Receptionist Fix (#249)

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

tasks/receptionist/config/6_floor_k.yaml

@@ -0,0 +1,57 @@
+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 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/lab.yaml

@@ -18,52 +18,52 @@ priors:
     - orange juice
     - red wine
     - tropical juice
-# wait_pose: 
-#   position: 
-#     x: 2.4307581363168773
-#     y: -1.661594410669659
-#     z: 0.0
-#   orientation: 
-#     x: 0.0
-#     y: 0.0
-#     z: 0.012769969339563213
-#     w: 0.9999184606171978
+
 
+#WAIT POSE LAB:
 wait_pose: 
   position: 
-    x: 8.245934441303595
-    y: 24.285935396834816
+    x: 2.4307581363168773
+    y: -1.661594410669659
     z: 0.0
   orientation: 
     x: 0.0
     y: 0.0
-    z: 0.08719394681831685
-    w: 0.9961913549304895
+    z: 0.012769969339563213
+    w: 0.9999184606171978
+
+#556918144226074
+
 
 #0.478893309417269
 #0.8778731105321406
 
-# wait_area: [[2.65, -0.61], [4.21, -0.33], [4.58, -2.27], [2.67, -2.66]]
-wait_area: [[9.16, 25.3], [10.6, 25.7], [11, 24.1], [9.4, 23.7]]
+
+#WAIT AREA LAB:
+# From robot POV: [top left, top right,bottom right, bottom left ] 
+wait_area: [[2.65, -0.61], [4.21, -0.33], [4.58, -2.27], [2.67, -2.66]]
+
+#Where to position self for seating guests
 seat_pose:
   position: 
-    x: 7.439730848846352
-    y: 22.667057212175145
+    x: 1.10349540659
+    y: 0.17802904565
     z: 0.0
   orientation: 
     x: 0.0
     y: 0.0
-    z: -0.6336387580418182
-    w: 0.7736290611832146
+    z: 0.816644293927375
+    w: 0.577141314753899
 
 
 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]]
+sofa_point: 
+  x: 0.4604474902153015
+  y: 1.877323865890503
+  z: 0.002471923828125
+
+seat_area: [[-0.39, 0.87], [-0.74, 2.18], [1.26, 2.64], [1.54, 1.26]]
+max_people_on_sofa: 0
+sofa_area: [[-0.39, 0.87], [-0.74, 2.18], [1.26, 2.64], [1.54, 1.26]]
 
 sweep: true

tasks/receptionist/config/year_10_demo.yaml

@@ -0,0 +1,61 @@
+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 YEAR 10 DEMO:
+wait_pose: 
+  position: 
+    x: 2.675762687658822
+    y: 2.3335752842925213
+    z: 0.0
+  orientation: 
+    x: 0.0
+    y: 0.0
+    z: 0.77370619167885
+    w: 0.6335445753518931
+
+# WAIT AREA YEAR 10 DEMO:
+# From robot POV: [top left, top right,bottom right, bottom left ] 
+wait_area: [[1.26,4.6],[2.80,4.82],[3.03,3.63],[1.53,3.4]]
+
+#Where to position self for seating guests
+seat_pose:
+  position: 
+    x: 1.10349540659
+    y: 0.17802904565
+    z: 0.0
+  orientation: 
+    x: 0.0
+    y: 0.0
+    z: 0.816644293927375
+    w: 0.577141314753899
+
+
+search_motions: ["look_left", "look_right"]
+sofa_point: 
+  x: 0.4604474902153015
+  y: 1.877323865890503
+  z: 0.002471923828125
+seat_area: [[-0.39, 0.87], [-0.74, 2.18], [1.26, 2.64], [1.54, 1.26]]
+max_people_on_sofa: 0
+#sofa_area: [[-0.39, 0.87], [-0.74, 2.18], [1.26, 2.64], [1.54, 1.26]]
+sofa_area: [[0.83, 2.40], [1.16, 2.51], [1.23, 2.27], [0.91, 2.17]]
+
+sweep: true

tasks/receptionist/launch/setup.launch

@@ -18,7 +18,7 @@
     <include file="$(find lasr_vision_yolov8)/launch/service.launch"/>
     <include file="$(find lasr_vision_cropped_detection)/launch/cropped_detection.launch"/>
     <node pkg="lasr_vision_feature_extraction" type="service" name="torch_service" output="screen"/>
-    <include file="$(find lasr_vision_bodypix)/launch/bodypix_services.launch">
+    <include file="$(find lasr_vision_bodypix)/launch/bodypix.launch">
         <param name="preload" type="yaml" value='resnet50' />
     </include>
 

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

@@ -132,7 +132,7 @@ 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)
+        result = self._infer_second_drink(sentence_list, last_resort)
         if result != "unknown":
             return result
         result = self._handle_similar_spelt(sentence_list, self._available_drinks, 1)
@@ -150,7 +150,7 @@ def _handle_drink(self, sentence_list, last_resort):
                 return result
             else:
                 sentence_list.append(result)
-                return self._infer_second_drink(sentence_list)
+                return self._infer_second_drink(sentence_list, last_resort)
         else:
             if not last_resort:
                 return "unknown"
@@ -164,7 +164,7 @@ def _handle_drink(self, sentence_list, last_resort):
                     return closest_spelt
                 else:
                     sentence_list.append(closest_spelt)
-                    return self._infer_second_drink(closest_spelt)
+                    return self._infer_second_drink(closest_spelt, last_resort)
 
     def _handle_similar_spelt(self, sentence_list, available_words, distance_threshold):
         for input_word in sentence_list:
@@ -187,17 +187,20 @@ def _handle_similar_sound(self, sentence_list, available_words, distance_thresho
                     return available_word
         return "unknown"
 
-    def _infer_second_drink(self, sentence_list):
+    def _infer_second_drink(self, sentence_list, recover_juice=False):
         for input_word in sentence_list:
             if input_word == "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"
+                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 "tropical juice"
+                    return "unknown"
             for available_word in self._available_double_drinks:
                 if input_word == available_word:
                     return self._double_drinks_dict[input_word]