fix: introduce other guests to new guest. (#251)

LASR-at-Home · Jul 9, 2024 · d0e741f · d0e741f
1 parent d71a261
commit d0e741f
Show file tree

Hide file tree

Showing 6 changed files with 102 additions and 8 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
@@ -43,7 +43,7 @@ class speech_model_params:
     mic_device: Optional[str] = None
     timer_duration: Optional[int] = 20
     warmup: bool = True
-    energy_threshold: Optional[int] = 600
+    energy_threshold: Optional[int] = None
     pause_threshold: Optional[float] = 2.0
 
 
@@ -291,8 +291,8 @@ def parse_args() -> dict:
 
     parser.add_argument(
         "--energy_threshold",
-        type=int,
-        default=600,
+        type=Optional[int],
+        default=None,
         help="Energy threshold for silence detection. Using this disables automatic adjustment",
     )
 

diff --git a/tasks/receptionist/config/arcade.yaml b/tasks/receptionist/config/arcade.yaml
@@ -0,0 +1,73 @@
+priors:
+  names:
+    - Adel
+    - Angel
+    - Axel
+    - Charlie
+    - Jane
+    - Jules
+    - Morgan
+    - Paris
+    - Robin
+    - Simone
+  drinks:
+    - cola
+    - iced tea
+    - juice pack
+    - milk
+    - orange juice
+    - red wine
+    - tropical juice
+
+
+#WAIT POSE LAB:
+wait_pose: 
+  position: 
+    x: -15.027493553116143
+    y: 8.731164058220495
+    z: 0.0
+  orientation: 
+    x: 0.0
+    y: 0.0
+    z: -0.7865759968179794
+    w: 0.6174934827427752
+
+
+
+#556918144226074
+
+
+#0.478893309417269
+#0.8778731105321406
+
+
+#WAIT AREA LAB:
+# From robot POV: [top left, top right,bottom right, bottom left ] 
+wait_area: [[-15.9, 8.19], [-17.2, 8.11], [-16.2, 11.2], [-14.9, 10.0]]
+
+#Where to position self for seating guests
+seat_pose:
+  position: 
+    x: -13.659998294234812
+    y: 6.421172168922483
+    z: 0.0
+  orientation: 
+    x: 0.0
+    y: 0.0
+    z: -0.6021594916272762
+    w: 0.7983758179223494
+
+
+
+search_motions: ["look_left", "look_right"]
+sofa_point: 
+  x: -15.0
+  y: 4.21
+  z: 0.5
+
+seat_area: [[-12.2, 2.63], [-18.2, 4.61], [-17.4, 7.31], [-11.7, 5.06]]
+max_people_on_sofa: 2
+
+sofa_area: [[-13.8, 4.61], [-14.4, 3.54], [-15.85, 4.16], [-15.4, 5.33]]
+
+sweep: true
diff --git a/tasks/receptionist/launch/setup.launch b/tasks/receptionist/launch/setup.launch
@@ -1,7 +1,7 @@
 <launch>
 
     <!--     PARAMS     -->
-    <arg name="config" default="lab"/>
+    <arg name="config" default="arcade"/>
 
     <!--     INTERACTION     -->
     <arg name="whisper_device_param" default="9" />

diff --git a/tasks/receptionist/scripts/main.py b/tasks/receptionist/scripts/main.py
@@ -49,10 +49,10 @@
     max_people_on_sofa = rospy.get_param("/receptionist/max_people_on_sofa")
 
     seat_area = ShapelyPolygon(seat_area_param)
-    assert seat_area.is_valid
+    assert seat_area.is_valid, "Seat area is not valid"
 
     sofa_area = ShapelyPolygon(sofa_area_param)
-    assert sofa_area.is_valid
+    assert sofa_area.is_valid, "Sofa area is not valid"
 
     sofa_point = Point(**sofa_point_param)
 

diff --git a/tasks/receptionist/src/receptionist/states/handle_guest.py b/tasks/receptionist/src/receptionist/states/handle_guest.py
@@ -46,7 +46,7 @@ def __init__(self, guest_id: str):
                 smach.StateMachine.add(
                     f"REPEAT_GET_NAME_AND_DRINK_GUEST_{guest_id}",
                     AskAndListen(
-                        "Sorry, I didn't get that, please raise your voice. What is your name and favourite drink?"
+                        "Sorry, I didn't get that, please raise your voice. What is your name and favourite drink? Please remember to say 'hi tiago'"
                     ),
                     transitions={
                         "succeeded": f"REPEAT_PARSE_NAME_AND_DRINK_GUEST_{guest_id}",

diff --git a/tasks/receptionist/src/receptionist/states/introduce_and_seat_guest.py b/tasks/receptionist/src/receptionist/states/introduce_and_seat_guest.py
@@ -655,12 +655,33 @@ def execute(self, userdata):
                             guest_to_introduce=guest_id,
                             guest_to_introduce_to=guest_to_introduce_to,
                         ),
+                        transitions={
+                            "succeeded": f"LOOK_AT_WAITING_GUEST_{guest_id}_{guest_to_introduce_to}",
+                        },
+                    )
+
+                    smach.StateMachine.add(
+                        f"LOOK_AT_WAITING_GUEST_{guest_id}_{guest_to_introduce_to}",
+                        PlayMotion(motion_name="look_very_left"),
+                        transitions={
+                            "succeeded": f"INTRODUCE_{guest_to_introduce_to}_TO_{guest_id}",
+                            "aborted": f"INTRODUCE_{guest_to_introduce_to}_TO_{guest_id}",
+                            "preempted": f"INTRODUCE_{guest_to_introduce_to}_TO_{guest_id}",
+                        },
+                    )
+
+                    smach.StateMachine.add(
+                        f"INTRODUCE_{guest_to_introduce_to}_TO_{guest_id}",
+                        Introduce(
+                            guest_to_introduce=guest_to_introduce_to,
+                            guest_to_introduce_to=guest_id,
+                        ),
                         transitions={
                             "succeeded": (
                                 "SELECT_SEAT"
                                 if i == len(guests_to_introduce_to) - 1
                                 else f"GET_LOOK_POINT_{guests_to_introduce_to[i+1]}"
-                            )
+                            ),
                         },
                     )