23 lines
688 B
Python
23 lines
688 B
Python
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import py_trees as ptree
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from typing import Any
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from robowaiter.behavior_lib._base.Act import Act
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from robowaiter.behavior_lib._base.Behavior import Status
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class PourWater(Act):
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def __init__(self, *args):
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super().__init__(*args)
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@property
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def cond_sets(self):
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self.pre = {"At(Robot,WaterTable)","NotHolding"}
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self.add = {"On(Water,WaterTable)"}
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self.de = {}
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return self.pre,self.add,self.de
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def _update(self) -> ptree.common.Status:
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op_type = 2
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self.scene.move_task_area(op_type)
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self.scene.op_task_execute(op_type)
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self.scene.state["condition_set"].update(self.add)
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return Status.RUNNING
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