86: Reconstructed safety check and receptionist trees

src/lhw_intelligence/lhw_intelligence/py_tree_script/output

-import py_trees
-
-safety_check = py_trees.composites.Selector(name=" Safety Check")
-procedure = py_trees.composites.Sequence(name=" Procedure")
-wait = py_trees.timers.Timer(name="Wait", duration=2)
-
-
-

src/lhw_intelligence/lhw_intelligence/scenario_trees/receptionist.tree

@@ -11,21 +11,21 @@
 |    |    |    |    [Confirm Name]
 |    |    |    |    (Name Confirmed);;Confirm Say
 |    |    |    [Ask Name Again];;Say
-|    |    |    (Name Retry);;Standby
+|    |    |    [Name Retry];;Standby
 |    |    ?;;Age Wait Sel
 |    |    |    ->;;Get Age Seq
 |    |    |    |    [Ask For Age];;Say
 |    |    |    |    [Confirm Age]
 |    |    |    |    (Age Confirmed);;Confirm Say
 |    |    |    [Ask Age Again];;Say
-|    |    |    (Age Retry);;Standby
+|    |    |    [Age Retry];;Standby
 |    |    ?;;Drink Wait Sel
 |    |    |    ->;;Get Drink Seq
 |    |    |    |    [Ask For Favorite Drink];;Say
 |    |    |    |    [Confirm Drink]
 |    |    |    |    (Drink Confirmed);;Confirm Say
 |    |    |    [Ask Drink Again];;Say
-|    |    |    (Drink Retry);;Standby
+|    |    |    [Drink Retry];;Standby
 |    |    [Tell Person To Follow];;Say
 |    [Look Down];;Pepper Tilt Head
 |    [Move To Sofa];;Move To Point
@@ -38,7 +38,6 @@
 |    |    |    |    [Increase Introduced]
 |    |    |    |    (Wait);;Timer;;5
 |    |    |    |    (Check If Introduced everyone);;Introduced All
-|    |    |    [Introduce Retry];;Standby
 |    |    |    (Introduce Retry);;Standby
 |    |    [Point At Empty Seat];;Point At
 |    |    [Tell Person To Sit];;Say

src/lhw_intelligence/lhw_intelligence/scenario_trees/safety_check.tree

@@ -3,9 +3,12 @@
 |    |    (Is Door Open)
 |    |    [Move Forward]
 |    |    (Wait);;Timer;;2
+|    |    [Look Down];;Pepper Tilt Head
 |    |    [Move To Safety Point];;Move To Point
-|    |    ?;;Head Touched Selector Wait
+|    |    [Center Head];;Pepper Center Head
+|    |    ?;;Head Touched Sel
 |    |    |    (Is Head Touched)
 |    |    |    [Head Touched Retry];;Standby
+|    |    [Look Down];;Pepper Tilt Head
 |    |    [Move To Exit];;Move To Point
 |    [Standby]
\ No newline at end of file