Skip to content

Plan Checker

Run the Plan Checker MicroSim Fullscreen

You can include this MicroSim on your website using the following iframe:

<iframe src="https://dmccreary.github.io/robot-arm/sims/plan-checker/main.html"
        height="630px" width="100%" scrolling="no"></iframe>

Description

Check eight pick-and-place plans before the arm moves. Each plan is a numbered list of tool calls, and you name the one problem with it or say that the plan is valid. Used in Chapter 16.

Explore mode shows the ten-step plan of the chapter and the five checks in order: every tool exists, every value is inside its range, the first step is get_status, the gripper is opened before the first move down, and the grasp is checked before any lift. In the quiz a step written as "move" is a call of the move_to_pose tool, and the ranges of x and z stay in view under every plan.

Lesson Plan

Grade level: Middle school and up (age 12+). Time: 5 to 10 minutes.

  1. Read the model plan. In Explore mode, say why each of the ten steps is where it is.
  2. Check. Press Start. For each plan, read the steps in order and test them against the five checks. Choose an outcome and press Check. You get one try for each plan.
  3. Read the reason. The feedback names the correct outcome and gives the reason. Mastery is 7 of 8.
  4. Think about it. Every step of a plan can be legal by itself and the plan can still be wrong. Which of the five checks look at the order of the steps?

A plan is data. The executor checks the whole list and refuses a bad plan before any motor turns, and it does not try to fix the plan as it goes.

Specification

The learning objective, evidence of mastery and content for this MicroSim are specified in Chapter 16: Agent Planning, Vision, and Interfaces.