egpsr_ger

systems/demo/tiago_gpsr_ger.yaml

+name: GPSR_EGPSR_Tiago
+env: ../env/tiago_gpsr_ger_env.sh
+
+groups:
+  - !include ../../components/groups/tiago_core.yaml
+  - !include ../../components/groups/bonsai_group.yaml
+  - !include ../../components/groups/nav_group.yaml
+  - !include ../../components/groups/viz_group.yaml
+  - name: ObjectDetection
+    components:
+      - !include ../../components/object/yolox.yaml
+      - !include ../../components/object/detect3d.yaml
+      - !include ../../components/object/obstacle_detector.yaml
+      - !include ../../components/manip/garbage_grasping.yaml
+      - !include ../../components/speech/qr_detector.yaml
+  - !include ../../components/groups/perception_group.yaml
+  - !include ../../components/groups/tiago_manipulation_group.yaml
+  - name: Jetson 
+    components:
+      - !include ../../components/custom_env/jp60/nano_llm.yaml
+      - !include ../../components/custom_env/jp60/robocup_tracker.yaml
+  - name: Speech
+    components:
+      - !include ../../components/speech/audio_record.yaml
+      - !include ../../components/speech/ng-rasa_nlu_asr.yaml
+      - !include ../../components/speech/ng-rasa_train.yaml
+      - !include ../../components/speech/ng-silero_vad.yaml
+      - !include ../../components/speech/piper_tts.yaml
+      - !include ../../components/speech/ng-faster-whisper_asr.yaml
+      - !include ../../components/custom_env/jp60/translator_compute.yaml
+      - !include ../../components/speech/ng-ui.yaml
+
+
+
+
+
+
+exclude:
+  - mapping
+  - simulation
+
+log_umask: 0o000
+
+local_monitor: True
+remote_monitor: True
+remote_stat_rate: 0.5
+local_stat_rate: 2
+shell_path: /bin/bash
+verbose_checks: True
+slave_hyperion_source_path: /vol/tiago/robot-47c/setup.bash
+
+monitoring_rate: 1
+  

systems/env/tiago_demo_homecoming.sh.in

@@ -20,13 +20,13 @@ export NAVIGATION_MAP="${PATH_TO_MAPS_CLF}/homecoming_25.yaml"
 export ECWM_WORLD_FILE="${PATH_TO_ECWM_DATA}/worlds/homecoming_25.yaml"
 
 #Bonsai Task
-export PATH_TO_BONSAI_CONFIG="${PATH_TO_BONSAI_ROBOCUPTASKS_CONFIG}/DefaultTiagoConfig.xml"
 export PATH_TO_BONSAI_TASK="${PATH_TO_BONSAI_ROBOCUPTASKS_SCXML}/demos/demo_homecoming_2025.xml"
+export PATH_TO_BONSAI_CONFIG="${PATH_TO_BONSAI_ROBOCUPTASKS_CONFIG}/demos/homecoming.xml"
 
 # NLU
 export RASA_CONFIG="${PATH_TO_RASA_CONFIGS}/default_pipeline.yml"
 export RASA_NLU_FILE="${PATH_TO_RASA_CONFIGS}/nlu/homecoming2025.yaml"
 export WHISPER_MODEL="${PATH_TO_WHISPER_MODELS}/distill-medium.en.pt"
-export FASTER_WHISPER_MODEL_COMPUTE="${jpprefix}/whisper/share/whisper-models/faster-whisper-large-v3"
+export FASTER_WHISPER_MODEL_COMPUTE="${jpprefix}/whisper/share/whisper-models/faster-whisper-medium"
 
 export realsense_config=far
\ No newline at end of file

systems/env/tiago_gpsr_ger_env.sh.in

+#!/bin/bash
+
+# Set Basepc
+export basepc=$(hostname -s)
+
+# Path from install volume
+export prefix=@HYPERION_ENV_ROOT@
+export PATH="${prefix}/bin:$PATH"
+
+# Default environment files
+@ENVFILE_default_paths@
+@ENVFILE_default_config@
+@ENVFILE_ros@
+
+# Default to robot
+@ENVFILE_tiago@
+
+#Bonsai Task
+export PATH_TO_BONSAI_TASK="${PATH_TO_BONSAI_ROBOCUPTASKS_SCXML}/tasks2024/egpsr_ger.xml"
+export PATH_TO_BONSAI_CONFIG="${PATH_TO_BONSAI_ROBOCUPTASKS_CONFIG}/DefaultTiagoConfigMulti.xml"
+
+# NLU
+export RASA_CONFIG="${PATH_TO_RASA_CONFIGS}/default_pipeline_low_conf.yml"
+export RASA_NLU_FILE="${PATH_TO_RASA_CONFIGS}/nlu/gpsr_nuernberg.yaml"
+export FASTER_WHISPER_MODEL="${PATH_TO_WHISPER_MODELS}/faster-distil-whisper-medium.en"
+
+export ECWM_WORLD_FILE="${PATH_TO_ECWM_DATA}/worlds/german_open2025_final.yaml"
+
+
+
+
+