LASR-at-Home · jws-1 · Nov 14, 2025 · Sep 16, 2025 · Sep 16, 2025 · Sep 17, 2025
diff --git a/.gitignore b/.gitignore
@@ -142,3 +142,4 @@ mypy.ini
 
 # Pycharm extension setup files
 .idea/*
+common/vision/lasr_vision_yolov8/models/*
diff --git a/common/speech/lasr_speech_recognition_whisper/scripts/test_microphones.py b/common/speech/lasr_speech_recognition_whisper/scripts/test_microphones.py
@@ -11,7 +11,6 @@ def parse_args() -> dict:
     Returns:
         dict: name: value pairs of command line arguments
     """
-
     parser = argparse.ArgumentParser(description="Test microphones")
     parser.add_argument("-m", "--microphone", type=int, help="Microphone index")
     parser.add_argument(

diff --git a/skills/src/lasr_skills/__init__.py b/skills/src/lasr_skills/__init__.py
@@ -43,5 +43,5 @@
 from .point_at_person import PointAtPerson
 from .detect_gesture_3d import DetectGesture3D, DetectHandUp3D
 
-from .follow_person import FollowPerson
+# from .follow_person import FollowPerson
 from .listen_for_wakeword import ListenForWakeword
diff --git a/skills/src/lasr_skills/follow_person.py b/skills/src/lasr_skills/follow_person.py
@@ -45,7 +45,8 @@
     DualSensorPersonTrackingFilter,
     DualSensorPersonTrackingFilterRequest,
 )
-from leg_tracker.msg import PersonArray, Person
+
+# from leg_tracker.msg import PersonArray, Person
 import message_filters
 import numpy as np
 

diff --git a/tasks/coffee_shop/README.md b/tasks/coffee_shop/README.md
@@ -3,13 +3,15 @@
 The coffee_shop package
 
 This package is maintained by:
+
 - [Jared Swift](mailto:[email protected])
 - [Peter Tisnikar](mailto:[email protected])
 - [Paul Makles](mailto:[email protected])
 
 ## Prerequisites
 
 This package depends on the following ROS packages:
+
 - catkin (buildtool)
 - lasr_vision_yolo
 - cv_bridge3
@@ -36,11 +38,10 @@ Ask the package maintainer to write a `doc/TECHNICAL.md` for their package!
 
 No description provided.
 
-| Argument | Default | Description |
-|:-:|:-:|---|
-| config | test_phase3 |  |
-| tablet | true |  |
-
+| Argument |   Default   | Description |
+|:--------:|:-----------:|-------------|
+|  config  | test_phase3 |             |
+|  tablet  |    true     |             |
 
 #### `people_poses`
 
@@ -50,62 +51,55 @@ No description provided.
 
 No description provided.
 
-| Argument | Default | Description |
-|:-:|:-:|---|
-| config | test_make_order |  |
-| tablet | true |  |
-
+| Argument |     Default     | Description |
+|:--------:|:---------------:|-------------|
+|  config  | test_make_order |             |
+|  tablet  |      true       |             |
 
 #### `check_table`
 
 No description provided.
 
-| Argument | Default | Description |
-|:-:|:-:|---|
-| config | test_check_table |  |
-
+| Argument |     Default      | Description |
+|:--------:|:----------------:|-------------|
+|  config  | test_check_table |             |
 
 #### `core`
 
 No description provided.
 
-| Argument | Default | Description |
-|:-:|:-:|---|
-| tablet | true |  |
-| whisper_matcher | by-index |  |
-| whisper_device_param | 18 |  |
-| rasa_model | $(find lasr_rasa)/assistants/coffee_shop/models |  |
-
+|       Argument       |                     Default                     | Description |
+|:--------------------:|:-----------------------------------------------:|-------------|
+|        tablet        |                      true                       |             |
+|   whisper_matcher    |                    by-index                     |             |
+| whisper_device_param |                       18                        |             |
+|      rasa_model      | $(find lasr_rasa)/assistants/coffee_shop/models |             |
 
 #### `take_order`
 
 No description provided.
 
