State machine

state/assets/character_state_machine.json

@@ -0,0 +1,134 @@
+{
+  "start": {
+    "state": "Idle"
+  },
+  "states": {
+    "Idle": {
+      "transitions": [
+        {
+          "target": "PickupTrash",
+          "signal": "waste_detected",
+          "conditions": [
+            {
+              "type": ">=",
+              "left": {
+                "value": 400
+              },
+              "right": {
+                "function": "distance",
+                "args": [
+                  {
+                    "accessor": [
+                      "character",
+                      "position"
+                    ]
+                  },
+                  {
+                    "accessor": [
+                      "signals",
+                      "waste_detected",
+                      "args",
+                      "waste",
+                      "position"
+                    ]
+                  }
+                ]
+              }
+            }
+          ],
+          "transfer": {
+            "waste": {
+              "accessor": [
+                "signals",
+                "waste_detected",
+                "args",
+                "waste"
+              ]
+            }
+          }
+        }
+      ]
+    },
+    "PickupTrash": {
+      "transitions": [
+        {
+          "target": "ThrowTrashAway",
+          "signal": "waste_detected",
+          "conditions": [
+            {
+              "type": ">=",
+              "left": {
+                "value": 75
+              },
+              "right": {
+                "function": "distance",
+                "args": [
+                  {
+                    "accessor": [
+                      "character",
+                      "position"
+                    ]
+                  },
+                  {
+                    "accessor": [
+                      "signals",
+                      "waste_detected",
+                      "args",
+                      "waste",
+                      "position"
+                    ]
+                  }
+                ]
+              }
+            }
+          ],
+          "transfer": {
+            "waste": {
+              "accessor": [
+                "signals",
+                "waste_detected",
+                "args",
+                "waste"
+              ]
+            }
+          }
+        }
+      ]
+    },
+    "ThrowTrashAway": {
+      "transitions": [
+        {
+          "target": "Idle",
+          "conditions": [
+            {
+              "type": ">=",
+              "left": {
+                "value": 90
+              },
+              "right": {
+                "function": "distance",
+                "args": [
+                  {
+                    "accessor": [
+                      "character",
+                      "position"
+                    ]
+                  },
+                  {
+                    "accessor": [
+                      "root_nodes",
+                      "StateMachineWorld",
+                      "child_nodes",
+                      "TrashBin",
+                      "position"
+                    ]
+                  }
+                ]
+              }
+            }
+          ]
+        }
+      ]
+    }
+  }
+}

state/assets/cleaning_robot.png.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://cx04xknqfdscp"
+path="res://.godot/imported/cleaning_robot.png-014de1c8447fd18dff622d82a883fa1e.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://assets/cleaning_robot.png"
+dest_files=["res://.godot/imported/cleaning_robot.png-014de1c8447fd18dff622d82a883fa1e.ctex"]
+
+[params]
+
+compress/mode=0
+compress/high_quality=false
+compress/lossy_quality=0.7
+compress/hdr_compression=1
+compress/normal_map=0
+compress/channel_pack=0
+mipmaps/generate=false
+mipmaps/limit=-1
+roughness/mode=0
+roughness/src_normal=""
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1

state/assets/floor.png.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://dkqw1wsjbvl0i"
+path="res://.godot/imported/floor.png-38406586736af2fe805d7b886727ee47.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://assets/floor.png"
+dest_files=["res://.godot/imported/floor.png-38406586736af2fe805d7b886727ee47.ctex"]
+
+[params]
+
+compress/mode=0
+compress/high_quality=false
+compress/lossy_quality=0.7
+compress/hdr_compression=1
+compress/normal_map=0
+compress/channel_pack=0
+mipmaps/generate=false
+mipmaps/limit=-1
+roughness/mode=0
+roughness/src_normal=""
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1

state/assets/trash_bag.png.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://s0vco3jt5y8m"
+path="res://.godot/imported/trash_bag.png-26088d6e8428343ce319693f7898cb67.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://assets/trash_bag.png"
+dest_files=["res://.godot/imported/trash_bag.png-26088d6e8428343ce319693f7898cb67.ctex"]
+
+[params]
+
+compress/mode=0
+compress/high_quality=false
+compress/lossy_quality=0.7
+compress/hdr_compression=1
+compress/normal_map=0
+compress/channel_pack=0
+mipmaps/generate=false
+mipmaps/limit=-1
+roughness/mode=0
+roughness/src_normal=""
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1

