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Receptionist Speedups #255

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merged 5 commits into from
Jul 10, 2024
Merged

Receptionist Speedups #255

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20966e8
feat: only describe the features of guest1 and guest2, and only do it…
jws-1 Jul 9, 2024
a9699e4
feat: try and use the least amount of words possible.
jws-1 Jul 9, 2024
b13a364
feat: look left to guest.
jws-1 Jul 10, 2024
c438609
fix: correct grammar
jws-1 Jul 10, 2024
7bf5456
fix: make looking more consistent.
jws-1 Jul 10, 2024
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10 changes: 10 additions & 0 deletions tasks/receptionist/src/receptionist/state_machine.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -280,6 +280,16 @@ def _guide_guest(self, guest_id: int) -> None:
smach.StateMachine.add(
f"SAY_WAIT_GUEST_{guest_id}",
Say(text="Please wait here on my left."),
transitions={
"succeeded": f"LOOK_EYES_{guest_id}",
"preempted": "failed",
"aborted": "failed",
},
)

smach.StateMachine.add(
f"LOOK_EYES_{guest_id}",
PlayMotion(motion_name="look_very_left"),
transitions={
"succeeded": f"INTRODUCE_AND_SEAT_GUEST_{guest_id}",
"preempted": "failed",
Expand Down
69 changes: 51 additions & 18 deletions tasks/receptionist/src/receptionist/states/introduce.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,9 @@
from typing import Dict, List, Any, Optional


def stringify_guest_data(guest_data: Dict[str, Any], guest_id: str) -> str:
def stringify_guest_data(
guest_data: Dict[str, Any], guest_id: str, describe_features: bool
) -> str:
"""Converts the guest data for a specified guest into a string that can be used
for the robot to introduce the guest to the other guests/host.

Expand Down Expand Up @@ -46,11 +48,9 @@ def stringify_guest_data(guest_data: Dict[str, Any], guest_id: str) -> str:
},
)

guest_str = ""
guest_str = f"{relevant_guest_data['name']}, their favourite drink is {relevant_guest_data['drink']}. "

guest_str += f"{relevant_guest_data['name']}, their favourite drink is {relevant_guest_data['drink']}. "

if not relevant_guest_data["detection"]:
if not relevant_guest_data["detection"] or not describe_features:
return guest_str

filtered_attributes = {}
Expand Down Expand Up @@ -107,6 +107,9 @@ def stringify_guest_data(guest_data: Dict[str, Any], guest_id: str) -> str:
if len(top_4_attributes) < 4:
top_4_attributes.append(sorted_attributes[4])

wearing_items = []
not_wearing_items = []

for i in range(len(top_4_attributes)):
attribute_name = top_4_attributes[i]
attribute_value = filtered_attributes[top_4_attributes[i]]
Expand All @@ -115,25 +118,47 @@ def stringify_guest_data(guest_data: Dict[str, Any], guest_id: str) -> str:
if attribute_name == "hair":
hair_shape = attribute_value["hair_shape"]
hair_colour = attribute_value["hair_colour"]
guest_str += f"They have {hair_shape} and {hair_colour} . "
guest_str += f"They have {hair_shape} and {hair_colour}. "
elif attribute_name == "facial_hair":
if confidence < 0:
guest_str += "They don't have facial hair. "
else:
guest_str += "They have facial hair. "
else:
attribute = attribute_value["attribute"]
if confidence < 0:
if isSingular(attribute_value["attribute"]):
guest_str += (
f"They are not wearing a {attribute_value['attribute']}."
)
if isSingular(attribute):
not_wearing_items.append(f"a {attribute}")
else:
guest_str += f"They are not wearing {attribute_value['attribute']}."
not_wearing_items.append(attribute)
else:
if isSingular(attribute_value["attribute"]):
guest_str += f"They are wearing a {attribute_value['attribute']}."
if isSingular(attribute):
wearing_items.append(f"a {attribute}")
else:
guest_str += f"They are wearing {attribute_value['attribute']}."
wearing_items.append(attribute)

def grammatical_concat(items):
if len(items) > 1:
return ", ".join(items[:-1]) + " and " + items[-1]
elif items:
return items[0]
else:
return ""

