def __get_service_area(self, userdata):
task = copy.deepcopy(userdata.task_spec_trans_in)
name = copy.deepcopy(userdata.grasped_object_in)
task_man = TaskSpecificationMan(None,None)
for place in task.goalsituation.places:
if task_man.translate_object_names(name) in place.objects:
return place.name
def execute(self, userdata):
task = const_hack(userdata.task_spec_trans_io)
ts = TaskSpecificationMan('', [])
name = ts.translate_object_names(userdata.grasped_objects_in)
for place in task.initialsituation.places:
print 'name in place.objects: %s in %s' % (name, place.objects)
if name in place.objects:
place.remove_object(name)
print "Removed %s: %s" % (name, place.objects)
break
for place in task.goalsituation.places:
print 'name in place.objects: %s in %s' % (name, place.objects)
if name in place.objects:
place.remove_object(name)
print "Removed %s: %s" % (name, place.objects)
break
for place in task.initialsituation.places:
if len(place.objects) == 0:
task.initialsituation.remove_place(place)
print "Removed %s: %s" % (place.name, place.objects)
for place in task.goalsituation.places:
if len(place.objects) == 0:
task.goalsituation.remove_place(place)
print "Removed %s: %s" % (place.name, place.objects)
userdata.task_spec_trans_io = task
if len(task.goalsituation.places) == 0:
return 'finished'
else:
return 'Object remaining'