Receptionist update with new names and drinks and coordinates (#259)

Co-authored-by: Zoe <[email protected]>

tasks/receptionist/config/robocup_opl.yaml

@@ -0,0 +1,68 @@
+priors:
+  names:
+    - Sophie
+    - Julia
+    - Emma
+    - Sara
+    - Laura
+    - Hayley
+    - Susan
+    - Fleur
+    - Gabriëlle
+    - Gabrielle
+    - Robin
+    - John
+    - Liam
+    - Lucas
+    - William
+    - Kevin
+    - Jesse
+    - Noah
+    - Harrie
+    - Peter
+
+  drinks:
+    - cola
+    - ice tea
+    - milk
+    - water
+    - big coke
+    - fanta
+    - dubbelfris
+
+# WAIT POSE KITCHEN:
+wait_pose: 
+  position: 
+    x: 8.245934441303595
+    y: 24.285935396834816
+    z: 0.0
+  orientation: 
+    x: 0.0
+    y: 0.0
+    z: 0.08719394681831685
+    w: 0.9961913549304895
+
+# WAIT AREA KITCHEN:
+wait_area: [[9.16, 25.3], [10.6, 25.7], [11, 24.1], [9.4, 23.7]]
+
+seat_pose:
+  position: 
+    x: 7.439730848846352
+    y: 22.667057212175145
+    z: 0.0
+  orientation: 
+    x: 0.0
+    y: 0.0
+    z: -0.6336387580418182
+    w: 0.7736290611832146
+
+search_motions: ["look_left", "look_right"]
+sofa_point:
+  x: 7.78
+  y: 20.1
+  z: 0.5
+seat_area: [[10.8, 20.2], [5.2, 18.9], [4.41, 21.6], [10.1, 23.1]]
+max_people_on_sofa: 2
+sofa_area: [[8.52, 20.1], [7.1, 19.8], [6.71, 21.1], [8.06, 21.5]]
+
+sweep: true

tasks/receptionist/config/robocup_sspl_and_opl.yaml

@@ -0,0 +1,125 @@
+priors:
+  names:
+    - Sophie
+    - Julia
+    - Emma
+    - Sara
+    - Laura
+    - Hayley
+    - Susan
+    - Fleur
+    - Gabriëlle
+    - Gabrielle
+    - Robin
+    - John
+    - Liam
+    - Lucas
+    - William
+    - Kevin
+    - Jesse
+    - Noah
+    - Harrie
+    - Peter
+
+  drinks:
+    - cola
+    - ice tea
+    - milk
+    - water
+    - big coke
+    - fanta
+    - dubbelfris
+
+# WAIT POSE KITCHEN:
+# wait_pose: 
+#   position: 
+#     x: 8.245934441303595
+#     y: 24.285935396834816
+#     z: 0.0
+#   orientation: 
+#     x: 0.0
+#     y: 0.0
+#     z: 0.08719394681831685
+#     w: 0.9961913549304895
+
+# wait_pose: 
+#   position: 
+#     x: 6.454753862664717
+#     y: 0.010416356353356627
+#     z: 0.0
+#   orientation: 
+#     x: 0.0
+#     y: 0.0
+#     z: -0.8609783956886402
+#     w: 0.5086415261826499
+
+
+wait_pose: 
+    position: 
+      x: 6.406923818929698
+      y: -0.41544372565988424
+      z: 0.0
+    orientation: 
+      x: 0.0
+      y: 0.0
+      z: -0.5195673509149114
+      w: 0.8544294984744273
+
+
+
+
+# WAIT AREA KITCHEN:
+#wait_area: [[9.16, 25.3], [10.6, 25.7], [11, 24.1], [9.4, 23.7]]
+wait_area: [[6.14, -1.40], [6.49, -2.48], [7.47, -2.13], [7.21, -0.91]]
+
+# seat_pose:
+#   position: 
+#     x: 7.439730848846352
+#     y: 22.667057212175145
+#     z: 0.0
+#   orientation: 
+#     x: 0.0
+#     y: 0.0
+#     z: -0.6336387580418182
+#     w: 0.7736290611832146
+
+
+
+seat_pose:
+  position: 
+    x: 5.6389088919722
+    y: 4.08239956573278
+    z: 0.0
+  orientation: 
+    x: 0.0
+    y: 0.0
+    z: 0.5812284337010483
+    w: 0.8137404425598043
+
+
+search_motions: ["look_left", "look_right"]
+sofa_point:
+  x: 5.668327331542969
+  y: 6.621944904327393
+  z: -0.005340576171875
+
+
+# sofa_point:
+#   x: 5.67
+#   y: 6.62
+#   z: 
+#seat_area: [[10.8, 20.2], [5.2, 18.9], [4.41, 21.6], [10.1, 23.1]]
+seat_area: [[4.48, 6.63], [5.05, 4.92], [7.78, 5.36], [7.33, 7.34]]
+
+max_people_on_sofa: 2
+#sofa_area: [[8.52, 20.1], [7.1, 19.8], [6.71, 21.1], [8.06, 21.5]]
+#sofa_area: [[4.59, 6.72], [4.80, 5.83], [6.51, 7.20], [6.71, 6.45]]
+
+
+sofa_area: [[4.59, 6.72], [4.80, 5.83],[6.71, 6.45] ,[6.51, 7.20] ]
+
+#sofa_area: [[4.82, 6.67], [4.99, 6.17], [6.38, 6.98], [6.47, 6.42]]
+# sofa_area: [[5.29, 6.58], [5.41, 6.31], [6.00, 6.70], [6.13, 6.40]]
+
+sweep: true
+

