fix: transitions.

LASR-at-Home · Apr 16, 2024 · 3929354 · 3929354
1 parent 40d60dc
commit 3929354
Showing 1 changed file with 8 additions and 6 deletions.
diff --git a/tasks/receptionist/src/receptionist/sm_merge.py b/tasks/receptionist/src/receptionist/sm_merge.py
@@ -5,9 +5,14 @@
 from geometry_msgs.msg import Pose, Point, Quaternion
 from shapely.geometry import Polygon
 
-from receptionist.states import ParseNameAndDrink, GetGuestAttributes, Introduce
+from receptionist.states import (
+    ParseNameAndDrink,
+    GetGuestAttributes,
+    Introduce,
+    SeatGuest,
+)
 
-from lasr_skills import GoToLocation, WaitForPersonInArea, Say, AskAndListen, SeatGuest
+from lasr_skills import GoToLocation, WaitForPersonInArea, Say, AskAndListen
 
 
 class Receptionist(smach.StateMachine):
@@ -222,7 +227,7 @@ def __init__(
                 "SAY_WAIT_GUEST_2",
                 Say(text="Please wait here on my left"),
                 transitions={
-                    "succeeded": "INTRODUCE_GUEST_2_TO_HOST",
+                    "succeeded": "INTRODUCE_GUEST_2_TO_EVERYONE",
                     "preempted": "failed",
                     "aborted": "failed",
                 },
@@ -295,9 +300,6 @@ def __init__(
     wait_area_param = rospy.get_param("/receptionist/wait_area")
     wait_area = Polygon(wait_area_param)
 
-    seat_pose = Pose()
-    seat_area = Polygon()
-
     seat_pose_param = rospy.get_param("/receptionist/seat_pose")
     seat_pose = Pose(
         position=Point(**seat_pose_param["position"]),