def visualize_atoms(viewer, atoms):
conf = get_config(atoms)
holding = get_holding(atoms)
viewer.draw_robot(ROBOT_ROW, conf)
if holding is not None:
viewer.draw_block(ROBOT_ROW, conf, color=get_color(holding))
for atom in atoms:
if isinstance(atom, Atom) and atom.predicate == AtPose:
b, p = atom.args
viewer.draw_block(0, get_value(p), color=get_color(get_value(b)))
def visualize_atoms(viewer, atoms):
for atom in atoms:
if atom.predicate == AtConf:
q, = atom.args
viewer.draw_robot(get_value(q))
elif atom.predicate == AtPose:
b, p = atom.args
viewer.draw_block(get_value(b), get_value(p))
elif atom.predicate == Holding:
b, = atom.args
viewer.draw_holding(get_value(b), get_config(atoms))
def get_holding(atoms):
for atom in atoms:
if atom.predicate == Holding:
b, = atom.args
return get_value(b)
return None
def get_config(atoms):
for atom in atoms:
if atom.predicate == AtConf:
q, = atom.args
return get_value(q)
return None
def str_atom(atom):
#return str(atom.predicate.name) + str(tuple(map(get_value, atom.args)))
return atom.predicate.name + '(' + ' '.join(
repr(get_value(arg)) for arg in atom.args) + ')'