From 357d5e63e04853ade82e712a3482967ccfd93d29 Mon Sep 17 00:00:00 2001
From: Joana <joana.plewnia@kit.edu>
Date: Sun, 27 Oct 2024 14:27:20 -0700
Subject: [PATCH] using spoken name for objects, tested in simulation
---
.../object_last_seen_at/core/CMakeLists.txt | 3 ++
.../core/ObjectLastSeenAt.cpp | 54 ++++++++++++-------
2 files changed, 37 insertions(+), 20 deletions(-)
diff --git a/source/armarx/speech/skills/object_last_seen_at/core/CMakeLists.txt b/source/armarx/speech/skills/object_last_seen_at/core/CMakeLists.txt
index 98c2df1..4d26edd 100644
--- a/source/armarx/speech/skills/object_last_seen_at/core/CMakeLists.txt
+++ b/source/armarx/speech/skills/object_last_seen_at/core/CMakeLists.txt
@@ -26,6 +26,9 @@ armarx_add_library(object_last_seen_at_core
armarx_symbolic_planning::symbolic_scene_memory_client
armarx_speech::object_last_seen_at_core_ice
+ # for object memory queries
+ armem_objects
+
#armarx speech skill:
#armarx_speech:skills
diff --git a/source/armarx/speech/skills/object_last_seen_at/core/ObjectLastSeenAt.cpp b/source/armarx/speech/skills/object_last_seen_at/core/ObjectLastSeenAt.cpp
index 15a3ae1..2fd7729 100644
--- a/source/armarx/speech/skills/object_last_seen_at/core/ObjectLastSeenAt.cpp
+++ b/source/armarx/speech/skills/object_last_seen_at/core/ObjectLastSeenAt.cpp
@@ -31,6 +31,7 @@
#include <memory>
#include <armarx/symbolic_planning/armem/symbolic_scene_memory/client/reader/SymbolicSceneReader.h>
+#include <RobotAPI/libraries/armem_objects/client/class/ClassReader.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
#include <algorithm>
@@ -93,29 +94,42 @@ namespace armarx::speech::object_last_seen_at::core
secondPart = secondPart.substr(0, colonPos);
}
- /**
- size_t firstSlash = object_location.find('/');
- std::string location_name_human_readable = "";
- if (firstSlash != std::string::npos) {
- // Find the second slash, starting after the first one
- size_t secondSlash = object_location.find('/', firstSlash + 1);
-
- // If there is a second slash, extract the part between
- if (secondSlash != std::string::npos) {
- location_name_human_readable = object_location.substr(firstSlash + 1, secondSlash - firstSlash - 1);
+ //as a spoken name take the spoken name of the object from the object memory (class core segment):
+ std::string object_id = object_description.second.id;
+
+ //find the last / in the object id and use the part before it as a string:
+ size_t lastSlashPosLocation = object_id.find_last_of('/');
+ std::string object_name = object_id.substr(lastSlashPosLocation + 1);
+ //use this ID to query the Object Memory
+ try{
+ armem::obj::clazz::ClassReader object_class_reader;
+ auto object_class = object_class_reader.getObjectClass("PriorKnowledgeData", object_name);
+
+ std::string answer;
+
+ if(object_class.has_value()) {
+ auto object_spoken_names = object_class->names.spoken;
+ // if the object (of the location) has a spoken name, use it for verbalization:
+ if (object_spoken_names.empty()) {
+ ARMARX_DEBUG << "No spoken name found for object " << object_name;
+ answer = "I have last seen the " + object_name + " " + firstPart + " the " + secondPart + ".";
+ } else {
+ auto first_spoken_name = object_spoken_names[0];
+ answer = "I have last seen the " + object_name + " " + firstPart + " the " + first_spoken_name + ".";
+ }
} else {
- // If no second slash, the second part goes till the end of the string
- location_name_human_readable = object_location.substr(firstSlash + 1);
+ // object class query did not work correctly, as this always should have a value if the object class exists:
+ ARMARX_DEBUG << "You are trying to query the object class info of an object, but the object class object has no value";
+ answer = "I have last seen the " + object_name + " " + firstPart + " the " + secondPart + ".";
}
- }
-
- */
-
- ARMARX_INFO << "Object " << object_name << " (" << object_description.second.id << ") is at " << object_description.second.objectAt;
- //std::string answer = "I have last seen the " + object_name + " at " + location_name_human_readable + ".";
- std::string answer = "I have last seen the " + object_name + " " + firstPart + " the " + secondPart + ".";
- this->subskills.say(answer);
+ ARMARX_INFO << "Object " << object_name << " (" << object_description.second.id << ") is at " << object_description.second.objectAt;
+ this->subskills.say(answer);
+ } catch (const std::exception& e) {
+ ARMARX_DEBUG << "Error while querying the object class info of an object: " << e.what();
+ std::string answer = "I have last seen the " + object_name + " " + firstPart + " the " + secondPart + ".";
+ this->subskills.say(answer);
+ }
return true;
} else { // if the location or object could not be found it is currently not visible and we need to leverage the LTM
// TODO: LTM integration
--
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