32 lines
943 B
Python
32 lines
943 B
Python
import py_trees as ptree
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from typing import Any
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from robowaiter.behavior_lib._base.Cond import Cond
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class On(Cond):
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can_be_expanded = True
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num_params = 2
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valid_params = [tuple(Cond.all_object),
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tuple(Cond.tables_for_placement)]
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def __init__(self,*args):
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super().__init__(*args)
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def _update(self) -> ptree.common.Status:
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# if self.scene.status?
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# print("self.name:",self.name)
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# print("On: condition_set:",self.scene.state["condition_set"])
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# self.scene.get_obstacle_point(self.scene.db, self.status, map_ratio=self.scene.map_ratio)
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if self.name in self.scene.state["condition_set"]:
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return ptree.common.Status.SUCCESS
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else:
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return ptree.common.Status.FAILURE
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# if self.scene.state['chat_list'] == []:
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# return ptree.common.Status.FAILURE
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# else:
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# return ptree.common.Status.SUCCESS
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