-
Notifications
You must be signed in to change notification settings - Fork 45
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Receive and transport drink scenario #246
Merged
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…assed to the action client
This behaviour (i) estimates the posture of a person and (ii) calls the 'receive_object' action for receiving an object
…s/mas_domestic_robotics into feature/metrics-transport-drink
…to feature/metrics-transport-drink
alex-mitrevski
changed the title
WIP: Receive and transport drink scenario
Receive and transport drink scenario
Dec 9, 2020
This was referenced Dec 31, 2020
Merged
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Summary of changes
The PR defines a new scenario package
mdr_receive_and_transport_drink
undermdr_robocup_tasks
. The package implements a scenario in which a robot looks for a person, receives a drink from them, and brings the drink to a kitchen counter. The implementation follows the scenario description in the METRICS rulebook.In addition to the new package, the PR includes the following changes and enhancements:
find_people
action client was modified so that person recognition can optionally be performed (depending on an argument passed to the client) and previously detected people can be erased from the knowledge base (as in theperceive_plane
action). Thefind_people
behaviour undermdr_perception_behaviours
was also modified so that it can receive an argumentperform_recognition
, which is then passed on to the action client.receive_object
behaviour was added undermdr_hri_behaviours
, which extracts the posture of a person (with the same heuristic as in themdr_context_aware_hand_over
scenario) and then makes a call to thereceive_object
action so that the object can be received.Notes