find smach state is called differently when looking for anyone

tue-robotics · Apr 2, 2019 · 8715110 · 8715110
1 parent 9131e7c
commit 8715110
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/action_server/src/action_server/actions/find.py b/action_server/src/action_server/actions/find.py
@@ -129,10 +129,13 @@ def _configure(self, robot, config):
             # person in room
             if not self._semantics.object.id:
                 self._semantics.object.id = 'someone'
+                discard_other_labels = False
+            else:
+                discard_other_labels = True
             self._found_entity_designator = VariableDesignator(resolve_type=Entity)
             self._find_state_machines = [
                 states.FindPersonInRoom(robot, self._semantics.source_location.id, self._semantics.object.id,
-                                        True, self._found_entity_designator.writeable)]
+                                        discard_other_labels, self._found_entity_designator.writeable)]
             self._config_result.context['location'] = {
                 'designator': EdEntityDesignator(self._robot, id=self._semantics.source_location.id)
             }