35 lines
951 B
Python
35 lines
951 B
Python
from .grasp import GraspStage, PickStage, HookStage
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from .place import PlaceStage
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from .insert import InsertStage, HitStage
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from .slide import SlideStage
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from .pour import PourStage
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from .pull import PullStage
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from .push import PushStage
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from .pull_revolute import PullRevoluteStage
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from .press import PressPrismaticStage
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ACTION_STAGE = {
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"grasp": GraspStage,
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"pick": PickStage,
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"hook": HookStage,
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"place": PlaceStage,
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"insert": InsertStage,
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"slide": SlideStage,
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"shave": NotImplemented,
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"brush": NotImplemented,
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"wipe": NotImplemented,
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"hit": NotImplemented,
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"pour": PourStage,
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"push": PushStage,
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'click': PressPrismaticStage,
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'touch': PressPrismaticStage,
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'press_prismatic': PressPrismaticStage,
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"pull": PullStage,
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"pull_revolute": PullRevoluteStage,
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}
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def build_stage(action):
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if action not in ACTION_STAGE:
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raise NotImplementedError
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return ACTION_STAGE[action]
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