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Fix: Enable automatic skill selection if grounding fails #72

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Fix: Enable automatic skill selection if grounding fails #72

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6 changes: 3 additions & 3 deletions skiros2_skill/src/skiros2_skill/core/skill_instanciator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -68,16 +68,16 @@ def assign_instance(self, skill, ignore_list=list()):
"""
to_set = None
for p in self._available_instances[skill.type]:
if (p.label == skill.label or skill.label == "") and p.label not in ignore_list:
if (p.label == skill._label or skill._label == "") and p.label not in ignore_list:
to_set = p
if not p.hasState(State.Running): # The skill is available, just go forward
break
if to_set is not None:
if to_set.hasState(State.Running): # The skill instance is busy, create a new one
to_set = self.duplicate_instance(to_set)
skill.setInstance(to_set)
elif skill.label != "" and not ignore_list: # No instance exist, try to load it
skill.setInstance(self.add_instance(skill.label))
elif skill._label != "" and not ignore_list: # No instance exist, try to load it
skill.setInstance(self.add_instance(skill._label))
else:
log.error("assign_instance", "No instance of type {} found.".format(skill.type))
return False
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2 changes: 1 addition & 1 deletion skiros2_skill/src/skiros2_skill/core/skill_utils.py
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Expand Up @@ -236,7 +236,7 @@ def tryOther(self, skill):
"""
@brief If the skill label is not specified, try other instances
"""
if skill.label != "":
if skill._label != "":
return False
ignore_list = [skill._instance.label]
while self._instanciator.assign_instance(skill, ignore_list):
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