on cup found
when basket full
if grasp fails
Satisfy
Satisfy
then
retry
Deposit Cups (act-duck-deposit)
Deposit Cups
activity
Detect Cup (act-duck-detect)
Detect Cup
activity
Grasp Cup (act-duck-grasp)
Grasp Cup
activity
Patrol Floor (act-duck-patrol)
Patrol Floor
activity
Retry Grasp (act-duck-retry)
Retry Grasp
activity
Pick Up Cup (req-duck-pick)
Pick Up Cup
requirement
Handles Stacked Cups (req-duck-stack)
Handles Stacked Cups
requirement
microduck · commit d181960375a853ffd817a96174a04735d613858e829ab41613d65900141c4368 · Process · mw-diagram-svg/0.2.0