# Combine wearing and not wearing items into guest_str
if wearing_items:
guest_str += "They are wearing " + grammatical_concat(wearing_items) + ". "
if not_wearing_items:
if wearing_items:
guest_str += (
"They are also not wearing "
+ grammatical_concat(not_wearing_items)
+ "."
)
else:
guest_str += (
"They are not wearing " + grammatical_concat(not_wearing_items) + "."
)

return guest_str

Expand Down Expand Up @@ -179,16 +204,19 @@ def isSingular(attribute: str):


class GetStrGuestData(smach.State):
def __init__(self, guest_id: str):
def __init__(self, guest_id: str, describe_features: bool = False):
super().__init__(
outcomes=["succeeded"],
input_keys=["guest_data"],
output_keys=["guest_str"],
)
self._guest_id = guest_id
self._describe_features = describe_features

def execute(self, userdata: UserData) -> str:
guest_str = stringify_guest_data(userdata.guest_data, self._guest_id)
guest_str = stringify_guest_data(
userdata.guest_data, self._guest_id, self._describe_features
)
userdata.guest_str = guest_str
return "succeeded"

Expand Down Expand Up @@ -229,6 +257,7 @@ def __init__(
self,
guest_to_introduce: str,
guest_to_introduce_to: Optional[str] = None,
describe_features: bool = False,
everyone: Optional[bool] = False,
):
super().__init__(
Expand All @@ -241,7 +270,9 @@ def __init__(
if everyone:
smach.StateMachine.add(
"GetStrGuestData",
GetStrGuestData(guest_id=guest_to_introduce),
GetStrGuestData(
guest_id=guest_to_introduce, describe_features=describe_features
),
transitions={"succeeded": "SayIntroduce"},
)
smach.StateMachine.add(
Expand All @@ -260,7 +291,9 @@ def __init__(
else:
smach.StateMachine.add(
"GetStrGuestData",
GetStrGuestData(guest_id=guest_to_introduce),
GetStrGuestData(
guest_id=guest_to_introduce, describe_features=describe_features
),
transitions={"succeeded": "GetGuestName"},
)

Expand Down
61 changes: 53 additions & 8 deletions tasks/receptionist/src/receptionist/states/introduce_and_seat_guest.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -466,7 +466,7 @@ class GetLookPoint(smach.State):
def __init__(self, guest_id: str):
smach.State.__init__(
self,
outcomes=["succeeded"],
outcomes=["succeeded", "failed"],
input_keys=["matched_face_detections"],
output_keys=["look_point"],
)
Expand All @@ -476,13 +476,14 @@ def execute(self, userdata):
if len(userdata.matched_face_detections) == 0:
userdata.look_point = PointStamped()
rospy.logwarn(f"Failed to find guest: {self._guest_id}")
return "succeeded"
return "failed"

for detection in userdata.matched_face_detections:
if detection.name == self._guest_id:
look_point = PointStamped(
point=detection.point, header=Header(frame_id="map")
)
look_point.point.z = 0.75 # fixed height
userdata.look_point = look_point
return "succeeded"

Expand Down Expand Up @@ -518,10 +519,13 @@ def execute(self, userdata):
return "succeeded_sofa"

if len(userdata.empty_seat_detections) > 0:
userdata.seat_position = PointStamped(
seat_position = PointStamped(
point=userdata.empty_seat_detections[0].point,
header=Header(frame_id="map"),
)
seat_position.point.z = 0.5 # fixed height
userdata.seat_position = seat_position

return "succeeded_chair"

return "failed"
Expand Down Expand Up @@ -633,7 +637,20 @@ def execute(self, userdata):
smach.StateMachine.add(
f"GET_LOOK_POINT_{guest_to_introduce_to}",
GetLookPoint(guest_to_introduce_to),
transitions={"succeeded": f"LOOK_AT_{guest_to_introduce_to}"},
transitions={
"succeeded": f"LOOK_AT_{guest_to_introduce_to}",
"failed": f"LOOK_CENTRE_BACKUP_{guest_to_introduce_to}",
},
)

