Receptionist - Clean-up speech recovery and get_name_and_drink (#266)

LASR-at-Home · Sep 25, 2024 · f99d487 · f99d487
1 parent 18812a9
commit f99d487
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Showing 6 changed files with 274 additions and 282 deletions.
diff --git a/common/navigation/lasr_person_following/src/lasr_person_following/person_following.py b/common/navigation/lasr_person_following/src/lasr_person_following/person_following.py
@@ -350,7 +350,11 @@ def _check_finished(self) -> bool:
                 )
                 transcription = self._transcribe_speech_client.get_result().sequence
 
-                return "yes" in transcription.lower() or "arrived" in transcription.lower() or "arrive" in transcription.lower()
+                return (
+                    "yes" in transcription.lower()
+                    or "arrived" in transcription.lower()
+                    or "arrive" in transcription.lower()
+                )
         return True
 
     def _get_pose_on_path(

diff --git a/tasks/carry_my_luggage/src/carry_my_luggage/state_machine.py b/tasks/carry_my_luggage/src/carry_my_luggage/state_machine.py
@@ -193,19 +193,27 @@ def wait_cb(ud, msg):
 
             def start_pose_cb(ud):
                 try:
-                    ud.start_pose = rospy.wait_for_message("/robot_pose", PoseWithCovarianceStamped, timeout=rospy.Duration(5.0)).pose.pose
+                    ud.start_pose = rospy.wait_for_message(
+                        "/robot_pose",
+                        PoseWithCovarianceStamped,
+                        timeout=rospy.Duration(5.0),
+                    ).pose.pose
                 except rospy.ROSException:
                     rospy.logerr("Failed to get robot pose")
-                    ud.start_pose = Pose(position=Point(0., 0., 0.0), orientation=Quaternion(0., 0., 0., 1.))
+                    ud.start_pose = Pose(
+                        position=Point(0.0, 0.0, 0.0),
+                        orientation=Quaternion(0.0, 0.0, 0.0, 1.0),
+                    )
                 return "succeeded"
+
             smach.StateMachine.add(
                 "GET_START_LOCATION",
                 smach.CBState(
                     start_pose_cb,
                     outcomes=["succeeded"],
                     output_keys=["start_pose"],
                 ),
-                transitions={"succeeded": "SAY_STEP"}
+                transitions={"succeeded": "SAY_STEP"},
             )
 
             smach.StateMachine.add(
@@ -261,8 +269,8 @@ def start_pose_cb(ud):
             )
 
             smach.StateMachine.add(
-                "GO_TO_START", # todo: instead, get the start position within the state machine, and return to it at the end
+                "GO_TO_START",  # todo: instead, get the start position within the state machine, and return to it at the end
                 GoToLocation(),
-                remapping={"location" : "start_pose"},
+                remapping={"location": "start_pose"},
                 transitions={"succeeded": "succeeded", "failed": "succeeded"},
             )
diff --git a/tasks/gpsr/src/gpsr/states/object_comparison.py b/tasks/gpsr/src/gpsr/states/object_comparison.py
@@ -19,16 +19,133 @@ class ObjectComparison(smach.StateMachine):
 
     # TODO: fill this in
 
-    _smallest_list: List[str] = ["dishwasher_tab", "candle", "strawberry", "tictac", "plum", "lemon", "pear", "peach", "orange", "apple", "sponges", "fork", "knife", "spoon", "banana", "dubbelfris", "cola", "ice_tea", "fanta", "milk", "pea_soup", "sausages", "cup", "stroopwafel", "soap", "curry", "water", "crisps", "liquorice", "candy", "hagelslag", "pancake_mix", "mayonaise", "bowl", "plate", "washcloth", "pringles", "big_coke" ]
+    _smallest_list: List[str] = [
+        "dishwasher_tab",
+        "candle",
+        "strawberry",
+        "tictac",
+        "plum",
+        "lemon",
+        "pear",
+        "peach",
+        "orange",
+        "apple",
+        "sponges",
+        "fork",
+        "knife",
+        "spoon",
+        "banana",
+        "dubbelfris",
+        "cola",
+        "ice_tea",
+        "fanta",
+        "milk",
+        "pea_soup",
+        "sausages",
+        "cup",
+        "stroopwafel",
+        "soap",
+        "curry",
+        "water",
+        "crisps",
+        "liquorice",
+        "candy",
+        "hagelslag",
+        "pancake_mix",
+        "mayonaise",
+        "bowl",
+        "plate",
+        "washcloth",
+        "pringles",
+        "big_coke",
+    ]
     _biggest_list: List[str] = reversed(_smallest_list)
 
