  In the last years, robots are moving out of research laboratories to enter
everyday life. Competitions aiming at benchmarking the capabilities of a robot
in everyday scenarios are useful to make a step forward in this path. In fact,
they foster the development of robust architectures capable of solving issues
that might occur during human-robot coexistence in human-shaped scenarios. One
of those competitions is SciRoc that, in its second edition, proposed new
benchmarking environments. In particular, Episode 1 of SciRoc 2 proposed three
different modalities of participation while preserving the Human-Robot
Interaction (HRI), being a fundamental benchmarking functionality. The Coffee
Shop environment, used to challenge the participating teams, represented an
excellent testbed enabling for the benchmarking of different robotics
functionalities, but also an exceptional opportunity for proposing novel
solutions to guarantee real human-robot interaction procedures despite the
Covid-19 pandemic restrictions. The developed software is publicly released.
