def test_get_specific_task_from_task__task_is_find__returns_task_with_find(self):
self.db_mock.get_task = Mock(return_value=(1, "find"))
task = Task(name="find")
task.objects_to_execute_on = [ObjectEntity()]
returned = self.task_grounding.get_specific_task_from_task(task)
self.assertEqual(TaskType.FIND, returned.task_info[0].task_type)
def test_get_specific_task_from_task__task_is_custom_task__returns_list_of_primary_skills(self):
pick_up_task = Task("pick up")
pick_up_task.task_type = TaskType.PICK
pick_up_task.objects_to_execute_on = [ObjectEntity()]
move_task = Task("pick up")
move_task.task_type = TaskType.MOVE
move_task.objects_to_execute_on = [ObjectEntity()]
place_task = Task("pick up")
place_task.task_type = TaskType.PICK
place_task.objects_to_execute_on = [ObjectEntity()]
sub_tasks = [[1, 2, 3], ["pick up", "move", "place"], [pick_up_task, move_task, place_task]]
tasks = [TaskType.PICK, TaskType.MOVE, TaskType.PLACE]
self.db_mock.get_task = Mock(return_value=(1, "clear table"))
self.db_mock.get_sub_tasks = Mock(return_value=sub_tasks)
task = Task("tidy")
returned = self.task_grounding.get_specific_task_from_task(task)
returned_tasks = [returned.task_info[0].task_type,
returned.task_info[1].task_type,
returned.task_info[2].task_type]
self.assertEqual(tasks, returned_tasks)
def handle_custom_task(self, sub_tasks):
tasks = []
for i in range(len(sub_tasks[0])): # task idx
task_id = sub_tasks[0][i]
task_name = sub_tasks[1][i]
db_task = sub_tasks[2][i]
task = Task()
if db_task is not None:
task.name = task_name
task.objects_to_execute_on = db_task.objects_to_execute_on
task.child_tasks = db_task.child_tasks
sub_task_tasks, error = self.task_switch(task_id, task_name, task)
tasks.extend(sub_task_tasks)
return tasks