29 lines
826 B
Python
29 lines
826 B
Python
import py_trees as ptree
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from EXP.behavior_lib._base.Act import Act
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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 = Act.all_object | Act.tables_for_placement | Act.tables_for_guiding
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valid_args.add('Customer')
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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(cls,arg):
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info = {}
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info['pre'] = set()
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if arg in Act.all_object:
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info['pre'] |= {f'Exist({arg})'}
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info["add"] = {f'At(Robot,{arg})'}
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info["del_set"] = {f'At(Robot,{place})' for place in cls.valid_args if place != arg}
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info['cost'] = 1 #10
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# if arg!='Anything':
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# info['cost']=5
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# else:
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# info['cost']=0
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return info
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