39 lines
1.0 KiB
Python
39 lines
1.0 KiB
Python
import py_trees as ptree
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from robowaiter.behavior_lib._base.Act import Act
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from robowaiter.algos.navigate.navigate import Navigator
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class MoveTo(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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"Bar",
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"Table",
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)
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def __init__(self, target_place):
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super().__init__(target_place)
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self.target_place = target_place
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@classmethod
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def get_info(self,arg):
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info = {
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"add": {f'At(Robot,{arg})'},
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}
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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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navigator = Navigator(scene=self.scene, area_range=[-350, 600, -400, 1450], map=self.scene.state["map"]["2d"])
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goal = self.scene.state['map']['obj_pos'][self.args[0]]
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navigator.navigate(goal, animation=False)
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self.scene.state['condition_set'].add('At(Robot,Table)')
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# goal = self.scene.state['map']['obj_pos'][self.args[0]]
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# self.scene.walk_to(goal[0],goal[1])
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return ptree.common.Status.RUNNING
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