def expand(self, skill):
skill.setProcessor(SerialStar()) #SerialStar, Selector, ParallelFf, ParallelFs
skill(
self.skill("scan_and_update", "light_and_update","", specify = {"On/Off":True}),
self.skill("scan_and_update", "camera_and_update", ""),
self.skill("scan_and_update", "light_and_update", "", specify = {"On/Off":False})
)
def expand(self, skill):
skill.setProcessor(SerialStar()) #SerialStar, Selector, ParallelFf, ParallelFs
skill(
self.skill("MOVE_r3_and_update","r3_TAKE3", ""),
self.skill("cubes_and_update()","GEN_cube", ""),
self.skill("MOVE_r3_and_update", "r3_PRE_TAKE", ""),
self.skill("MOVE_r3_and_update","r3_LEAVE", "")
)
def expand(self, skill):
skill.setProcessor(Serial()) #SerialStar, Selector, ParallelFf, ParallelFs
skill(self.skill(Serial())(
self.skill("Listen_once", "listen_once",""),
self.skill("Gripper","close_gripper",""),
self.skill("Listen_once", "listen_once",""),
self.skill("Gripper", "check_gripper","")
)
)
def expand(self, skill):
skill.setProcessor(SerialStar()) #SerialStar, Selector, ParallelFf, ParallelFs
skill(self.skill(ParallelFf())(
self.skill("MOVE_r1_and_update","r1_LEAVE", ""),
self.skill("Compound","drop_off", "")
),
self.skill("grip_and_update", "CLOSE_gripper", ""),
self.skill("MOVE_r1_and_update", "r1_SCAN", ""),
self.skill("Compound", "SCAN", "")
)
def expand(self, skill):
skill.setProcessor(ParallelFs()) #SerialStar, Selector, ParallelFf, ParallelFs
skill(
self.skill("Scanning","camera",""),
self.skill("Listen", "listen","")
)
def expand(self, skill):
skill.setProcessor(ParallelFs()) #SerialStar, Selector, ParallelFf, ParallelFs
skill(
self.skill("Scanning","blue_light","", specify = {"On/Off":self.params["On/Off"].value}),
self.skill("Listen", "listen","")
)
def expand(self, skill):
skill.setProcessor(ParallelFs()) #SerialStar, Selector, ParallelFf, ParallelFs
skill(
self.skill("Gripper","open_gripper",""),
self.skill("Listen", "listen","")
)
def expand(self, skill):
skill.setProcessor(ParallelFs()) #SerialStar, Selector, ParallelFf, ParallelFs
skill(
self.skill("CUBES","del_cube",""),
self.skill("Listen", "listen","")
)
def expand(self, skill):
skill.setProcessor(ParallelFs()) #SerialStar, Selector, ParallelFf, ParallelFs
skill(
self.skill("MOVE_r1","r1_scan",""),
self.skill("Listen", "listen","")
)
