RWC2018 #101
RWC2018 #101
Conversation
…machine in an Action See commit 4a8c34fca1d07a59ac75976390fc76dcd8faba6e of https://www.github.com/tue-robotics/tue_robocup
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| if __name__ == "__main__": |
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Should this be placed in a separate testing script? @MatthijsBurgh @jlunenburg
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Personally I indeed prefer putting these tests (and hence the entire __main__) in a separate test file. It's good though that there's a good and easy way to test it!
| entity_designator = EntityByIdDesignator(self._robot, id=semantics.target_location.id) | ||
| e = entity_designator.resolve() | ||
| e = entity_designator.resolve() # TODO: nasty assumption that we can resolve this entity here?! |
| self._config_result.context['object']['designator'] = self._found_entity_designator | ||
| self._config_result.succeeded = True | ||
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| # TODO: Robocup hack to make sure the robot moves to the found person |
| @@ -21,105 +19,110 @@ class PickUp(Action): | |||
| def __init__(self): | |||
| Action.__init__(self) | |||
| self._required_skills = ['arms'] | |||
| self._find_action = None | |||
| self._required_field_prompts = {'object': " What would you like me to pick up? ", | |||
| 'source-location': " Where would you like me to pick that up? "} # TODO: handle source location from context? | |||
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Guys, why is this pr still not merged? It's almost time for tournaments, and this is still an open pr from rwc2018. I don't think anyone is still using the master on this, right? |
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@LarsJanssenTUe is working on this. He is pretty close I think. Am I correct? |
…inspect' builtin Python module
| @@ -1,10 +1,11 @@ | |||
| import rospy | |||
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| from action import Action, ConfigurationData | |||
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Most clean to start with action import
| @@ -9,7 +9,7 @@ | |||
| from guide import Guide | |||
| from gripper_goal import GripperGoal | |||
| from hand_over import HandOver | |||
| from inspect import Inspect | |||
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Absolute imports will fix this
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That does not make sense for a __init__.py file
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What are the guidelines for python3 regarding imports in __init__.py?
I know that all normal imports should be absolute, right?
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Normal imports can also be relative but preferred to be absolute, esp. in our codebase.
When creating a package, which we do here, such relative imports are how it should be done: https://docs.python.org/2/tutorial/modules.html#packages
Python3 didn't change in this regard AFAIK.
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I am not sure what the best solution is yet, but if we start changing names, it should be consistent and done for all actions.
| 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)] |
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The fourth parameter should be variable depending on if the robot is looking for:
-a known person -> True
-Just anyone -> False
Can be done in the same way as done in line 130
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The ToDo's and the separate testing files are currently in an issue: #111 |
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