def __init__(self,
name,
parameters,
condition,
effect,
refinement=tuple(),
cost=None):
Action.__init__(self, name, parameters, condition, effect, cost=cost)
Refinable.__init__(self, refinement)
def __init__(self, min_safe_p=.95):
obj, d1, d2 = Param(OBJ), Param(DIST), Param(DIST)
Action.__init__(
self,
self.__class__.__name__,
[obj, d],
And(
BClean(obj, d1),
IsClean(d1, d2),
#BAtAbove(obj, p1, min_safe_p)
),
And(
BClean(obj, d2),
#Not(At(obj, p1)),
Not(BClean(obj, d1))),
cost=1)
def __init__(self, min_safe_p=.95):
obj, p1, p2, b = Param(OBJ), Param(POSE), Param(POSE), Param(BELIEF)
Action.__init__(
self,
self.__class__.__name__,
[obj, p1, p2, b],
And(
#At(obj, p1),
BAt(obj, p1, b),
BAtAbove(obj, p1, min_safe_p)),
And(
#At(obj, p2),
BAt(obj, p2, b),
#Not(At(obj, p1)),
Not(BAt(obj, p1, b))),
cost=1)