65 lines
2.3 KiB
Python
65 lines
2.3 KiB
Python
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 PickUp(Act):
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can_be_expanded = True
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num_args = 1
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valid_args = Act.all_object
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def __init__(self, *args):
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super().__init__(*args)
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self.target_obj = self.args[0]
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@classmethod
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def get_info(cls,arg):
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info = {}
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info["pre"] = {f'At(Robot,{arg})','Holding(Nothing)'}
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info["add"] = {f'Holding({arg})'}
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info["del_set"] = {f'Holding(Nothing)'}
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for place in cls.valid_args:
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info["del_set"] |= {f'On({arg},{place})'}
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return info
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def _update(self) -> ptree.common.Status:
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# self.scene.test_move()
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# op_type=16
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# 遍历场景里的所有物品，根据名字匹配位置最近的 obj-id
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# 是否用容器装好
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if self.target_obj in Act.container_dic:
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target_name = Act.container_dic[self.target_obj]
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else:
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target_name = self.target_obj
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# 根据物体名字找到最近的这类物体对应的位置
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obj_id = -1
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min_dis = float('inf')
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obj_dict = self.scene.status.objects
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if len(obj_dict) != 0:
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# 获取obj_id
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for id, obj in enumerate(obj_dict):
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if obj.name == target_name:
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obj_info = obj_dict[id]
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dis = self.scene.cal_distance_to_robot(obj_info.location.X, obj_info.location.Y,
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obj_info.location.Z)
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if dis < min_dis:
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min_dis = dis
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obj_id = id
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# if self.target_place == "CoffeeCup":
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# # obj_id = 273
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# obj_id = 275
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if obj_id == -1:
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return ptree.common.Status.FAILURE
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self.scene.move_task_area(op_type=16, obj_id=obj_id)
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self.scene.op_task_execute(op_type=16, obj_id=obj_id)
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if self.scene.take_picture:
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self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio)
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self.scene.state["condition_set"] |= (self.info["add"])
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self.scene.state["condition_set"] -= self.info["del_set"]
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return Status.RUNNING
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