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* feat: add name and drink vector dbs * feat: receptionist command similarity matcher
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,70 @@ | ||
| My name is Adel and my favorite drink is cola | ||
| My name is Adel and my favorite drink is iced tea | ||
| My name is Adel and my favorite drink is juice pack | ||
| My name is Adel and my favorite drink is milk | ||
| My name is Adel and my favorite drink is orange juice | ||
| My name is Adel and my favorite drink is red wine | ||
| My name is Adel and my favorite drink is tropical juice | ||
| My name is Angel and my favorite drink is cola | ||
| My name is Angel and my favorite drink is iced tea | ||
| My name is Angel and my favorite drink is juice pack | ||
| My name is Angel and my favorite drink is milk | ||
| My name is Angel and my favorite drink is orange juice | ||
| My name is Angel and my favorite drink is red wine | ||
| My name is Angel and my favorite drink is tropical juice | ||
| My name is Axel and my favorite drink is cola | ||
| My name is Axel and my favorite drink is iced tea | ||
| My name is Axel and my favorite drink is juice pack | ||
| My name is Axel and my favorite drink is milk | ||
| My name is Axel and my favorite drink is orange juice | ||
| My name is Axel and my favorite drink is red wine | ||
| My name is Axel and my favorite drink is tropical juice | ||
| My name is Charlie and my favorite drink is cola | ||
| My name is Charlie and my favorite drink is iced tea | ||
| My name is Charlie and my favorite drink is juice pack | ||
| My name is Charlie and my favorite drink is milk | ||
| My name is Charlie and my favorite drink is orange juice | ||
| My name is Charlie and my favorite drink is red wine | ||
| My name is Charlie and my favorite drink is tropical juice | ||
| My name is Jane and my favorite drink is cola | ||
| My name is Jane and my favorite drink is iced tea | ||
| My name is Jane and my favorite drink is juice pack | ||
| My name is Jane and my favorite drink is milk | ||
| My name is Jane and my favorite drink is orange juice | ||
| My name is Jane and my favorite drink is red wine | ||
| My name is Jane and my favorite drink is tropical juice | ||
| My name is Jules and my favorite drink is cola | ||
| My name is Jules and my favorite drink is iced tea | ||
| My name is Jules and my favorite drink is juice pack | ||
| My name is Jules and my favorite drink is milk | ||
| My name is Jules and my favorite drink is orange juice | ||
| My name is Jules and my favorite drink is red wine | ||
| My name is Jules and my favorite drink is tropical juice | ||
| My name is Morgan and my favorite drink is cola | ||
| My name is Morgan and my favorite drink is iced tea | ||
| My name is Morgan and my favorite drink is juice pack | ||
| My name is Morgan and my favorite drink is milk | ||
| My name is Morgan and my favorite drink is orange juice | ||
| My name is Morgan and my favorite drink is red wine | ||
| My name is Morgan and my favorite drink is tropical juice | ||
| My name is Paris and my favorite drink is cola | ||
| My name is Paris and my favorite drink is iced tea | ||
| My name is Paris and my favorite drink is juice pack | ||
| My name is Paris and my favorite drink is milk | ||
| My name is Paris and my favorite drink is orange juice | ||
| My name is Paris and my favorite drink is red wine | ||
| My name is Paris and my favorite drink is tropical juice | ||
| My name is Robin and my favorite drink is cola | ||
| My name is Robin and my favorite drink is iced tea | ||
| My name is Robin and my favorite drink is juice pack | ||
| My name is Robin and my favorite drink is milk | ||
| My name is Robin and my favorite drink is orange juice | ||
| My name is Robin and my favorite drink is red wine | ||
| My name is Robin and my favorite drink is tropical juice | ||
| My name is Simone and my favorite drink is cola | ||
| My name is Simone and my favorite drink is iced tea | ||
| My name is Simone and my favorite drink is juice pack | ||
| My name is Simone and my favorite drink is milk | ||
| My name is Simone and my favorite drink is orange juice | ||
| My name is Simone and my favorite drink is red wine | ||
| My name is Simone and my favorite drink is tropical juice |
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48
tasks/receptionist/scripts/create_name_and_drink_vector_db.py
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| @@ -0,0 +1,48 @@ | ||
| import os | ||
| from typing import List | ||
| import rospy | ||
| import rospkg | ||
| from lasr_vector_databases_msgs.srv import TxtIndex, TxtIndexRequest | ||
|
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| def create_txt_file(output_path: str) -> None: | ||
| """Creates a txt file containing all permutations of | ||