-| Argument | Default | Description |
-|:-:|:-:|---|
-| config | test_take_order |  |
-| tablet | true |  |
-
+| Argument |     Default     | Description |
+|:--------:|:---------------:|-------------|
+|  config  | test_take_order |             |
+|  tablet  |      true       |             |
 
 #### `wait_for_person`
 
 No description provided.
 
-| Argument | Default | Description |
-|:-:|:-:|---|
-| config | test_wait_for_person |  |
-
+| Argument |       Default        | Description |
+|:--------:|:--------------------:|-------------|
+|  config  | test_wait_for_person |             |
 
 #### `coffee_shop`
 
 No description provided.
 
 | Argument | Default | Description |
-|:-:|:-:|---|
-| config | full |  |
-| tablet | true |  |
-
-
+|:--------:|:-------:|-------------|
+|  config  |  full   |             |
+|  tablet  |  true   |             |
 
 ### Messages
 
@@ -117,51 +111,50 @@ This package has no messages.
 
 Request
 
-| Field | Type | Description |
-|:-:|:-:|---|
-| points | geometry_msgs/Point[] | point we want to transform |
+|   Field   |              Type              | Description                  |
+|:---------:|:------------------------------:|------------------------------|
+|  points   |     geometry_msgs/Point[]      | point we want to transform   |
 | transform | geometry_msgs/TransformStamped | the transform we want to use |
 
 Response
 
-| Field | Type | Description |
-|:-:|:-:|---|
+|   Field    |         Type          | Description           |
+|:----------:|:---------------------:|-----------------------|
 | new_points | geometry_msgs/Point[] | the transformed point |
 
 #### `TfTransform`
 
 Request
 
-| Field | Type | Description |
-|:-:|:-:|---|
-| pose_array | geometry_msgs/PoseArray |  |
-| pointcloud | sensor_msgs/PointCloud2 |  |
-| point | geometry_msgs/PointStamped |  |
-| target_frame | std_msgs/String |  |
+|    Field     |            Type            | Description |
+|:------------:|:--------------------------:|-------------|
+|  pose_array  |  geometry_msgs/PoseArray   |             |
+|  pointcloud  |  sensor_msgs/PointCloud2   |             |
+|    point     | geometry_msgs/PointStamped |             |
+| target_frame |      std_msgs/String       |             |
 
 Response
 
-| Field | Type | Description |
-|:-:|:-:|---|
-| target_pose_array | geometry_msgs/PoseArray |  |
-| target_pointcloud | sensor_msgs/PointCloud2 |  |
-| target_point | geometry_msgs/PointStamped |  |
+|       Field       |            Type            | Description |
+|:-----------------:|:--------------------------:|-------------|
+| target_pose_array |  geometry_msgs/PoseArray   |             |
+| target_pointcloud |  sensor_msgs/PointCloud2   |             |
+|   target_point    | geometry_msgs/PointStamped |             |
 
 #### `LatestTransform`
 
 Request
 
-| Field | Type | Description |
-|:-:|:-:|---|
-| from_frame | string | source frame |
+|    Field     |  Type  | Description  |
+|:------------:|:------:|--------------|
+|  from_frame  | string | source frame |
 | target_frame | string | target frame |
 
 Response
 
-| Field | Type | Description |
-|:-:|:-:|---|
-| transform | geometry_msgs/TransformStamped | transform |
-
+|   Field   |              Type              | Description |
+|:---------:|:------------------------------:|-------------|
+| transform | geometry_msgs/TransformStamped | transform   |
 
