vdb/query_actions.py

import numpy as np
from pymilvus import connections, Collection

connections.connect("default", host="127.0.0.1", port="19530")
col = Collection("sumobot_states")
col.load()

def encode_state(angle, angle_score, dist_score, near_score, facing):
    return np.array([angle / 180.0, angle_score, dist_score, near_score, facing], dtype=np.float32)

def query_action(angle, angle_score, dist_score, near_score, facing, top_k=1):
    vec = encode_state(angle, angle_score, dist_score, near_score, facing)
    result = col.search(
        data=[vec],
        anns_field="state_vec",
        param={"nprobe": 16},
        limit=top_k,
        output_fields=["action"],
    )
    actions = [hit.entity.get("action") for hit in result[0]]
    return actions[0] if top_k == 1 else actions

# Example use
action = query_action(63.55, 0.45, 0.81, 0.18, -0.48)
print(f"🎮 Suggested Action: {action}")