21 lines
691 B
Python
21 lines
691 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 FocusingCustomer(Cond):
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def __init__(self):
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super().__init__()
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def _update(self) -> ptree.common.Status:
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# if self.scene.status?
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if "customer" in self.scene.state['attention']:
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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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return ptree.common.Status.SUCCESS
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else:
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goal = Cond.place_xy_yaw_dic['Bar']
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self.scene.walk_to(goal[0] - 5, goal[1], 180, 180, 0)
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return ptree.common.Status.FAILURE
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