def __init__(self, object_name, pap, oracle):
Action.__init__(self, arg_info(currentframe(), ignore=['self', 'oracle']))
Reachable.__init__(self, pap.grasp_config)
self.conditions = {
HOLDING_VAR: Holding(object_name, pap.grasp)
}
self.effects = {
object_name: pap.pose,
HOLDING_VAR: False,
ROBOT_VAR: pap.grasp_config
}
self.is_goal_operator = False
if oracle.problem.goal_holding == object_name:
self.effects['in_hand'] = False
if object_name in oracle.problem.goal_poses and pap.pose == oracle.problem.goal_poses[object_name]:
self.is_goal_operator = True
regions = oracle.sinks + oracle.stoves
if object_name in oracle.problem.goal_regions:
regions.append(oracle.problem.goal_regions[object_name])
self.is_goal_operator = True
for region in regions: # oracle.regions
if oracle.region_contains(region, object_name, pap.pose):
self.effects[(object_name, 'in', region)] = True
def __init__(self, config):
Action.__init__(self, arg_info(currentframe()))
Reachable.__init__(self, config)
self.conditions = {}
self.effects = {
ROBOT_VAR: config
}
self.is_goal_operator = True