79 lines
2.2 KiB
Python
79 lines
2.2 KiB
Python
import py_trees as ptree
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from typing import Any
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import enum
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from py_trees.common import Status
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# _base Behavior
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class Bahavior(ptree.behaviour.Behaviour):
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can_be_expanded = False
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num_params = 0
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valid_params='''
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None
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'''
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scene = None
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print_name_prefix = ""
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all_place = {'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3'}
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all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk',
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'VacuumCup'}
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place_xyz_dic={
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'Bar': (247.0, 520.0, 100.0),
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'Bar2': (240.0, 40.0, 70.0),
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'WaterTable':(-70.0, 500.0, 107),
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'CoffeeTable':(247.0, 520.0, 100.0), # 位置需要更改！！！
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'Table1': (247.0, 520.0, 100.0),# 位置需要更改！！！
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'Table2': (-55.0, 0.0, 107),
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'Table3':(-55.0, 150.0, 107)
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}
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@classmethod
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def get_ins_name(cls,*args):
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name = cls.__name__
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if len(args) > 0:
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ins_name = f'{name}({",".join(list(args))})'
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else:
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ins_name = f'{name}()'
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return ins_name
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def __init__(self,*args):
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self.name = Bahavior.get_ins_name(*args)
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#get valid args
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# self.valid_arg_list = []
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# lines = self.valid_params.strip().splitlines()
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# for line in lines:
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# self.valid_arg_list.append((x.strip for x in line.split(",")))
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self.args = args
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super().__init__(self.name)
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def _update(self) -> ptree.common.Status:
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print("this is just a _base behavior node.")
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return Status.INVALID
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@property
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def print_name(self):
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return f'{self.print_name_prefix}{self.get_ins_name(*self.args)}'
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# let behavior node interact with the scene
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def set_scene(self, scene):
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self.scene = scene
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def setup(self, **kwargs: Any) -> None:
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return super().setup(**kwargs)
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def initialise(self) -> None:
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return super().initialise()
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def update(self) -> Status:
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re = self._update()
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return re
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def terminate(self, new_status: Status) -> None:
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return super().terminate(new_status)
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@property
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def arg_str(self):
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return ",".join(self.args) |