From c748810ec2dabab9fcce522712473c8315bef944 Mon Sep 17 00:00:00 2001
From: Caiyishuai <39987654+Caiyishuai@users.noreply.github.com>
Date: Thu, 16 Nov 2023 23:05:11 +0800
Subject: [PATCH] =?UTF-8?q?=E8=A7=A3=E5=86=B3=E4=BA=86=E9=85=B8=E5=A5=B6?=
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---
 robowaiter/behavior_lib/_base/Behavior.py    | 3 +--
 robowaiter/behavior_lib/act/GreatCustomer.py | 2 ++
 robowaiter/behavior_lib/act/Make.py          | 1 +
 robowaiter/behavior_lib/act/MoveTo.py        | 2 +-
 robowaiter/behavior_lib/act/PutDown.py       | 2 +-
 5 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/robowaiter/behavior_lib/_base/Behavior.py b/robowaiter/behavior_lib/_base/Behavior.py
index 92eb9d4..8d5460e 100644
--- a/robowaiter/behavior_lib/_base/Behavior.py
+++ b/robowaiter/behavior_lib/_base/Behavior.py
@@ -29,8 +29,7 @@ class Bahavior(ptree.behaviour.Behaviour):
         'Bar2': (240.0, 40.0, 70.0),
         'WaterTable':(-70.0, 500.0, 107),
         'CoffeeTable':(250.0, 310.0, 100.0),
-        'Table1': (340.0, 900.0, 98.0),
-        # 'Table1': (345.0, 895.0, 98.0),
+        'Table1': (340.0, 900.0, 99.0),
         'Table2': (-55.0, 0.0, 107),
         'Table3':(-55.0, 150.0, 107)
     }
diff --git a/robowaiter/behavior_lib/act/GreatCustomer.py b/robowaiter/behavior_lib/act/GreatCustomer.py
index ce186ed..5ac8844 100644
--- a/robowaiter/behavior_lib/act/GreatCustomer.py
+++ b/robowaiter/behavior_lib/act/GreatCustomer.py
@@ -21,5 +21,7 @@ class GreatCustomer(Act):
 
     def _update(self) -> ptree.common.Status:
 
+        goal = Act.place_xyz_dic['Bar']
+        self.scene.walk_to(goal[0]-5,goal[1], 180, 180, 0)
         self.scene.chat_bubble("欢迎光临！请问有什么可以帮您？")
         return ptree.common.Status.RUNNING
diff --git a/robowaiter/behavior_lib/act/Make.py b/robowaiter/behavior_lib/act/Make.py
index 88f828e..f3e9b38 100644
--- a/robowaiter/behavior_lib/act/Make.py
+++ b/robowaiter/behavior_lib/act/Make.py
@@ -34,6 +34,7 @@ class Make(Act):
             info["add"] |= {f'On({arg},WaterTable)'}
         elif arg == cls.valid_args[2]:
             info["add"] |= {f'On({arg},Bar)'}
+        info['cost'] = 10
         return info
 
     def _update(self) -> ptree.common.Status:
diff --git a/robowaiter/behavior_lib/act/MoveTo.py b/robowaiter/behavior_lib/act/MoveTo.py
index 6c31ad5..3ca9167 100644
--- a/robowaiter/behavior_lib/act/MoveTo.py
+++ b/robowaiter/behavior_lib/act/MoveTo.py
@@ -21,7 +21,7 @@ class MoveTo(Act):
             info['pre'] |= {f'Exist({arg})'}
         info["add"] = {f'At(Robot,{arg})'}
         info["del_set"] = {f'At(Robot,{place})' for place in cls.valid_args if place != arg}
-        info['cost']=10
+        info['cost']=5
         return info
 
 
diff --git a/robowaiter/behavior_lib/act/PutDown.py b/robowaiter/behavior_lib/act/PutDown.py
index 7187a69..48723ca 100644
--- a/robowaiter/behavior_lib/act/PutDown.py
+++ b/robowaiter/behavior_lib/act/PutDown.py
@@ -23,7 +23,7 @@ class PutDown(Act):
         info["add"] = {f'Holding(Nothing)',f'On({arg[0]},{arg[1]})'}
         info["del_set"] = {f'Holding({arg[0]})'}
 
-        info['cost'] = 100
+        info['cost'] = 1
         return info