def __init__(self):
self._condition = Condition.get('robot.pose')
self._check_path_vareffect = MoveBaseAction.CheckForPathVarEffect(
self._condition)
SMACHStateWrapperAction.__init__(self, MoveBaseState(), [
Precondition(Condition.get('robot.bumpered'), False),
Precondition(Condition.get('robot.arm_pose_floor'), True)
], [self._check_path_vareffect])
def __init__(self):
self._condition = Condition.get('robot.pose')
self._check_path_vareffect = MoveBaseAction.CheckForPathVarEffect(self._condition)
SMACHStateWrapperAction.__init__(self, MoveBaseState(),
[Precondition(Condition.get('robot.bumpered'), False),
Precondition(Condition.get('robot.arm_pose_floor'), True)
],
[self._check_path_vareffect])
def __init__(self):
SMACHStateWrapperAction.__init__(
self, get_move_arm_to_joints_positions_state(ARM_POSE_FOLDED),
[Precondition(Condition.get('arm_can_move'), True),
# TODO: maybe remove necessary anti-effect-preconditions
# the currently available alternative would be to use a
# variable effect that can reach any value
Precondition(Condition.get('robot.arm_folded'), False)],
[Effect(Condition.get('robot.arm_folded'), True)])
def __init__(self):
SMACHStateWrapperAction.__init__(
self,
get_move_arm_to_joints_positions_state(ARM_POSE_FOLDED),
[
Precondition(Condition.get('arm_can_move'), True),
# TODO: maybe remove necessary anti-effect-preconditions
# the currently available alternative would be to use a
# variable effect that can reach any value
Precondition(Condition.get('robot.arm_folded'), False)
],
[Effect(Condition.get('robot.arm_folded'), True)])
def __init__(self):
SMACHStateWrapperAction.__init__(
self, get_lookaround_smach_mock(),
[Precondition(Condition.get('arm_can_move'), True)],
[VariableEffect(Condition.get('awareness'))])
def __init__(self):
SMACHStateWrapperAction.__init__(self, ValueLooperState(), [
Precondition(Condition.get('memory.in'), NUMBER_IN),
Precondition(Condition.get('memory.out'), -1)
], [Effect(Condition.get('memory.out'), NUMBER_OUT)])
def __init__(self):
SMACHStateWrapperAction.__init__(
self, get_lookaround_smach(glimpse=True),
[Precondition(Condition.get('arm_can_move'), True)],
[VariableEffect(Condition.get('awareness'))])
