36 lines
1.2 KiB
Python
36 lines
1.2 KiB
Python
|
import py_trees as ptree
|
||
|
|
from typing import Any
|
||
|
|
from robowaiter.behavior_lib._base.Act import Act
|
||
|
|
from robowaiter.behavior_lib._base.Behavior import Status
|
||
|
|
|
||
|
|
class PutDown(Act):
|
||
|
|
can_be_expanded = True
|
||
|
|
num_args = 1
|
||
|
|
|
||
|
|
def __init__(self, *args):
|
||
|
|
super().__init__(*args)
|
||
|
|
self.target_obj = self.args[0]
|
||
|
|
self.target_place = self.args[1]
|
||
|
|
|
||
|
|
|
||
|
|
@classmethod
|
||
|
|
def get_info(self,arg):
|
||
|
|
info = {}
|
||
|
|
info["pre"] = {f'Holding({arg[0]})',f'At(Robot,{arg[1]})'}
|
||
|
|
info["add"] = {f'Holding(Nothing)',f'At({arg[0]},{arg[1]})'}
|
||
|
|
info["del"] = {f'Holding(Nothing)'}
|
||
|
|
return info
|
||
|
|
|
||
|
|
|
||
|
|
def _update(self) -> ptree.common.Status:
|
||
|
|
# self.scene.test_move()
|
||
|
|
op_type=17
|
||
|
|
release_pos = list(Act.place_xyz_dic[self.target_place])
|
||
|
|
# # 原始吧台处:[247.0, 520.0, 100.0], 空调开关旁吧台:[240.0, 40.0, 70.0], 水杯桌:[-70.0, 500.0, 107]
|
||
|
|
# # 桌子2:[-55.0, 0.0, 107],桌子3:[-55.0, 150.0, 107]
|
||
|
|
self.scene.op_task_execute(op_type, release_pos=release_pos)
|
||
|
|
|
||
|
|
self.scene.state["condition_set"].union(self.info["add"])
|
||
|
|
self.scene.state["condition_set"] -= self.info["del"]
|
||
|
|
return Status.RUNNING
|