CML testing DAY1

common/speech/lasr_speech_recognition_whisper/nodes/transcribe_microphone_server

@@ -35,8 +35,8 @@ class speech_model_params:
         pause_threshold (Optional[float]): Seconds of non-speaking audio before a phrase is considered complete. Defaults to 0.8 seconds.
     """
 
-    model_name: str = "medium.en"
-    device: str = "cuda" if torch.cuda.is_available() else "cpu"
+    model_name: str = "small.en"
+    device: str = "cpu", # if torch.cuda.is_available() else "cpu"
     start_timeout: float = 5.0
     phrase_duration: Optional[float] = 10
     sample_rate: int = 16000
@@ -210,7 +210,7 @@ class TranscribeSpeechAction(object):
         # Cast to fp16 if using GPU
         phrase = self._model.transcribe(
             float_data,
-            fp16=self._model_params.device == "cuda",
+            fp16=self._model_params.device == "cpu",
         )["text"]
         transcription_end_time = timer()
         rospy.loginfo(f"Transcription finished!")
@@ -256,7 +256,7 @@ def parse_args() -> dict:
     parser.add_argument(
         "--device",
         type=str,
-        default="cuda" if torch.cuda.is_available() else "cpu",
+        default="cpu", # if torch.cuda.is_available() else "cpu",
         help="Device to run the model on.",
     )
     parser.add_argument(

skills/config/motions.yaml

@@ -10,6 +10,11 @@ play_motion:
       points:
       - positions: [1.61, -0.93, -3.14, 1.83, -1.58, -0.53, 0.00]
         time_from_start: 0.0
+    cml_arm_away:
+      joints: [ arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint ]
+      points:
+        - positions: [ 2.65, -1.36, -1.23, 1.86, -1.36, 1.39, -0.01 ]
+          time_from_start: 0.0
     open_gripper:
       joints: [gripper_left_finger_joint, gripper_right_finger_joint]
       points:

skills/src/lasr_skills/receive_object.py

@@ -189,7 +189,7 @@ def __init__(self, object_name: Union[str, None] = None, vertical: bool = True):
             )
             smach.StateMachine.add(
                 "FOLD_ARM",
-                PlayMotion(motion_name="home"),
+                PlayMotion(motion_name="cml_arm_away"),
                 transitions={
                     "succeeded": "succeeded",
                     "aborted": "failed",