48 lines
1.4 KiB
Python
48 lines
1.4 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 Make(Act):
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can_be_expanded = True
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num_args = 1
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valid_args = (
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"Coffee","Water","Dessert"
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)
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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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self.op_type = 1
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if self.target_obj=="Coffee":
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self.op_type = 1
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elif self.target_obj=="Water":
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self.op_type = 2
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elif self.target_obj=="Dessert":
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self.op_type = 3
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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'Holding(Nothing)'}
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info['del_set'] = set()
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info['add'] = {f'Exist({arg})'}
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if arg == "Coffee":
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info["add"] |= {f'On(Coffee,CoffeeTable)'}
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elif arg == "Water":
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info["add"] |= {f'On(Water,WaterTable)'}
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elif arg == "Dessert":
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info["add"] |= {f'On(Dessert,Bar)'}
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return info
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def _update(self) -> ptree.common.Status:
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self.scene.move_task_area(self.op_type)
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self.scene.op_task_execute(self.op_type)
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# self.scene.gen_obj(type=40)
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self.scene.state["condition_set"].union(self.info["add"])
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self.scene.state["condition_set"] -= self.info["del_set"]
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return Status.RUNNING |