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LASR-at-Home · Jun 9, 2024 · 4ae8910 · 4ae8910
1 parent ba1d231
commit 4ae8910
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Showing 7 changed files with 9 additions and 11 deletions.
diff --git a/tasks/coffee_shop/config/motions.yaml b/tasks/coffee_shop/config/motions.yaml
@@ -63,5 +63,5 @@ play_motion:
     tablet_no_head:
       joints: [torso_lift_joint]
       points:
-      - positions: [0.05]
+      - positions: [0.35]
         time_from_start: 0.0
diff --git a/tasks/coffee_shop/src/coffee_shop/phases/phase_1/states/check_table.py b/tasks/coffee_shop/src/coffee_shop/phases/phase_1/states/check_table.py
@@ -186,11 +186,11 @@ def execute(self, userdata):
             if table["status"] == "needs serving"
         ]
 
-        if len(unvisited_tables) > 0:
-            return "not_finished"
-        elif len(needs_serving_tables) > 0:
+        if len(needs_serving_tables) > 0:
             return "has_needs_serving_tables"
         elif len(free_tables) > 0:
             return "has_free_tables"
+        elif len(unvisited_tables) > 0:
+            return "not_finished"
         else:
             return "idle"
diff --git a/tasks/coffee_shop/src/coffee_shop/phases/phase_2/states/deliver_order.py b/tasks/coffee_shop/src/coffee_shop/phases/phase_2/states/deliver_order.py
@@ -20,7 +20,7 @@ def execute(self, userdata):
         target_orientation = R.from_quat(
             [orientation["x"], orientation["y"], orientation["z"], orientation["w"]]
         )
-        target_orientation *= R.from_euler("z", np.pi, degrees=False)
+        target_orientation *= R.from_euler("z", 180.0, degrees=True)
         move_base_goal = MoveBaseGoal()
         move_base_goal.target_pose.header.frame_id = "map"
         move_base_goal.target_pose.pose = Pose(

diff --git a/tasks/coffee_shop/src/coffee_shop/phases/phase_2/states/load_order.py b/tasks/coffee_shop/src/coffee_shop/phases/phase_2/states/load_order.py
@@ -26,7 +26,7 @@ def execute(self, userdata):
                 robot_pose.orientation.z,
                 robot_pose.orientation.w,
             ]
-        ) * R.from_euler("z", np.pi, degrees=False)
+        ) * R.from_euler("z", 180.0, degrees=True)
         move_base_goal = MoveBaseGoal()
         move_base_goal.target_pose.header.frame_id = "map"
         move_base_goal.target_pose.pose = Pose(

diff --git a/tasks/coffee_shop/src/coffee_shop/phases/phase_2/states/make_order.py b/tasks/coffee_shop/src/coffee_shop/phases/phase_2/states/make_order.py
@@ -20,7 +20,5 @@ def execute(self, userdata):
                 for item, count in Counter(order).items()
             ]
         ).replace(", ", ", and ", len(order) - 2)
-        self.context.voice_controller.sync_tts(
-            f"Please get me {order_string}. Make sure you place the items in clear view of the robot."
-        )
+        self.context.voice_controller.sync_tts(f"Please get me {order_string}.")
         return "done"
diff --git a/tasks/coffee_shop/src/coffee_shop/phases/phase_2/states/take_order.py b/tasks/coffee_shop/src/coffee_shop/phases/phase_2/states/take_order.py
@@ -109,7 +109,7 @@ def execute(self, userdata):
                         robot_pose.orientation.z,
                         robot_pose.orientation.w,
                     ]
-                ) * R.from_euler("z", np.pi, degrees=False)
+                ) * R.from_euler("z", 180.0, degrees=True)
                 move_base_goal = MoveBaseGoal()
                 move_base_goal.target_pose.header.frame_id = "map"
                 move_base_goal.target_pose.pose = Pose(

diff --git a/tasks/coffee_shop/src/coffee_shop/phases/phase_2/states/wait_for_order.py b/tasks/coffee_shop/src/coffee_shop/phases/phase_2/states/wait_for_order.py
@@ -55,7 +55,7 @@ def execute(self, userdata):
                         robot_pose.orientation.z,
                         robot_pose.orientation.w,
                     ]
-                ) * R.from_euler("z", np.pi, degrees=False)
+                ) * R.from_euler("z", 180.0, degrees=True)
                 move_base_goal = MoveBaseGoal()
                 move_base_goal.target_pose.header.frame_id = "map"
                 move_base_goal.target_pose.pose = Pose(