smach.StateMachine.add(
f"LOOK_CENTRE_BACKUP_{guest_to_introduce_to}",
PlayMotion(motion_name="look_centre"),
transitions={
"succeeded": f"INTRODUCE_{guest_id}_TO_{guest_to_introduce_to}",
"aborted": f"INTRODUCE_{guest_id}_TO_{guest_to_introduce_to}",
"preempted": f"INTRODUCE_{guest_id}_TO_{guest_to_introduce_to}",
},
)

# Look at the guest to introduce to
Expand All @@ -654,6 +671,7 @@ def execute(self, userdata):
Introduce(
guest_to_introduce=guest_id,
guest_to_introduce_to=guest_to_introduce_to,
describe_features=guest_to_introduce_to != "host",
),
transitions={
"succeeded": f"LOOK_AT_WAITING_GUEST_{guest_id}_{guest_to_introduce_to}",
Expand All @@ -675,6 +693,7 @@ def execute(self, userdata):
Introduce(
guest_to_introduce=guest_to_introduce_to,
guest_to_introduce_to=guest_id,
describe_features=guest_to_introduce_to != "host",
),
transitions={
"succeeded": (
Expand All @@ -692,7 +711,17 @@ def execute(self, userdata):
transitions={
"succeeded_sofa": "SAY_SOFA",
"succeeded_chair": "SAY_CHAIR",
"failed": "SAY_ANY",
"failed": "LOOK_CENTRE_SEAT",
},
)

smach.StateMachine.add(
"LOOK_CENTRE_SEAT",
PlayMotion(motion_name="look_centre"),
transitions={
"succeeded": "SAY_ANY",
"aborted": "SAY_ANY",
"preempted": "SAY_ANY",
},
)

Expand Down Expand Up @@ -897,7 +926,7 @@ def __init__(self, guest_id: str):
def execute(self, userdata):
if len(userdata.matched_face_detections) == 0:
userdata.look_point = PointStamped()
return "succeeded"
return "failed"

for detection in userdata.matched_face_detections:
if detection.name == self._guest_id:
Expand Down Expand Up @@ -938,10 +967,12 @@ def execute(self, userdata):
return "succeeded_sofa"

if len(userdata.empty_seat_detections) > 0:
userdata.seat_position = PointStamped(
seat_position = PointStamped(
point=userdata.empty_seat_detections[0][0].point,
header=Header(frame_id="map"),
)
seat_position.point.z = 0.5
userdata.seat_position = seat_position
return "succeeded_chair"

return "failed"
Expand Down Expand Up @@ -1022,7 +1053,20 @@ def execute(self, userdata):
smach.StateMachine.add(
f"GET_LOOK_POINT_{guest_to_introduce_to}",
GetLookPoint(guest_to_introduce_to),
transitions={"succeeded": f"LOOK_AT_{guest_to_introduce_to}"},
transitions={
"succeeded": f"LOOK_AT_{guest_to_introduce_to}",
"failed": "LOOK_CENTRE",
},
)

smach.StateMachine.add(
"LOOK_CENTRE",
PlayMotion(motion_name="look_centre"),
transitions={
"succeeded": f"INTRODUCE_{guest_id}_TO_{guest_to_introduce_to}",
"aborted": f"INTRODUCE_{guest_id}_TO_{guest_to_introduce_to}",
"preempted": f"INTRODUCE_{guest_id}_TO_{guest_to_introduce_to}",
},
)

smach.StateMachine.add(
Expand All @@ -1041,6 +1085,7 @@ def execute(self, userdata):
Introduce(
guest_to_introduce=guest_id,
guest_to_introduce_to=guest_to_introduce_to,
describe_features=guest_to_introduce_to != "host",
),
transitions={
"succeeded": (
Expand Down