     _largest_list: List[str] = _biggest_list
 
-    _heaviest_list: List[str] = ["big_coke", "pea_soup", "milk", "mayonaise", "cola", "ice_tea", "fanta", "dubbelfris", "water", "pancake_mix", "curry", "soap", "sausages", "apple", "orange", "peach", "pear", "lemon", "plum", "banana", "stroopwafel", "cup", "bowl", "plate", "washcloth", "sponges", "pringles", "crisps", "hagelslag", "liquorice", "candy", "knife", "fork", "spoon", "candle", "strawberry", "tictac", "dishwasher_tab"]
+    _heaviest_list: List[str] = [
+        "big_coke",
+        "pea_soup",
+        "milk",
+        "mayonaise",
+        "cola",
+        "ice_tea",
+        "fanta",
+        "dubbelfris",
+        "water",
+        "pancake_mix",
+        "curry",
+        "soap",
+        "sausages",
+        "apple",
+        "orange",
+        "peach",
+        "pear",
+        "lemon",
+        "plum",
+        "banana",
+        "stroopwafel",
+        "cup",
+        "bowl",
+        "plate",
+        "washcloth",
+        "sponges",
+        "pringles",
+        "crisps",
+        "hagelslag",
+        "liquorice",
+        "candy",
+        "knife",
+        "fork",
+        "spoon",
+        "candle",
+        "strawberry",
+        "tictac",
+        "dishwasher_tab",
+    ]
 
     _lightest_list: List[str] = reversed(_heaviest_list)
 
-    _thinnest_list: List[str] = ["knife", "fork", "spoon", "candle", "strawberry", "tictac", "dishwasher_tab", "liquorice", "candy", "crisps", "stroopwafel", "soap", "sponges", "washcloth", "plate", "bowl", "cup", "pancake_mix", "hagelslag", "curry", "mayonaise", "pea_soup", "sausages", "milk", "water", "dubbelfris", "cola", "ice_tea", "fanta", "big_coke", "apple", "orange", "peach", "pear", "lemon", "plum", "banana", "pringles"]
+    _thinnest_list: List[str] = [
+        "knife",
+        "fork",
+        "spoon",
+        "candle",
+        "strawberry",
+        "tictac",
+        "dishwasher_tab",
+        "liquorice",
+        "candy",
+        "crisps",
+        "stroopwafel",
+        "soap",
+        "sponges",
+        "washcloth",
+        "plate",
+        "bowl",
+        "cup",
+        "pancake_mix",
+        "hagelslag",
+        "curry",
+        "mayonaise",
+        "pea_soup",
+        "sausages",
+        "milk",
+        "water",
+        "dubbelfris",
+        "cola",
+        "ice_tea",
+        "fanta",
+        "big_coke",
+        "apple",
+        "orange",
+        "peach",
+        "pear",
+        "lemon",
+        "plum",
+        "banana",
+        "pringles",
+    ]
 
     _query: Literal[
         "biggest", "largest", "smallest", "heaviest", "lightest", "thinnest"

diff --git a/tasks/receptionist/src/receptionist/states/get_name_and_drink.py b/tasks/receptionist/src/receptionist/states/get_name_and_drink.py
@@ -78,7 +78,6 @@ def execute(self, userdata: UserData) -> str:
 
             return outcome
 
-
     class PostRecoveryDecision(smach.State):
         def __init__(
             self,
@@ -96,7 +95,6 @@ def __init__(
             self._possible_names = [name.lower() for name in prior_data["names"]]
             self._possible_drinks = [drink.lower() for drink in prior_data["drinks"]]
 
-
         def execute(self, userdata: UserData) -> str:
             if not self._recovery_name_and_drink_required(userdata):
                 if userdata.guest_data[self._guest_id]["name"] == "unknown":
@@ -107,7 +105,6 @@ def execute(self, userdata: UserData) -> str:
                 outcome = "failed"
             return outcome
 
-
         def _recovery_name_and_drink_required(self, userdata: UserData) -> bool:
             """Determine whether both the name and drink requires recovery.
 
@@ -126,11 +123,6 @@ def __init__(
         last_resort: bool,
         param_key: str = "/receptionist/priors",
     ):
-        self,
-        guest_id: str,
-        last_resort: bool,
-        param_key: str = "/receptionist/priors",
-    ):
 
         self._guest_id = guest_id
         self._param_key = param_key
@@ -170,43 +162,3 @@ def __init__(
                     "failed_drink": "failed_drink",
                 },
             )
-
-    def __init__(
-            self,
-            guest_id: str,
-            last_resort: bool,
-            param_key: str = "/receptionist/priors",
-        ):
-
-        self._guest_id = guest_id
-        self._param_key = param_key
-        self._last_resort = last_resort
-
-        smach.StateMachine.__init__(
-            self,
-            outcomes=["succeeded", "failed", "failed_name", "failed_drink"],
-            input_keys=["guest_transcription", "guest_data"],
-            output_keys=["guest_data", "guest_transcription"],
-
-        )
-        with self:
-
-            smach.StateMachine.add(
-                "PARSE_NAME_AND_DRINK",
-                self.ParseNameAndDrink(guest_id=self._guest_id, param_key=self._param_key),
-                transitions={"succeeded": "succeeded", "failed": "SPEECH_RECOVERY"},
-            )
-            smach.StateMachine.add(
-                "SPEECH_RECOVERY",
-                SpeechRecovery(self._guest_id, self._last_resort),
-                transitions={"succeeded": "succeeded", "failed": "POST_RECOVERY_DECISION"},
-            )
-            smach.StateMachine.add(
-                "POST_RECOVERY_DECISION",
-                self.PostRecoveryDecision(guest_id=self._guest_id, param_key=self._param_key),
-                transitions={
-                    "failed": "failed",
-                    "failed_name": "failed_name",
-                    "failed_drink": "failed_drink",
-                },
-            )