state/assets/trash_bin.png.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://di8eotyycurps"
+path="res://.godot/imported/trash_bin.png-1284d871f56467e75f465b364d170d20.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://assets/trash_bin.png"
+dest_files=["res://.godot/imported/trash_bin.png-1284d871f56467e75f465b364d170d20.ctex"]
+
+[params]
+
+compress/mode=0
+compress/high_quality=false
+compress/lossy_quality=0.7
+compress/hdr_compression=1
+compress/normal_map=0
+compress/channel_pack=0
+mipmaps/generate=false
+mipmaps/limit=-1
+roughness/mode=0
+roughness/src_normal=""
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1

state/project.godot

@@ -11,5 +11,18 @@ config_version=5
 [application]
 
 config/name="state"
+run/main_scene="res://scenes/state/StateMachineWorld.tscn"
 config/features=PackedStringArray("4.3", "Forward Plus")
 config/icon="res://icon.svg"
+
+[display]
+
+window/stretch/mode="viewport"
+
+[input]
+
+spawn_trash={
+"deadzone": 0.5,
+"events": [Object(InputEventMouseButton,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"button_mask":0,"position":Vector2(0, 0),"global_position":Vector2(0, 0),"factor":1.0,"button_index":1,"canceled":false,"pressed":false,"double_click":false,"script":null)
+]
+}

state/scenes/state/SMCharacter.gd

@@ -0,0 +1,95 @@
+extends CharacterBody2D
+
+@onready var state_machine: StateMachine = $StateMachine
+#
+@onready var sprite: Node = $Sprite2D
+#
+const MAX_SPEED: float        = 150.0
+const MAX_ACCELERATION: float = 300.0
+const SLOWING_RADIUS: float   = 80.0
+const SHAKE_INTENSITY: float  = 8.0
+const ROTATION_SPEED: float   = 5.0  # adians per second
+#
+@onready var detection_area: Area2D = $VisionCone
+signal waste_detected(waste)
+
+
+func _ready() -> void:
+    pass
+
+
+# detection_area.body_entered.connect(Callable(self, "_on_body_entered"))
+# detection_area.area_entered.connect(Callable(self, "_on_area_entered"))
+
+
+# func _on_body_entered(body):
+#     if body.is_in_group("waste"):
+#         emit_signal("waste_detected", body)
+
+
+# func _on_area_entered(area):
+#     if area.is_in_group("waste"):
+#         emit_signal("waste_detected", area)
+
+
+func _draw() -> void:
+    if velocity.length() > 0.1:
+        var local_velocity: Vector2 = global_transform.basis_xform_inv(velocity.normalized() * 400)
+        draw_line(Vector2.ZERO, local_velocity, Color(1, 0, 0), 2)
+
+
+func _physics_process(delta: float) -> void:
+    rotate_towards_velocity(delta)
+    detect_waste()
+    queue_redraw()
+
+
+func detect_waste() -> void:
+    var overlapping_bodies: Array[Node2D] = detection_area.get_overlapping_bodies()
+    for body in overlapping_bodies:
+        if body.is_in_group("waste"):
+            emit_signal("waste_detected", body)
+
+
+func move_towards(target: Vector2, delta: float) -> void:
+    var to_target: Vector2 = target - position
+    var distance: float    = to_target.length()
+
+    if distance < 5.0:
+        velocity = Vector2.ZERO
+        return
+
+    var desired_speed: float = MAX_SPEED
+    if distance < SLOWING_RADIUS:
+        desired_speed = lerp(0, int(MAX_SPEED), distance / SLOWING_RADIUS)
+
+    var desired_velocity: Vector2 = to_target.normalized() * desired_speed
+
+    var steering: Vector2 = desired_velocity - velocity
+
+    var steering_length: float = steering.length()
+    if steering_length > MAX_ACCELERATION * delta:
+        steering = steering.normalized() * MAX_ACCELERATION * delta
+
+    velocity += steering
+
+    if velocity.length() > 0.1:
+        var shake: Vector2 = Vector2(
+                                 rand_range(-SHAKE_INTENSITY, SHAKE_INTENSITY),
+                                 rand_range(-SHAKE_INTENSITY, SHAKE_INTENSITY)
+                             )
+        velocity += shake
+
+    if velocity.length() > MAX_SPEED:
+        velocity = velocity.normalized() * MAX_SPEED
+
+
+func rotate_towards_velocity(delta: float) -> void:
+    if velocity.length() > 0.1:
+        var target_angle: float = velocity.angle()
+        rotation = lerp_angle(rotation, target_angle, ROTATION_SPEED * delta)
+    sprite.rotation = -rotation
+
+
+func rand_range(min: float, max: float) -> float:
+    return randf() * (max - min) + min

