Commit bcbc7ea5 authored by Patrick Holthaus's avatar Patrick Holthaus

use waypoint

parent 12bf4a93
......@@ -31,6 +31,8 @@ base:
kitchen: [0, 2.12, 0]
after:
kitchen: [1.6, 2.2, 3.14]
exit:
kitchen: [0.6, 2.2, 3.14]
inspect:
kitchen: [2.3, 2.2, 0]
living_1: [0.4, -1.5, -1]
......
......@@ -266,7 +266,7 @@ class ExperimentControl(object):
self.base.goto("prepare/kitchen")
self.search("inspect/kitchen")
self.base.goto("after/kitchen")
self.interrupt_person(item)
self.interrupt_person(item, via=["exit/kitchen"])
def inspect_b(self):
item = "plugs"
......@@ -281,7 +281,8 @@ class ExperimentControl(object):
750: "Off",
752: "Off",
755: "Off",
})
},
via=["exit/kitchen"])
self.actuators.setActuator(672, 0)
self.actuators.setActuator(673, 0)
self.actuators.setActuator(750, 0)
......@@ -300,7 +301,7 @@ class ExperimentControl(object):
self.base.goto("prepare/kitchen")
self.search("inspect/kitchen")
self.base.goto("after/kitchen")
self.interrupt_person(item, monitor={752: "Off"})
self.interrupt_person(item, monitor={752: "Off"}, via=["exit/kitchen"])
def inspect_d(self):
item = "pepper"
......
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