Adapt

common/speech/lasr_speech_recognition_whisper/scripts/test_microphones.py

@@ -34,9 +34,10 @@ def main(args: dict) -> None:
     output_dir = args["output_dir"]
 
     r = sr.Recognizer()
-    with sr.Microphone(device_index=mic_index) as source:
+    with sr.Microphone(device_index=13,sample_rate=16000) as source:
         print("Say something!")
-        audio = r.listen(source)
+        audio = r.listen(source, timeout=5, phrase_time_limit=5)
+        print("Finished listening")
 
     with open(os.path.join(output_dir, "microphone.raw"), "wb") as f:
         f.write(audio.get_raw_data())

tasks/receptionist/src/receptionist/states/find_and_look_at.py

@@ -90,7 +90,10 @@ def check_name(self, ud):
                 detection.name == ud.guest_data[self.guest_name_in]["name"]
                 and detection.confidence > ud.confidence
             ):
+                rospy.loginfo(f"Detection {detection.name} has confidence {detection.confidence} > {ud.confidence}")
                 return "succeeded"
+            else:
+                rospy.loginfo(f"Detection {detection.name} has confidence {detection.confidence} <= {ud.confidence}")
         return "failed"
 
     def __init__(

tasks/receptionist/src/receptionist/states/introduce.py

@@ -27,6 +27,7 @@ def stringify_guest_data(guest_data: Dict[str, Any], guest_id: str) -> str:
     relevant_guest_data.setdefault(
         "attributes",
         {
+            "has_hair": True,
             "hair_shape": "unknown",
             "hair_colour": "unknown",
             "facial_hair": "No_Beard",
@@ -47,19 +48,20 @@ def stringify_guest_data(guest_data: Dict[str, Any], guest_id: str) -> str:
     print(relevant_guest_data["attributes"].items())
 
     for attribute, value in relevant_guest_data["attributes"].items():
-        if value != "unknown" and value != False:
+        if value != "unknown" and value != False and value != "No_Beard":
             known_attributes[attribute] = value
     print("These are the known attributes")
     print(known_attributes)
 
     has_hair = False
-    detection = False  # Whenever the an attribute is detected in the for loop, the detection flag is set to true
-    # so that multiple attributes are not checked at the same time
 
     for attribute, value in known_attributes.items():
         if attribute == "has_hair":
             has_hair = True
             break
+    if has_hair == False:
+        guest_str += "They are bald."
+
 
     ignored_attributes = [
         "top",
@@ -85,6 +87,8 @@ def stringify_guest_data(guest_data: Dict[str, Any], guest_id: str) -> str:
     ignored_attributes.append("has_hair")
 
     for attribute, value in known_attributes.items():
+        detection = False  # Whenever the an attribute is detected in the for loop, the detection flag is set to true
+        # so that multiple attributes are not checked at the same time
         if attribute in ignored_attributes:
             detection = True
         if has_hair:
@@ -98,6 +102,9 @@ def stringify_guest_data(guest_data: Dict[str, Any], guest_id: str) -> str:
                     f"They have {relevant_guest_data['attributes'][attribute]} hair."
                 )
                 detection = True
+        else:
+            if attribute == "hair_shape" or attribute == "hair_colour":
+                detection = True
         if attribute == "facial_hair":
             guest_str += f"They have facial hair."
             detection = True