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fixed TaskEvaluation.action

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This commit is contained in:
Niko Feith 2024-03-18 18:33:59 +01:00
parent bf49376d3c
commit 9ad94fd1ce
2 changed files with 5 additions and 2 deletions
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1
src/interaction_msgs/action/TaskEvaluation.action
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@ -23,3 +23,4 @@ uint16 processed_trajectories
# Result # Result
float32[] new_means # Length: number_of_population * number_of_dimensions * number_of_parameters_per_dimension, this is needed because in case of user input the parameters arent known yet float32[] new_means # Length: number_of_population * number_of_dimensions * number_of_parameters_per_dimension, this is needed because in case of user input the parameters arent known yet
float32[] score # Length: number_of_population float32[] score # Length: number_of_population

4
src/interaction_tasks/interaction_tasks/task_node.py
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@ -14,7 +14,6 @@ from src.interaction_utils.serialization import flatten_population, unflatten_po
from interaction_msgs.action import TaskEvaluation from interaction_msgs.action import TaskEvaluation
class TaskNode(Node): class TaskNode(Node):
def __init__(self): def __init__(self):
super().__init__('task_node') super().__init__('task_node')
@ -112,6 +111,9 @@ class TaskNode(Node):
goal_handle.publish_feedback(feedback_msg) goal_handle.publish_feedback(feedback_msg)
if self.state == 'sending_request': if self.state == 'sending_request':
if self.goal_dict == {}:
self.error_trigger()
result_msg.score = self.goal_dict['score'] result_msg.score = self.goal_dict['score']
result_msg.new_means = self.goal_dict['new_means'] result_msg.new_means = self.goal_dict['new_means']
break break