37 lines
1.1 KiB
Python
37 lines
1.1 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 Act.all_place:
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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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obj_id = 0
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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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self.scene.op_task_execute(op_type, obj_id=obj_id)
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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
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