state/scenes/state/SceneManagement.gd

@@ -0,0 +1,16 @@
+extends Node2D
+
+func _ready() -> void:
+    pass
+
+
+func _process(delta: float) -> void:
+    if Input.is_action_just_pressed("spawn_trash"):
+        var trash_scene: PackedScene = preload("res://scenes/state/Waste.tscn")
+        var trash_instance: Node2D   = trash_scene.instantiate() as Node2D
+
+        var spawn_location: Vector2 = get_global_mouse_position()
+        trash_instance.position = Vector2(spawn_location)
+
+        get_tree().get_root().add_child(trash_instance)
+        print("Spawned trash at: ", spawn_location, " ", trash_instance.position)

state/scenes/state/State.gd

@@ -8,11 +8,26 @@ var character: CharacterBody2D
 func _ready() -> void:
     pass
 
+
 func state_enter() -> void:
     pass
 
+
 func state_process(delta: float) -> void:
     pass
 
+
 func state_exit() -> void:
     pass
+
+
+func contribute_transfer_variables(transfer_variables: Dictionary) -> void:
+    pass
+
+
+func change_state(new_state: State) -> void:
+    state_machine.current_state = new_state
+
+
+func rand_range(min: float, max: float) -> float:
+    return randf() * (max - min) + min

state/scenes/state/StateMachine.gd

@@ -1,6 +1,14 @@
 class_name StateMachine
 extends Node
 
+var character: CharacterBody2D
+# json read from file, contains all states and transitions
+var state_machine_data: Dictionary = {}
+# records all signals that were fired during the last frame, dictionary contains signal name and arguments
+var received_signals: Array[Dictionary] = []
+# state change parameters ("transfer")
+var state_transfer_variables: Dictionary = {}
+
 var current_state: State:
     set(value):
         if current_state:
@@ -9,11 +17,227 @@ var current_state: State:
         current_state.state_enter()
 
 
+# INITIALIZATION
 func _ready() -> void:
+    if get_parent() is CharacterBody2D:
+        character = get_parent()
+    else:
+        push_error("No character as parent node.")
+
     for child in self.get_children():
-		if true:
-			print(child)
+        if child is State:
+            print('Detected state ', child)
+            child.state_machine = self
+            child.character = character
+
+    var loaded_state_machine_data: JSON = load_json("res://assets/character_state_machine.json")
+    if loaded_state_machine_data:
+        state_machine_data = loaded_state_machine_data.get_data() as Dictionary
+        print("Loaded JSON character_state_machine.json ", state_machine_data)
+    else:
+        push_error("Failed to load JSON character_state_machine.json")
+
+    current_state = find_state_by_name(state_machine_data["start"]["state"])
+
+    call_deferred("defer_ready")
 
