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from py_trees.behaviour import Behaviour
from py_trees.common import Status
# This provides the same functionality as py_trees's internal Timer class, but
# uses the number of steps instead of time, ensuring the same result regardless
# of the simulation speed.
class Sleep(Behaviour):
def __init__(self, name, steps=20):
super().__init__(name)
self.steps = steps
def update(self):
while self.steps > 0:
self.steps -= 1
return Status.RUNNING
return Status.SUCCESS
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