spqrel-pepper-config.json

{
  "init_cmd": "export MAP=/home/nao/spqrel_launch/maps/nagoya/nagoya_gmapping.yaml; export TMAP=/home/nao/spqrel_launch/maps/nagoya/nagoya_gmapping.tpg; $SPQREL_HOME/worktree/spqrel_tools/scripts/config_manager.py --file $SPQREL_CONFIG",
  "windows": [
    {
      "name": "bash",
      "panes": [
        "bash"
      ]
    },
    {
      "name": "init",
      "panes": [
        "cd $SPQREL_HOME/scripts; python postureinit.py"
      ]
    },
    {
      "name": "navigation",
      "panes": [
        "cd $SPQREL_HOME/bin; ./pepper_localizer --map $MAP --initial_pose_x 0 --initial_pose_y 0 --initial_pose_theta 0",
        "sleep 5; cd $SPQREL_HOME/bin; ./pepper_planner --map $MAP",
        "sleep 5; cd $SPQREL_HOME/worktree/spqrel_navigation/src/topological_navigation/scripts/; ./topological_navigation.py --tmap $TMAP"
      ]
    },
    {
      "name": "speech",
      "panes": [
        "cd $SPQREL_HOME/slu4p; python speech_to_text/local_speech_recognition.py -v resources/nuance_grammar.txt -k resources/google_keys.txt",
        "sleep 3; cd $SPQREL_HOME/slu4p; python speech_reranking/reranker.py --noun-dictionary resources/noun_dictionary.txt --verb-dictionary resources/verb_dictionary.txt --nuance-grammar resources/nuance_grammar.txt",
        "sleep 6; cd $SPQREL_HOME/slu4p; python dialogue_management/dialogue_manager.py -a resources/aiml_kbs/spqrel",
        "sleep 9; cd $SPQREL_HOME/slu4p; python text_to_speech/text_to_speech.py"
      ]
    },
    {
      "name": "pnp",
      "panes": [
        "cd $SPQREL_HOME; bin/pnp_naoqi",
        "cd $SPQREL_HOME/actions; python init_actions.py"
      ]
    },
    {
      "name": "ui",
      "panes": [
        "cd $SPQREL_HOME/worktree/spqrel_tools/ui; python ./spqrel_ui.py",
        "cd $SPQREL_HOME/worktree/robot_blockly; python scripts/pywebserver.py",
        "cd $SPQREL_HOME/worktree/robot_blockly; python scripts/robot_blockly_backend.py"
      ]
    },
    {
      "name": "dataset",
      "panes": [
        "cd $SPQREL_HOME/worktree/spqrel_tools/naoqibag; python ./naoqibag.py --pause True --rate 5 --keys all.key --path $SPQREL_HOME/ --o keys.log"
      ]
    },
    {
      "name": "task_start",
      "panes": [
        "#cd $SPQREL_HOME/actions; ./action_cmd.py -a   -p   -c start",
        "#cd $SPQREL_HOME/plans; ./run_plan.py"
      ]
    }

  ]
}