 ### Actions
 

diff --git a/tasks/coffee_shop/config/ai_festival.yaml b/tasks/coffee_shop/config/ai_festival.yaml
@@ -1,20 +1,20 @@
 counter:
   cuboid:
-  - - -4.664883613586426
-    - 0.5069149136543274
-  - - -4.66
-    - 1.18
-  - - -3.78360652923584
-    - 1.1981416940689087
-  - - -3.700509548187256
-    - 0.4764649569988251
+    - - -4.664883613586426
+      - 0.5069149136543274
+    - - -4.66
+      - 1.18
+    - - -3.78360652923584
+      - 1.1981416940689087
+    - - -3.700509548187256
+      - 0.4764649569988251
   last_updated: '2024-05-21 12:43:44.778366'
   location:
-    position: 
+    position:
       x: -4.296226348137036
       y: 0.08967264124909166
       z: 0.0
-    orientation: 
+    orientation:
       x: 0.0
       y: 0.0
       z: 0.7401058378508781
@@ -35,24 +35,24 @@ tables:
       semantic: end
     num_persons: 0
     objects_cuboid:
-    - - -7.309726603688448
-      - -3.1535004587235225
-    - - -5.49823308072611
-      - -3.274925312500865
-    - - -5.448570318314367
-      - -2.4770380084237065
-    - - -7.260063841276704
-      - -2.3556131546463646
-    order: []
+      - - -7.309726603688448
+        - -3.1535004587235225
+      - - -5.49823308072611
+        - -3.274925312500865
+      - - -5.448570318314367
+        - -2.4770380084237065
+      - - -7.260063841276704
+        - -2.3556131546463646
+    order: [ ]
     persons_cuboid:
-    - - -8.15129910291433
-      - -3.898305859510039
-    - - -4.755986106323717
-      - -4.125894519868664
-    - - -4.606997819088486
-      - -1.7322326076371901
-    - - -8.002310815679097
-      - -1.5046439472785653
+      - - -8.15129910291433
+        - -3.898305859510039
+      - - -4.755986106323717
+        - -4.125894519868664
+      - - -4.606997819088486
+        - -1.7322326076371901
+      - - -8.002310815679097
+        - -1.5046439472785653
     pre_location:
       orientation:
         w: 0.6981442535161398
@@ -77,23 +77,23 @@ tables:
         y: -1.2458226745654628
         z: 0.0
     objects_cuboid:
-    - - -2.8254424871901778
-      - -1.9543831504533626
-    - - -2.859456062960578
-      - -3.7829678107717317
-    - - -2.059597477265037
-      - -3.79774950535365
-    - - -2.0255839014946373
-      - -1.9691648450352808
+      - - -2.8254424871901778
+        - -1.9543831504533626
+      - - -2.859456062960578
+        - -3.7829678107717317
+      - - -2.059597477265037
+        - -3.79774950535365
+      - - -2.0255839014946373
+        - -1.9691648450352808
     persons_cuboid:
-    - - -3.61043175014456
-      - -1.140220183601119
-    - - -3.6741839713972766
-      - -4.567567388460139
-    - - -1.2746082143106547
-      - -4.611912472205893
-    - - -1.210855993057938
-      - -1.1845652673468736
+      - - -3.61043175014456
+        - -1.140220183601119
+      - - -3.6741839713972766
+        - -4.567567388460139
+      - - -1.2746082143106547
+        - -4.611912472205893
+      - - -1.210855993057938
+        - -1.1845652673468736
     pre_location:
       orientation:
         w: 0.679755237535674
@@ -126,14 +126,14 @@ wait:
       y: -0.35096261264440465
       z: 0.0
   cuboid:
-  - - -4.7717108537934765
-    - -1.0936771098678093
-  - - -4.826165578352385
-    - 0.5047626855067713
-  - - -5.923852265904756
-    - 0.4656883095154718
-  - - -5.8693975413458475
-    - -1.1327514858591088
+    - - -4.7717108537934765
+      - -1.0936771098678093
+    - - -4.826165578352385
+      - 0.5047626855067713
+    - - -5.923852265904756
+      - 0.4656883095154718
+    - - -5.8693975413458475
+      - -1.1327514858591088
   last_updated: '2024-05-21 11:11:40.469766'
   location:
     orientation:
@@ -145,7 +145,7 @@ wait:
       x: -1.2641920084155993
       y: -0.30165943641891735
       z: 0.0
-objects: {"cup" : "coffee", "bottle": "cocacola"}
+objects: { "cup": "coffee", "bottle": "cocacola" }
 
 yolo_person_model: "yolo11n-seg.pt"
 yolo_objects_model: "yolo11n-seg.pt"
Original file line number	Diff line number	Diff line change
Expand Up		@@ -142,3 +142,4 @@ mypy.ini

		# Pycharm extension setup files
		.idea/*
		common/vision/lasr_vision_yolov8/models/*