예제 #1
0
  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
예제 #2
0
  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