From 6e425b57ea53ce7bce6acf0331fd1accc9e3f80c Mon Sep 17 00:00:00 2001
From: sebol117 <sebol117@student.liu.se>
Date: Tue, 22 Feb 2022 10:32:30 +0100
Subject: [PATCH] 86: Reconstructed safety check and receptionist trees

---
 .../lhw_intelligence/py_tree_script/output                | 8 --------
 .../lhw_intelligence/scenario_trees/receptionist.tree     | 7 +++----
 .../lhw_intelligence/scenario_trees/safety_check.tree     | 5 ++++-
 3 files changed, 7 insertions(+), 13 deletions(-)
 delete mode 100644 src/lhw_intelligence/lhw_intelligence/py_tree_script/output

diff --git a/src/lhw_intelligence/lhw_intelligence/py_tree_script/output b/src/lhw_intelligence/lhw_intelligence/py_tree_script/output
deleted file mode 100644
index 02f79606..00000000
--- a/src/lhw_intelligence/lhw_intelligence/py_tree_script/output
+++ /dev/null
@@ -1,8 +0,0 @@
-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)
-
-
-
diff --git a/src/lhw_intelligence/lhw_intelligence/scenario_trees/receptionist.tree b/src/lhw_intelligence/lhw_intelligence/scenario_trees/receptionist.tree
index 52990fe7..b723be5d 100644
--- a/src/lhw_intelligence/lhw_intelligence/scenario_trees/receptionist.tree
+++ b/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
diff --git a/src/lhw_intelligence/lhw_intelligence/scenario_trees/safety_check.tree b/src/lhw_intelligence/lhw_intelligence/scenario_trees/safety_check.tree
index fbb1df36..ae424743 100644
--- a/src/lhw_intelligence/lhw_intelligence/scenario_trees/safety_check.tree
+++ b/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
-- 
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