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Fix Receptionist #274

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merged 2 commits into from
Nov 12, 2024
Merged

Fix Receptionist #274

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0248786
fix: issues with introduction.
jws-1 Nov 12, 2024
c4f1f41
fix: don't import something that doesn't exist.
jws-1 Nov 12, 2024
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1 change: 0 additions & 1 deletion skills/src/lasr_skills/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,6 @@
from .detect_gesture import DetectGesture
from .look_at_person import LookAtPerson
from .wait import Wait
from .find_gesture_person import FindGesturePerson
from .adjust_camera import AdjustCamera
from .guide import Guide
from .detect_clothing import DetectClothing
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26 changes: 11 additions & 15 deletions tasks/receptionist/src/receptionist/state_machine.py
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Original file line number Diff line number Diff line change
@@ -1,26 +1,22 @@
from typing import List, Tuple

import rospy
import smach
import smach_ros

from lasr_vision_msgs.srv import Recognise
from geometry_msgs.msg import Pose, Point, PointStamped
from shapely.geometry import Polygon
from geometry_msgs.msg import Point, PointStamped, Pose
from lasr_skills import (
GoToLocation,
WaitForPersonInArea,
Say,
AskAndListen,
PlayMotion,
GoToLocation,
LookToPoint,
PlayMotion,
Say,
Wait,
WaitForPersonInArea,
)
from std_msgs.msg import Header, Empty
from receptionist.states import (
HandleGuest,
IntroduceAndSeatGuest,
)

import rospy
from lasr_vision_msgs.srv import Recognise
from receptionist.states import HandleGuest, IntroduceAndSeatGuest
from shapely.geometry import Polygon
from std_msgs.msg import Empty, Header


class Receptionist(smach.StateMachine):
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9 changes: 5 additions & 4 deletions tasks/receptionist/src/receptionist/states/introduce.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,11 +4,12 @@

"""

from typing import Any, Dict, List, Optional

import rospy
import smach
from lasr_skills import LookToPoint, Say
from smach import UserData
from lasr_skills import Say, LookToPoint
from typing import Dict, List, Any, Optional


def stringify_guest_data(
Expand All @@ -27,8 +28,6 @@ def stringify_guest_data(

relevant_guest_data = guest_data[guest_id]

relevant_guest_data["attributes"]["has_hair"] = 0.5

guest_str = f"{relevant_guest_data['name']}, their favourite drink is {relevant_guest_data['drink']}. "

if (
Expand All @@ -38,6 +37,8 @@ def stringify_guest_data(
):
return guest_str

relevant_guest_data["attributes"]["has_hair"] = 0.5

if relevant_guest_data["attributes"]["long_hair"]:
guest_str += "They have long hair. "
else:
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