[Receptionist] worked a little bit on code

demos/pycram_receptionist_demo/Ms3_receptionist_demo.py

@@ -1,4 +1,4 @@
-from pycram.designators.action_designator import DetectAction
+from pycram.designators.action_designator import DetectAction, NavigateAction
 from demos.pycram_receptionist_demo.utils.new_misc import *
 from pycram.process_module import real_robot
 import pycram.external_interfaces.giskard as giskardpy
@@ -37,6 +37,7 @@ def data_cb(data):
     global callback
 
     response = data.data.split(",")
+    response.append("None")
     callback = True
 
 
@@ -58,8 +59,11 @@ def data_cb(data):
     # look for human
     human_desig = DetectAction(technique='attributes', state='start').resolve().perform()
     rospy.loginfo("human detected")
+
     # TODO: check what perception returns exactly
     attr_list = human_desig.attribute
+    print(attr_list)
+    guest1.set_attributes(human_desig.attribute)
 
     # look at guest and introduce
     giskardpy.move_head_to_human()
@@ -74,6 +78,7 @@ def data_cb(data):
     callback = False
 
     if response[0] == "<GUEST>":
+        # success a name and intent was understood
         if response[1] != "<None>":
             TalkingMotion("it is so noisy here, please confirm if i got your name right").resolve().perform()
             guest1.set_drink(response[2])
@@ -123,8 +128,8 @@ def data_cb(data):
     # lead human to living room
     # TODO: check if rospy.sleep is needed and how long
     rospy.sleep(2)
-    # NavigateAction([misc.pose_kitchen_to_couch]).resolve().perform()
-    # NavigateAction([misc.pose_couch]).resolve().perform()
+    NavigateAction([pose_kitchen_to_couch]).resolve().perform()
+    NavigateAction([pose_couch]).resolve().perform()
     TalkingMotion("Welcome to the living room").resolve().perform()
     rospy.sleep(1)
 
@@ -168,3 +173,4 @@ def data_cb(data):
 
     # introduce humans and look at them
     introduce(host, guest1)
+

demos/pycram_receptionist_demo/tests/MS3_testable.py

@@ -38,6 +38,7 @@ def data_cb(data):
     global callback
 
     response = data.data.split(",")
+    response.append("None")
     callback = True
 
 def demo_tst():
@@ -47,15 +48,16 @@ def demo_tst():
     with real_robot:
         global callback
         global response
-        test_all = False
+        test_all = True
 
         rospy.Subscriber("nlp_out", String, data_cb)
-        # DetectAction(technique='human', state='start').resolve().perform()
+        DetectAction(technique='human', state='start').resolve().perform()
         rospy.loginfo("human detected")
 
         giskardpy.move_head_to_human()
         TalkingMotion("Hello, i am Toya and my favorite drink is oil. What about you, talk to me?").resolve().perform()
         rospy.sleep(0.9)
+
         # signal to start listening
         pub_nlp.publish("start listening")
 
@@ -136,7 +138,6 @@ def demo_tst():
             # introduce humans and look at them
             giskardpy.move_head_to_human()
 
-        TalkingMotion("Introducing now").resolve().perform()
         rospy.sleep(1)
         introduce(host, guest1)
 

demos/pycram_receptionist_demo/utils/new_misc.py

@@ -160,3 +160,29 @@ def introduce(human1: HumanDescription, human2: HumanDescription):
     TalkingMotion(f" This is {human1.name} and their favorite drink is {human1.fav_drink}").resolve().perform()
 
     rospy.sleep(3)
+
+    def describe(human: HumanDescription):
+        """
+        HRI-function for describing a human more detailed.
+        the following will be stated: gender, headgear, clothing, brightness of clothes
+        :param human: human to be described
+        """
+
+        TalkingMotion(f"I will describe {human.name} further now").resolve().perform()
+        rospy.sleep(1)
+
+        # gender
+        TalkingMotion(f"i think your gender is {human.attributes[0]}").resolve().perform()
+        rospy.sleep(1)
+
+        # headgear or not
+        TalkingMotion(f"you are wearing {human.attributes[1]}").resolve().perform()
+        rospy.sleep(1)
+
+        # kind of clothes
+        TalkingMotion(f"you are wearing {human.attributes[2]}").resolve().perform()
+        rospy.sleep(1)
+
+        # brightness of clothes
+        TalkingMotion(f"your clothes are {human.attributes[3]}").resolve().perform()
+        rospy.sleep(1)

src/pycram/designators/object_designator.py

@@ -187,10 +187,12 @@ class HumanDescription:
     """
     Class that represents humans. this class does not spawn a human in a simulation.
     """
-    def __init__(self, name: String, fav_drink:  Optional = None, pose: Optional = None):
+    def __init__(self, name: String, fav_drink:  Optional = None,
+                 pose: Optional = None, attributes: Optional = None):
         """
         :param name: name of human
         :param fav_drink: favorite drink of human
+        :param pose: last known pose of human
         """
 
         # TODO: coordinate with Perception on what is easy to implement
@@ -199,6 +201,8 @@ def __init__(self, name: String, fav_drink:  Optional = None, pose: Optional = N
         self.name = name
         self.fav_drink = fav_drink
         self.pose = pose
+        self.attributes = attributes
+
 
         # self.human_pose_sub = rospy.Subscriber("/human_pose", PoseStamped, self.human_pose_cb)
 
@@ -234,3 +238,10 @@ def set_pose(self, new_pose):
         """
         print("in set pose")
         self.pose = new_pose
+
+    def set_attributes(self, attribute_list):
+        """
+        function for setting attributes
+        :param attribute_list: list with attributes: gender, headgear, kind of clothes, bright/dark clothes
+        """
+        self.attributes = attribute_list