : "in",
- "name" : "dialogue state"
+ "direction" : "out",
+ "name" : "`tf: /voice_id`"
},
{
"direction" : "in",
- "name" : "robot state"
+ "name" : "input"
+ }
+ ],
+ "position" : [ 1700, 60 ],
+ "size" : [ 180, 120 ],
+ "uuid" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604"
+ },
+ {
+ "cognitive_function" : "CVUT",
+ "name" : "MOCK: Semantic mapping [resources permitting]",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "dense 3d map"
},
{
"direction" : "in",
- "name" : "input"
+ "name" : "detected_objects"
},
{
"direction" : "out",
- "name" : "active personID"
+ "name" : "scene graph"
+ }
+ ],
+ "position" : [ 1260, 1720 ],
+ "size" : [ 400, 144 ],
+ "uuid" : "dc52fa2f-b098-4f96-a830-eb329bcf282b"
+ },
+ {
+ "cognitive_function" : "UNITN",
+ "name" : "MOCK: Non-verbal behaviours",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "voices"
+ },
+ {
+ "direction" : "in",
+ "name" : "faces"
},
{
"direction" : "out",
- "name" : "verbal command"
+ "name" : "`/h/p/personID/expression`"
},
{
"direction" : "in",
- "name" : "`/h/p/personID`"
+ "name" : "face/voice mapping"
+ }
+ ],
+ "position" : [ 2260, 580 ],
+ "size" : [ 240, 177 ],
+ "uuid" : "e9861836-caed-4c19-87e2-13ba1a380613"
+ },
+ {
+ "cognitive_function" : "INRIA",
+ "name" : "MOCK: Robot non-verbal behaviours",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "following/nav goals"
},
{
"direction" : "in",
- "name" : "TF"
+ "name" : "`/h/p/personID`"
},
{
- "direction" : "out",
- "name" : "gestures"
+ "direction" : "in",
+ "name" : "status"
},
{
"direction" : "in",
- "name" : "semantic scene description"
+ "name" : "occupancy map"
},
{
"direction" : "out",
- "name" : "who to look at"
+ "name" : "low-level actions"
},
{
"direction" : "out",
- "name" : "nav goals"
+ "name" : "status"
+ },
+ {
+ "direction" : "in",
+ "name" : "look at"
}
],
- "position" : [ 3380, 1280 ],
- "size" : [ 400, 386 ],
- "uuid" : "bc526a14-c5aa-466e-ba5b-30a78b14d672"
+ "position" : [ 4300, 1320 ],
+ "size" : [ 380, 324 ],
+ "uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
},
{
- "cognitive_function" : "CVUT",
- "name" : "MOCK: Object detection/identification/localisation",
+ "cognitive_function" : "INRIA",
+ "name" : "MOCK: People 3D tracker [position/orientation]",
"ports" : [
+ {
+ "direction" : "in",
+ "name" : "ground plane"
+ },
+ {
+ "direction" : "in",
+ "name" : "feet position"
+ },
{
"direction" : "out",
- "name" : "/detected_objects [label + 6D pos]"
+ "name" : "`tf: /body_id`"
},
{
"direction" : "in",
- "name" : "video"
+ "name" : "people RoIs"
}
],
- "position" : [ 720, 1760 ],
- "size" : [ 380, 120 ],
- "uuid" : "b357b248-d5a8-445d-9c09-5c567d074966"
+ "position" : [ 1580, 820 ],
+ "size" : [ 360, 180 ],
+ "uuid" : "4071a411-0acc-401d-8bbb-bb47fdc00697"
},
{
"cognitive_function" : "UNITN",
- "name" : "MOCK: Activity reco",
+ "name" : "MOCK: F-formation",
"ports" : [
{
"direction" : "out",
- "name" : "[?] output"
+ "name" : "`/h/i/groups` [hri_msgs/GroupsStamped]"
},
{
"direction" : "in",
- "name" : "TF (bodies)"
+ "name" : "`tf: /person_id`"
+ }
+ ],
+ "position" : [ 2820, 940 ],
+ "size" : [ 300.90625, 160 ],
+ "uuid" : "4a610776-d94b-4f35-9871-b835e8e0faf7"
+ },
+ {
+ "cognitive_function" : "INRIA",
+ "name" : "MOCK: Multi-people tracker",
+ "ports" : [
+ {
+ "direction" : "out",
+ "name" : "`/h/b/bodyID/roi`"
},
{
"direction" : "in",
- "name" : "gaze direction"
+ "name" : "images"
}
],
- "position" : [ 3360, 940 ],
- "size" : [ 160, 144 ],
- "uuid" : "d715b004-7177-4001-bd9d-725e87789c94"
+ "position" : [ 580, 1260 ],
+ "size" : [ 440, 120 ],
+ "uuid" : "d609252f-2fd4-4439-86c3-ece9fd387a3a"
},
{
- "cognitive_function" : "Other",
- "name" : "TF",
+ "cognitive_function" : "UNITN",
+ "name" : "MOCK: Mask detection",
"ports" : [
+ {
+ "direction" : "out",
+ "name" : "`/h/f/faceID/mask`"
+ },
{
"direction" : "in",
- "name" : "input"
+ "name" : "faces"
}
],
- "position" : [ 1120, 1440 ],
- "size" : [ 160, 120 ],
- "uuid" : "e4848564-4b20-4667-b107-b1abe9b97cb5"
+ "position" : [ 960, 1100 ],
+ "size" : [ 200, 120 ],
+ "uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a"
},
{
- "cognitive_function" : "CVUT",
- "name" : "MOCK: Occupancy map",
+ "cognitive_function" : "HWU",
+ "name" : "MOCK: Scene understanding [internal HWU, to clarify]",
"ports" : [
{
"direction" : "out",
- "name" : "`/? [nav_msgs/OccupancyGrid]`"
+ "name" : "semantic description"
},
{
"direction" : "in",
- "name" : "TF (bodies)"
- },
+ "name" : "scene graph"
+ }
+ ],
+ "position" : [ 2140, 1880 ],
+ "size" : [ 400, 120 ],
+ "uuid" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef"
+ },
+ {
+ "cognitive_function" : "CVUT",
+ "name" : "MOCK: Object detection/identification/localisation",
+ "ports" : [
{
"direction" : "in",
- "name" : "dense 3d map"
+ "name" : "video"
+ },
+ {
+ "direction" : "out",
+ "name" : "/detected_objects [label + 6D pos]"
}
],
- "position" : [ 1560, 1520 ],
- "size" : [ 240, 144 ],
- "uuid" : "b62de7f5-7899-48fd-a64d-3226e68bb21f"
+ "position" : [ 720, 1760 ],
+ "size" : [ 380, 120 ],
+ "uuid" : "b357b248-d5a8-445d-9c09-5c567d074966"
}
],
"uuid" : "234f40f3-f9bb-4d69-8121-aec26ac8c228",