 
+func defer_ready():
+    character.waste_detected.connect(Callable(self, "_on_waste_detected"))
+
+
+# STATE MACHINE
 func _process(delta: float) -> void:
-	pass
+    if current_state:
+        current_state.state_process(delta)
+    check_transitions()
+    received_signals = []
+
+
+func check_transitions() -> void:
+    if current_state:
+        for transition in state_machine_data["states"][current_state.get_name()]["transitions"]:
+
+            if "signal" in transition and transition["signal"] and not was_signal_received(transition["signal"]):
+                continue
+
+            if "conditions" in transition and transition["conditions"]:
+                var all_conditions_met: bool = true
+                for condition in transition["conditions"]:
+                    if not transition_check_condition(condition):
+                        all_conditions_met = false
+                        break
+                if not all_conditions_met:
+                    continue
+
+            # evaluate transfer parameters if any
+            state_transfer_variables = {}
+            if "transfer" in transition and transition["transfer"]:
+                for key in transition["transfer"]:
+                    state_transfer_variables[key] = transition_resolve_parameter(transition["transfer"][key])
+
+            # allow current state to contribute to transfer variables
+            current_state.contribute_transfer_variables(state_transfer_variables)
+
+            print("All criteria were met for switching to state ", transition["target"], " with transfer variables ", state_transfer_variables)
+            current_state = find_state_by_name(transition["target"])
+
+
+func transition_check_condition(condition: Dictionary) -> bool:
+    var type: String   = condition["type"]
+    var left: Variant  = transition_resolve_parameter(condition["left"])
+    var right: Variant = transition_resolve_parameter(condition["right"])
+
+    var result: bool = false
+    if type == "<":
+        result = left < right
+    elif type == ">":
+        result =  left > right
+    elif type == "<=":
+        result =  left <= right
+    elif type == ">=":
+        result =  left >= right
+    elif type == "==":
+        result =  left == right
+    elif type == "!=":
+        result =  left != right
+    else:
+        print("Unknown condition type [", type, "]")
+
+    print("[check_condition] ", left, " ", type, " ", right, " = ", result)
+    return result
+
+
+func transition_resolve_parameter(parameter: Dictionary) -> Variant:
+    if "value" in parameter:
+        return parameter["value"]
+    elif "function" in parameter:
+        return transition_resolve_function(parameter)
+    elif "accessor" in parameter:
+        return transition_resolve_accessor(parameter["accessor"])
+    else:
+        print("Unknown parameter type")
+        return null
+
+
+func transition_resolve_function(function: Dictionary) -> Variant:
+    var args: Array = []
+    if "args" in function:
+        for arg in function["args"]:
+            if arg is Dictionary:
+                args.append(transition_resolve_parameter(arg))
+            else:
+                print("Unknown argument type [", arg, "]")
+
+    if function["function"] == "distance":
+        var result = args[0].distance_to(args[1])
+        print("[resolve_function] distance(", args[0], ", ", args[1], ") = ", result)
+        return result
+    else:
+        print("Unknown function [", function, "]")
+        return null
+
+
+func transition_resolve_accessor(accessor: Array) -> Variant:
+    var current_item: Variant = self
+    for next_item in accessor:
+
+        print("[resolve_accessor] current_item: ", current_item, ' next_item: ', next_item)
+
+        if current_item == null:
+            print("[resolve_accessor] Null value in ", accessor)
+            break
+
+        if objects_equal(current_item, self):
+            if next_item == "signals":
+                current_item = received_signals
+                continue
+
+        if objects_equal(current_item, received_signals):
+            var detected_signal: Dictionary = find_detected_signal(next_item)
+            if detected_signal.size() > 0:
+                current_item = detected_signal
+                continue
+
+        if objects_equal(next_item, "child_nodes"):
+            # build a dictionary of names:child nodes
+            var child_nodes: Dictionary = {}
+            for child in current_item.get_children():
+                child_nodes[child.get_name()] = child
+            current_item = child_nodes
+            continue
+
+        if objects_equal(next_item, "root_nodes"):
+            var root_nodes: Dictionary = {}
+            for root in current_item.get_tree().get_root().get_children():
+                root_nodes[root.get_name()] = root
+            current_item = root_nodes
+            continue
+
+        if current_item is Dictionary:
+            print("[resolve_accessor] Dictionary accessor, keys: ", current_item.keys())
+            if next_item in current_item:
+                current_item = current_item[next_item]
+                continue
+            else:
+                break
+
+        current_item = current_item.get(next_item)
+
+    if current_item == null:
+        print("[resolve_accessor] Failed to resolve accessor ", accessor)
+
+    print("[resolve_accessor] resolved to ", current_item)
+    return current_item
+
+
+# SIGNALS
+func _on_waste_detected(waste):
+    received_signals.append({"signal": "waste_detected", "args": {"waste": waste}})
+
+
+func find_detected_signal(signal_name: String) -> Dictionary:
+    for received_signal in received_signals:
+        if received_signal["signal"] == signal_name:
+            return received_signal
+    return {}
+
+
+# UTILITY FUNCTIONS
+func find_state_by_name(name: String) -> State:
+    for child in self.get_children():
+        if child is State:
+            if child.get_name() == name:
+                return child
+    return null
+
+
+func was_signal_received(signal_name: String) -> bool:
+    for received_signal in received_signals:
+        if received_signal["signal"] == signal_name:
+            return true
+    return false
+
+
+func load_json(path: String) -> JSON:
+    var file: FileAccess = FileAccess.open(path, FileAccess.READ)
+    if not file:
+        print("Cannot open file: ", path)
+        return JSON.new()
+
+    var json_string: String = file.get_as_text()
+    file.close()
+
+    var json  = JSON.new()
+    var error = json.parse(json_string)
+    if error != OK:
+        print("JSON parse error: ", error)
+        return JSON.new()
+
+    return json
+
+
+func objects_equal(a: Variant, b: Variant) -> bool:
+    if typeof(a) != typeof(b):
+        return false
+    return a == b