tasks/receptionist/scripts/main.py

@@ -52,7 +52,18 @@
     assert seat_area.is_valid, "Seat area is not valid"
 
     sofa_area = ShapelyPolygon(sofa_area_param)
-    assert sofa_area.is_valid, "Sofa area is not valid"
+    rospy.loginfo(sofa_area.area)
+    rospy.loginfo(list(sofa_area.exterior.coords))
+    sofa_area_publisher.publish(
+    PolygonStamped(
+        polygon=Polygon(
+            points=[Point(x=x, y=y, z=0.0) for (x, y) in sofa_area.exterior.coords]
+        ),
+        header=Header(frame_id="map"),
+    )
+    )
+    #rospy.spin()
+    # assert sofa_area.is_valid, "Sofa area is not valid"
 
     sofa_point = Point(**sofa_point_param)
 

tasks/receptionist/src/receptionist/states/speech_recovery.py

@@ -24,40 +24,44 @@ def __init__(
         self._last_resort = last_resort
         self._input_type = input_type
         self._available_names = [
-            "adel",
-            "angel",
-            "axel",
-            "charlie",
-            "jane",
-            "jules",
-            "morgan",
-            "paris",
+            "sophie",
+            "julia",
+            "emma",
+            "sara",
+            "laura",
+            "hayley",
+            "susan",
+            "fleur",
+            "gabrielle",
             "robin",
-            "simone",
+            "john",
+            "liam",
+            "lucas",
+            "william",
+            "kevin",
+            "jesse",
+            "noah",
+            "harrie",
+            "peter",
         ]
         self._available_single_drinks = [
             "cola",
+            "water",
             "milk",
+            "fanta",
+            "dubbelfris",
         ]
         self._available_double_drinks = [
-            "iced",
+            "ice",
             "tea",
-            "pack",
-            "juice",
-            "orange",
-            "red",
-            "wine",
-            "tropical",
+            "big",
+            "coke",
         ]
         self._double_drinks_dict = {
-            "iced": "iced tea",
-            "tea": "iced tea",
-            "pack": "juice pack",
-            "orange": "orange juice",
-            "red": "red wine",
-            "wine": "red wine",
-            "tropical": "tropical juice",
-            # "juice": ["orange juice", "tropical juice", "juice pack"],
+            "ice": "ice tea",
+            "tea": "ice tea",
+            "big": "big coke",
+            "coke": "big coke",
         }
         self._available_drinks = list(
             set(self._available_single_drinks).union(set(self._available_double_drinks))
@@ -132,7 +136,7 @@ def _handle_name(self, sentence_list, last_resort):
             return self._handle_closest_spelt(sentence_list, self._available_names)
 
     def _handle_drink(self, sentence_list, last_resort):
-        result = self._infer_second_drink(sentence_list, last_resort)
+        result = self._infer_second_drink(sentence_list)
         if result != "unknown":
             return result
         result = self._handle_similar_spelt(sentence_list, self._available_drinks, 1)
@@ -150,7 +154,7 @@ def _handle_drink(self, sentence_list, last_resort):
                 return result
             else:
                 sentence_list.append(result)
-                return self._infer_second_drink(sentence_list, last_resort)
+                return self._infer_second_drink(sentence_list)
         else:
             if not last_resort:
                 return "unknown"
@@ -164,7 +168,7 @@ def _handle_drink(self, sentence_list, last_resort):
                     return closest_spelt
                 else:
                     sentence_list.append(closest_spelt)
-                    return self._infer_second_drink(sentence_list, last_resort)
+                    return self._infer_second_drink(sentence_list)
 
     def _handle_similar_spelt(self, sentence_list, available_words, distance_threshold):
         for input_word in sentence_list:
@@ -187,20 +191,8 @@ def _handle_similar_sound(self, sentence_list, available_words, distance_thresho
                     return available_word
         return "unknown"
 
-    def _infer_second_drink(self, sentence_list, recover_juice=False):
+    def _infer_second_drink(self, sentence_list):
         for input_word in sentence_list:
-            if input_word == "juice":
-                if recover_juice:
-                    choices = ["pack", "orange", "tropical"]
-                    closest_word = self._handle_closest_spelt(sentence_list, choices)
-                    if closest_word == "pack":
-                        return "juice pack"
-                    elif closest_word == "orange":
-                        return "orange juice"
-                    else:
-                        return "tropical juice"
-                else:
-                    return "unknown"
             for available_word in self._available_double_drinks:
                 if input_word == available_word:
                     return self._double_drinks_dict[input_word]