| "My name is <name> and my favorite drink is <drink>" | ||
| Args: | ||
| output_path (str): Path to the output txt file | ||
| """ | ||
|
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| names: List[str] = rospy.get_param("/priors/names") | ||
| drinks: List[str] = rospy.get_param("/priors/drinks") | ||
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| with open(output_path, "w") as f: | ||
| for name in names: | ||
| for drink in drinks: | ||
| f.write(f"My name is {name} and my favorite drink is {drink}\n") | ||
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| def create_vector_db(txt_path: str, output_path: str) -> None: | ||
| """Creates a vector database from a txt file containing | ||
| all permutations of "My name is <name> and my favorite drink is <drink>" | ||
| Args: | ||
| txt_path (str): Path to the txt file | ||
| output_path (str): Path to the output vector database | ||
| """ | ||
|
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| rospy.wait_for_service("lasr_faiss/txt_index") | ||
| txt_index = rospy.ServiceProxy("lasr_faiss/txt_index", TxtIndex) | ||
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| request = TxtIndexRequest() | ||
| request.txt_paths = [txt_path] | ||
| request.index_paths = [output_path] | ||
| request.index_factory_string = "Flat" | ||
| txt_index(request) | ||
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| if __name__ == "__main__": | ||
| data_dir = os.path.join(rospkg.RosPack().get_path("receptionist"), "data") | ||
| txt_path = os.path.join(data_dir, "name_and_drink_vector_db.txt") | ||
| output_path = os.path.join(data_dir, "name_and_drink.index") | ||
| create_vector_db(txt_path, output_path) |
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82
tasks/receptionist/src/receptionist/states/match_name_and_drink.py
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| #!/usr/bin/env python3 | ||
| import os | ||
| import rospy | ||
| import rospkg | ||
| import smach | ||
| from lasr_skills import AskAndListen, Say | ||
| from lasr_vector_databases_msgs.srv import TxtQuery, TxtQueryRequest | ||
|
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| class MatchNameAndDrink(smach.State): | ||
| def __init__(self): | ||
| smach.State.__init__( | ||
| self, | ||
| outcomes=["succeeded", "failed"], | ||
| input_keys=["sequence"], | ||
| output_keys=["matched_name", "matched_drink", "sequence"], | ||
| ) | ||
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| self._query_service = rospy.ServiceProxy("lasr_faiss/txt_query", TxtQuery) | ||
| self._text_path = os.path.join( | ||
| rospkg.RosPack().get_path("receptionist"), | ||
| "data", | ||
| "name_and_drink_vector_db.txt", | ||
| ) | ||
| self._index_path = os.path.join( | ||
| rospkg.RosPack().get_path("receptionist"), "data", "name_and_drink.index" | ||
| ) | ||
|
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| def execute(self, userdata): | ||
| rospy.loginfo(f"Received transcript: {userdata.sequence}") | ||
| request = TxtQueryRequest() | ||
| request.txt_paths = [self._text_path] | ||
| request.index_paths = [self._index_path] | ||
| request.query_sentence = userdata.sequence | ||
| request.k = 1 | ||
| response = self._query_service(request) | ||
| matched_name, matched_drink = response.closest_sentences[0].split( | ||
| " and my favorite drink is " | ||
| ) | ||
| matched_name = matched_name.split("My name is ")[1] | ||
| userdata.matched_name = matched_name | ||
| userdata.matched_drink = matched_drink | ||
| rospy.loginfo( | ||
| f"Matched name: {matched_name} and matched drink: {matched_drink}" | ||
| ) | ||
| userdata.sequence = ( | ||
| f"Hello {matched_name}, I see that your favorite drink is {matched_drink}." | ||
| ) | ||
| return "succeeded" | ||
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| if __name__ == "__main__": | ||
| rospy.init_node("match_name_and_drink") | ||
| sm = smach.StateMachine(outcomes=["succeeded", "failed"]) | ||
| with sm: | ||
| smach.StateMachine.add( | ||
| "ASK_FOR_NAME_AND_DRINK", | ||
| AskAndListen( | ||
| tts_phrase="Hello, please tell me your name and favorite drink." | ||
| ), | ||
| transitions={"succeeded": "MATCH_NAME_AND_DRINK", "failed": "failed"}, | ||
| remapping={"transcribed_speech": "sequence"}, | ||
| ) | ||
| smach.StateMachine.add( | ||
| "MATCH_NAME_AND_DRINK", | ||
| MatchNameAndDrink(), | ||
| transitions={"succeeded": "SAY_MATCHED_NAME_AND_DRINK", "failed": "failed"}, | ||
| remapping={"sequence": "sequence"}, | ||
| ) | ||
| smach.StateMachine.add( | ||
| "SAY_MATCHED_NAME_AND_DRINK", | ||
| Say(), | ||
| transitions={ | ||
| "succeeded": "succeeded", | ||
| "aborted": "failed", | ||
| "preempted": "failed", | ||
| }, | ||
| remapping={ | ||
| "text": "sequence", | ||
| }, | ||
| ) | ||
| sm.execute() |