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Juan Diego edited this page Jan 25, 2024
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| Node Name | Precondition | Effect |
|---|---|---|
| IsDetected(person) | Person standing in front of the robot at the beginning of the test | Person detected |
| IsDetected(2 bags) | Two bags at maximum must be in front of the robot | Bags detected |
| IsPointing | Bags and a person detected | Correct bag position known |
| MoveTo(correct_bag) | Correct bag position known | Robot close to the correct bag |
| MoveArmToPredefined(gripper_front_camera) | Robot close to the correct bag | Robot ready to let the person hang the bag on the gripper |
| LookTo(person_1) | Person was detected & Robot near correct bag | Person will notice robot is attending to them |
| Speak | Robot near the correct bag | Person know that has to hang out the bag in the robot`s gripper |
| LookTo(gripper) | Person know it has to hang the bag | |
| IsDetected(bag) | Person know it has to hang the bag | Robot knows the bag is on its gripper |
| MoveArmToPredefined(home) | Robot knows the bag is on its gripper | Bag is secured to prevent its fall |
| Speak | Bag is secured | Person know the robot is ready to follow him |
| FollowPerson (subtree) | Person is detected & Moving | We have arrived to the destination |
| MoveArmToPredefined(gripper_front_camera) | We have arrived to the destination | |
| LookAt(person) | Person was detected & We have arrived to the destination | Person knows the robot is asking for attention |
| Speak | Person was detected | Person is noticed that the robot is offering the bag |
| LookAt(gripper) | Person was noticed | |
| Not IsDetected(bag) | Person was noticed | Robot knows the person has the bag now |
| Speak | Person has the bag | Person is noticed the robot is going back |
| MoveTo | Bag was delivered | Robot is at the beginning of the test |