fix: video changes

LASR-at-Home · Feb 6, 2024 · 5f3ab4b · 5f3ab4b
1 parent 1f5894d
commit 5f3ab4b
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Showing 4 changed files with 11 additions and 7 deletions.
diff --git a/common/speech/lasr_speech_recognition_whisper/nodes/transcribe_microphone_server b/common/speech/lasr_speech_recognition_whisper/nodes/transcribe_microphone_server
@@ -91,7 +91,7 @@ class TranscribeSpeechAction(object):
                 self._model_params.warmup,
             )
             # Configure the speech recogniser object and adjust for ambient noise
-            self.recogniser = self._configure_recogniser(ambient_adj=False)
+            self.recogniser = self._configure_recogniser(ambient_adj=True)
             # Setup the action server and register execution callback
             self._action_server = actionlib.SimpleActionServer(
                 self._action_name,

diff --git a/tasks/qualification/launch/better_qualification.launch b/tasks/qualification/launch/better_qualification.launch
@@ -3,7 +3,7 @@
         <arg name="debug" value="true" />
     </include>
 
-    <node pkg="lasr_speech_recognition_whisper" type="transcribe_microphone_server" name="transcribe_microphone_server" output="screen" args="--mic_device 9 --end_timeout 2.0 --model_name small.en"/>
+    <node pkg="lasr_speech_recognition_whisper" type="transcribe_microphone_server" name="transcribe_microphone_server" output="screen" args="--mic_device 9 --model_name small.en"/>
     <include file="$(find lasr_vision_yolov8)/launch/service.launch">
         <arg name="debug" value="true" />
         <arg name="preload" value="['yolov8n-seg.pt']" />

diff --git a/tasks/qualification/nodes/actions/guide b/tasks/qualification/nodes/actions/guide
@@ -21,8 +21,8 @@ class Guide:
             ),
             "edges": {
                 "corridor": Pose(
-                    position=Point(4.68, 6.87, 0.0),
-                    orientation=Quaternion(0.0, 0.0, 0.59, 0.80),
+                    position=Point(4.27, 5.64, 0.0),
+                    orientation=Quaternion(0.0, 0.0, -0.87, 0.50),
                 )
             },
         },
@@ -33,8 +33,8 @@ class Guide:
             ),
             "edges": {
                 "lab": Pose(
-                    position=Point(4.09, 8.21, 0.0),
-                    orientation=Quaternion(0.0, 0.0, 0.91, 0.40),
+                    position=Point(4.05, 9.28, 0.0),
+                    orientation=Quaternion(0.0, 0.0, -0.74, 0.68),
                 ),
                 "kitchen": None,
             },
@@ -120,7 +120,6 @@ class Guide:
                     f"{goal.guidee}, could you please get the door for me?"
                 )
                 self.tts.send_goal_and_wait(tts_goal)
-                # TODO: check if the door is open using CLIP
                 door_closed = self.check_for_door()
                 counter = 1
                 while door_closed:

diff --git a/tasks/qualification/nodes/better_qualification b/tasks/qualification/nodes/better_qualification
@@ -117,6 +117,10 @@ point.positions = [0.15]
 point.time_from_start = rospy.Duration(1)
 torso_lower_goal.trajectory.points.append(point)
 
+tts_goal = TtsGoal()
+tts_goal.rawtext.lang_id = "en_GB"
+tts_goal.rawtext.text = "Begin"
+tts.send_goal_and_wait(tts_goal)
 
 # Wait to be greeted
 wait_greet.send_goal_and_wait(WaitGreetGoal())
@@ -151,3 +155,4 @@ while not rospy.is_shutdown():
     # Execute the command
     command = command_result.command
     exec_command(command)
+    rospy.sleep(3.0)