on arrival
when basket full
resume
Satisfy
on CupDetected
Satisfy
then
Satisfy
resumes
Satisfy
Approach Cup (act-approach)
Approach Cup
activity
Collect Cup (act-collect)
Collect Cup
activity
Deposit Cups (act-deposit)
Deposit Cups
activity
Detect Cup (act-detect)
Detect Cup
activity
Patrol Floor (act-patrol)
Patrol Floor
activity
Yield to Person (act-yield)
Yield to Person
activity
Cup Collection (req-collect)
Cup Collection
requirement
Cup Detection (req-detect-cup)
Cup Detection
requirement
Floor Patrol (req-patrol)
Floor Patrol
requirement
Yield to People (req-yield)
Yield to People
requirement
floor-robot · commit 8e42ad84dda9063ffaa95e1a6e5c72914fcd2c14bced42443e712b975b319bfa · Process · mw-diagram-svg/0.2.0