state/scenes/state/StateMachineWorld.tscn

@@ -1,25 +1,63 @@
-[gd_scene load_steps=5 format=3 uid="uid://cgdvptekjbpgq"]
+[gd_scene load_steps=12 format=3 uid="uid://cgdvptekjbpgq"]
 
-[ext_resource type="Texture2D" uid="uid://beggt5ndi6j4p" path="res://icon.svg" id="1_jgx5y"]
+[ext_resource type="Script" path="res://scenes/state/SMCharacter.gd" id="1_84313"]
+[ext_resource type="Script" path="res://scenes/state/SceneManagement.gd" id="1_s1suw"]
+[ext_resource type="Texture2D" uid="uid://cx04xknqfdscp" path="res://assets/cleaning_robot.png" id="2_cwwab"]
 [ext_resource type="Script" path="res://scenes/state/StateMachine.gd" id="2_d1xqo"]
 [ext_resource type="Script" path="res://scenes/state/state_idle.gd" id="3_r1btx"]
+[ext_resource type="Texture2D" uid="uid://dkqw1wsjbvl0i" path="res://assets/floor.png" id="6_15pjb"]
+[ext_resource type="Script" path="res://scenes/state/state_PickupTrash.gd" id="7_1rfah"]
+[ext_resource type="Script" path="res://scenes/state/state_ThrowTrashAway.gd" id="8_677fi"]
+[ext_resource type="PackedScene" uid="uid://dng6a8i8kp4kw" path="res://scenes/state/TrashBin.tscn" id="9_sd6r3"]
 
 [sub_resource type="CapsuleShape2D" id="CapsuleShape2D_tr1gq"]
 radius = 60.0
 height = 122.0
 
+[sub_resource type="RectangleShape2D" id="RectangleShape2D_ji64e"]
+size = Vector2(601.536, 254.293)
+
 [node name="StateMachineWorld" type="Node2D"]
+script = ExtResource("1_s1suw")
 
-[node name="CharacterBody2D" type="CharacterBody2D" parent="."]
+[node name="Floor" type="Sprite2D" parent="."]
+position = Vector2(573, 329)
+scale = Vector2(0.635347, 0.635347)
+texture = ExtResource("6_15pjb")
 
-[node name="Sprite2D" type="Sprite2D" parent="CharacterBody2D"]
-texture = ExtResource("1_jgx5y")
+[node name="TrashBin" parent="." instance=ExtResource("9_sd6r3")]
+position = Vector2(67, 78)
+scale = Vector2(4.42446, 4.42446)
 
-[node name="CollisionShape2D" type="CollisionShape2D" parent="CharacterBody2D"]
+[node name="CleaningRobotCB2D" type="CharacterBody2D" parent="."]
+position = Vector2(546, 342)
+script = ExtResource("1_84313")
+
+[node name="Sprite2D" type="Sprite2D" parent="CleaningRobotCB2D"]
+scale = Vector2(0.345498, 0.345498)
+texture = ExtResource("2_cwwab")
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="CleaningRobotCB2D"]
+scale = Vector2(0.702629, 0.702629)
 shape = SubResource("CapsuleShape2D_tr1gq")
 
-[node name="StateMachine" type="Node" parent="CharacterBody2D"]
+[node name="StateMachine" type="Node" parent="CleaningRobotCB2D"]
 script = ExtResource("2_d1xqo")
 
