{
  "decayGraphs" : [
    {
      "emotionType" : "default",
      // x here is the time in seconds since the most recent event (which changed the emotion by more than
      // some delta)      
      // y is the ratio of the original value that should be reached by the given time
      "graphType": "TimeRatio",
      "nodes" : [
        {
          "x" : 0,
          "y" : 1
        },
        {
          "x" : 10,
          "y" : 1
        },
        {
          "x" : 30,
          "y" : 0.9
        },
        {
          "x" : 75,
          "y" : 0.6
        },
        {
          "x" : 150,
          "y" : 0
        }
      ]
    },
    {
      "emotionType": "Social",
      "graphType": "TimeRatio",
      "nodes": [
        {
          "x": 0,
          "y": 1
        },
        {
          "x": 10,
          "y": 1
        },
        {
          "x": 20,
          "y": 0.6
        },
        {
          "x": 60,
          "y": 0.2
        },
        {
          "x": 100,
          "y": 0
        }
      ]
    },
    {
      "emotionType": "Confident",
      "graphType": "TimeRatio",
      "nodes": [
        {
          "x": 0,
          "y": 1
        },
        {
          "x": 30,
          "y": 1
        },
        {
          "x": 60,
          "y": 0.5
        },
        {
          "x": 70,
          "y": 0
        }
      ]
    },
    {
      "emotionType": "Stimulated",
      "graphType": "ValueSlope",
      // x here is the emotion value
      // y is the amount it decays (towards zero) per _minute_ as a fixed amount (not a ratio)
      // The default here is 0 to impose no additional decay based on value
      // Decay will never cross the value to "cross" 0
      "nodes": [
        {
          "x": 0,
          "y": 0.6
        },
        {
          "x": 0.2,
          "y": 0.12
        },
        {
          "x": 0.8,
          "y": 0.12
        },
        {
          "x": 0.8,
          "y": 0.4
        }
      ]
    },
    {
      "emotionType": "Trust",
      "graphType": "ValueSlope",
      // x here is the emotion value
      // y is the amount it decays (towards zero) per _minute_ as a fixed amount (not a ratio)
      // The default here is 0 to impose no additional decay based on value
      // Decay will never cross the value to "cross" 0
      "nodes": [
        {
          "x": 0,
          "y": 0.0
        }
      ]
    }
  ],

  "valueRanges": [
    {
      "emotionType": "Stimulated",
      "min": 0.0,
      "max": 1.0
    },
    {
      "emotionType": "Trust",
      "min": 0.0,
      "max": 1.0
    }
  ],
  "eventMapper" : {
    "emotionEvents" : [
    ]
  },

  "audioParameterMap": {
    // "Happy": "Robot_Vic_Happy",
    // "Confident": "Robot_Vic_Confident",
    // "Social": "Robot_Vic_Social",
    "Stimulated": "Robot_Vic_Stimulation",
    "Trust": "Robot_Vic_Held_Trust"
  },

  // If desired, we can uncomment this (and remove the above) to send values based on simple mood instead of
  // the raw mood value itself
  // "simpleMoodAudioParameters": {
  //   "event": "Robot_Vic_Stimulation",
  //   "values": {
  //     "LowStim": -1.0,
  //     "MedStim": 0.0,
  //     "HighStim": 1.0,
  //     "Frustrated": -2.0
  //   }
  // },

  "defaultRepetitionPenalty" : {
    "nodes" : [
      {
        "x" : 0.0,
        "y" : 0.0
      },
      {
        "x" : 0.5,
        "y" : 0.0
      },
      {
        "x" : 10.0,
        "y" : 1.0
      }
    ]
  },
  "actionResultEmotionEvents": {
    "DRIVE_TO_POSE": {
      "RETRY": "DrivingActionFailedWithRetry",
      "ABORT": "DrivingActionFailedWithAbort"
    },
    "DRIVE_TO_OBJECT": {
      "RETRY": "DrivingActionFailedWithRetry",
      "ABORT": "DrivingActionFailedWithAbort"
    },
    "DRIVE_STRAIGHT": {
      "RETRY": "DrivingActionFailedWithRetry",
      "ABORT": "DrivingActionFailedWithAbort"
    },
    "DRIVE_TO_PLACE_CARRIED_OBJECT": {
      "RETRY": "DrivingActionFailedWithRetry",
      "ABORT": "DrivingActionFailedWithAbort"
    },
    "PICK_AND_PLACE_INCOMPLETE": {
      "SUCCESS": "PickupSucceeded", // NOTE: this really shouldn't happen
      "RETRY": "PickingOrPlacingActionFailedWithRetry",
      "ABORT": "PickingOrPlacingActionFailedWithAbort"
    },
    "PICKUP_OBJECT_LOW": {
      "SUCCESS": "PickupSucceeded",
      "RETRY": "PickingOrPlacingActionFailedWithRetry",
      "ABORT": "PickingOrPlacingActionFailedWithAbort"
    },
    "PICKUP_OBJECT_HIGH": {
      "SUCCESS": "PickupSucceeded",
      "RETRY": "PickingOrPlacingActionFailedWithRetry",
      "ABORT": "PickingOrPlacingActionFailedWithAbort"
    },
    "ROLL_OBJECT_LOW": {
      // No success anim here because the helper handles it manually
      "RETRY": "PickingOrPlacingActionFailedWithRetry",
      "ABORT": "PickingOrPlacingActionFailedWithAbort"
    },
    "POP_A_WHEELIE": {
      "SUCCESS": "RollSucceeded",
      "RETRY": "PickingOrPlacingActionFailedWithRetry",
      "ABORT": "PickingOrPlacingActionFailedWithAbort"
    },
    "DRIVE_TO_FLIP_BLOCK_POSE": {
      "RETRY": "DrivingActionFailedWithRetry",
      "ABORT": "DrivingActionFailedWithAbort"
    },
    "MOUNT_CHARGER": {
      "SUCCESS": "MountChargerSuccess",
      "RETRY": "PickingOrPlacingActionFailedWithRetry",
      "ABORT": "PickingOrPlacingActionFailedWithAbort"
    }      
  }
}