fix/refactor: filter for people and general cleanup.

skills/src/lasr_skills/detect_3d.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import rospy
 import smach
 

skills/src/lasr_skills/detect_3d_in_area.py

@@ -2,7 +2,6 @@
 
 from lasr_skills import Detect3D
 
-
 from typing import List
 
 from shapely.geometry import Point
@@ -38,7 +37,7 @@ def execute(self, userdata):
 
     def __init__(
         self,
-        area_polygon: List[List[float]],
+        area_polygon: Polygon,
         depth_topic: str = "/xtion/depth_registered/points",
         model: str = "yolov8n-seg.pt",
         filter: List[str] | None = None,

skills/src/lasr_skills/wait_for_person.py

@@ -1,5 +1,3 @@
-#!/usr/bin/env python3
-
 import smach
 
 from lasr_skills import Detect
@@ -25,7 +23,6 @@ def __init__(self):
         smach.StateMachine.__init__(
             self,
             outcomes=["succeeded", "failed"],
-            input_keys=["depth_topic"],
             output_keys=["detections"],
         )
 

skills/src/lasr_skills/wait_for_person_in_area.py

@@ -1,9 +1,9 @@
-#!/usr/bin/env python3
-
 import smach
 
 from lasr_skills import Detect3DInArea
 
+from shapely.geometry.polygon import Polygon
+
 
 class WaitForPersonInArea(smach.StateMachine):
 
@@ -20,18 +20,17 @@ def execute(self, userdata):
             else:
                 return "not_done"
 
-    def __init__(self):
+    def __init__(self, area_polygon: Polygon):
         smach.StateMachine.__init__(
             self,
             outcomes=["succeeded", "failed"],
-            input_keys=["depth_topic", "area_polygon"],
             output_keys=["detections_3d"],
         )
 
         with self:
             smach.StateMachine.add(
                 "DETECT_PEOPLE_3D",
-                Detect3DInArea(),
+                Detect3DInArea(area_polygon=area_polygon, filter=["person"]),
                 transitions={"succeeded": "CHECK_FOR_PERSON", "failed": "failed"},
             )
             smach.StateMachine.add(