-[node name="idle" type="Node" parent="CharacterBody2D/StateMachine"]
+[node name="Idle" type="Node" parent="CleaningRobotCB2D/StateMachine"]
 script = ExtResource("3_r1btx")
+
+[node name="PickupTrash" type="Node" parent="CleaningRobotCB2D/StateMachine"]
+script = ExtResource("7_1rfah")
+
+[node name="ThrowTrashAway" type="Node" parent="CleaningRobotCB2D/StateMachine"]
+script = ExtResource("8_677fi")
+
+[node name="VisionCone" type="Area2D" parent="CleaningRobotCB2D"]
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="CleaningRobotCB2D/VisionCone"]
+position = Vector2(295.232, -1)
+scale = Vector2(1, 0.48)
+shape = SubResource("RectangleShape2D_ji64e")
+
+[node name="Node2D" type="Node2D" parent="CleaningRobotCB2D"]

state/scenes/state/TrashBin.tscn

@@ -0,0 +1,16 @@
+[gd_scene load_steps=3 format=3 uid="uid://dng6a8i8kp4kw"]
+
+[ext_resource type="Texture2D" uid="uid://di8eotyycurps" path="res://assets/trash_bin.png" id="1_eaj15"]
+
+[sub_resource type="CapsuleShape2D" id="CapsuleShape2D_bhmyx"]
+radius = 0.0
+height = 0.0
+
+[node name="TrashBin" type="StaticBody2D"]
+
+[node name="Sprite2D" type="Sprite2D" parent="."]
+scale = Vector2(0.0900715, 0.0900715)
+texture = ExtResource("1_eaj15")
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="."]
+shape = SubResource("CapsuleShape2D_bhmyx")

state/scenes/state/Waste.tscn

@@ -0,0 +1,17 @@
+[gd_scene load_steps=3 format=3 uid="uid://cqew2pkk5en21"]
+
+[ext_resource type="Texture2D" uid="uid://s0vco3jt5y8m" path="res://assets/trash_bag.png" id="1_mr4i5"]
+
+[sub_resource type="CapsuleShape2D" id="CapsuleShape2D_4fcy4"]
+radius = 42.0
+height = 128.0
+
+[node name="Waste" type="StaticBody2D" groups=["waste"]]
+
+[node name="Sprite2D" type="Sprite2D" parent="."]
+scale = Vector2(0.5, 0.5)
+texture = ExtResource("1_mr4i5")
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="."]
+scale = Vector2(0.5, 0.5)
+shape = SubResource("CapsuleShape2D_4fcy4")

state/scenes/state/state_PickupTrash.gd

@@ -0,0 +1,15 @@
+extends State
+
+var pickup_trash_target: Vector2 = Vector2.ZERO
+
+
+func state_enter():
+    var waste = state_machine.state_transfer_variables["waste"]
+    pickup_trash_target = waste.position
+    print(waste, " ", pickup_trash_target)
+
+
+func state_process(delta: float) -> void:
+    character.move_towards(pickup_trash_target, delta)
+    character.move_and_slide()
+

state/scenes/state/state_ThrowTrashAway.gd

@@ -0,0 +1,25 @@
+extends State
+
+@onready var trash_bin: Node2D = $"../../../TrashBin"
+
+var carry_trash: Node2D = null
+
+
+func state_enter():
+    carry_trash = state_machine.state_transfer_variables["waste"]
+    # disable it's collision to avoid it from colliding with the character
+    carry_trash.get_node("CollisionShape2D").disabled = true
+    print("Carry ", carry_trash, " to ", trash_bin.position)
+
+
+func state_process(delta: float) -> void:
+    # put the trash on the character
+    carry_trash.position = character.position
+    # carry the trash to the trash bin
+    var target_position: Vector2 = trash_bin.position
+    character.move_towards(target_position, delta)
+    character.move_and_slide()
+
+
+func state_exit() -> void:
+    carry_trash.queue_free()

state/scenes/state/state_idle.gd

@@ -1,10 +1,16 @@
 extends State
 
+var idle_target: Vector2 = Vector2.ZERO
+
+
 func state_enter():
-	print("idle enter")
+    idle_target = Vector2(rand_range(0, get_viewport().size.x), rand_range(0, get_viewport().size.y))
+
 
 func state_process(delta: float) -> void:
-	print("idle process")
-
-func state_exit() -> void:
-	print("idle exit")
+    # move towards the idle_target until reached, then set a new target randomly on the screen
+    if character.position.distance_to(idle_target) < 10:
+        idle_target = Vector2(rand_range(0, get_viewport().size.x), rand_range(0, get_viewport().size.y))
+    else:
+        character.move_towards(idle_target, delta)
+    character.move_and_slide()