35 lines
967 B
Python
35 lines
967 B
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 FreeHands(Act):
|
||
|
|
can_be_expanded = True
|
||
|
|
num_args = 0
|
||
|
|
valid_args = set()
|
||
|
|
|
||
|
|
def __init__(self, *args):
|
||
|
|
super().__init__(*args)
|
||
|
|
|
||
|
|
|
||
|
|
@classmethod
|
||
|
|
def get_info(cls):
|
||
|
|
info = {}
|
||
|
|
# info["pre"]= set()
|
||
|
|
info["pre"] ={f'Holding(Nothing)'}
|
||
|
|
info['add'] = {f'Holding(Nothing)'}
|
||
|
|
info['del_set'] = {f'Holding({obj})' for obj in cls.all_object}
|
||
|
|
info['cost'] = 0
|
||
|
|
return info
|
||
|
|
|
||
|
|
def _update(self) -> ptree.common.Status:
|
||
|
|
|
||
|
|
|
||
|
|
if self.scene.show_ui:
|
||
|
|
self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio,update_info_count=1)
|
||
|
|
|
||
|
|
self.scene.state["condition_set"] |= (self.info["add"])
|
||
|
|
self.scene.state["condition_set"] -= self.info["del_set"]
|
||
|
|
|
||
|
|
|
||
|
|
return Status.RUNNING
|