{
  "behaviorID" :   "ReactToBody",
  "behaviorClass": "ReactToBody",

  "driveOffChargerBehavior": "DriveOffChargerStraight",
  "shouldDriveStraightIfNotOnCharger": true,
  "drivingForwardDistance_mm": 50,
  // only consider the top percentage of the salient point bound box when searching for a face
  // e.g. if 0.5, only the top half of the bounding box will be searched
  // the lower this number, the smaller the area to consider when searching for a face
  "upperPortionLookUpPercent":  0.3,
  "trackingTimeout_sec":  1.0, // how long before face tracking gives up

  "faceSelectionPenalties": [
    {
      "factor": "TrackingOnly",
      "multiplier": 0.0
    },
    {
      "factor": "TimeSinceSeen_s",
      "multiplier": 50.0
    },
    {
      "factor": "Distance_m",
      "multiplier": 50.0
    },
    {
      "factor": "RelativeBodyAngleRadians",
      "multiplier": 1000.0
    },
    {
      "factor": "RelativeHeadAngleRadians",
      "multiplier": 1000.0
    }
  ],

  "wantsToBeActivatedCondition": {
    "conditionType":      "TimedDedup",
    "dedupInterval_ms":    5000,
    "subCondition":        {
      "conditionType": "SalientPointDetected",
      "targetSalientPoint": "Person"
    }
  }
}