Continuous Door Opening Actions and Fixed Light in GridRowDoor #1680
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predicators/envs/grid_row.py
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| if robot_cell == door_cell and not (door_target - 0.1 \ | ||
| <= door_open <= door_target + 0.1 \ | ||
| and door_target1 - 0.1 <= door_open1 <= door_target1 + 0.1): | ||
| new_door_level = np.clip( | ||
| state.get(self._door, "open") + ddoor, 0.0, 1.0) | ||
| next_state.set(self._door, "open", new_door_level) | ||
| new_door1_level = np.clip( | ||
| state.get(self._door, "open1") + ddoor1, 0.0, 1.0) | ||
| next_state.set(self._door, "open1", new_door1_level) |
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Wait, so is it true that the robot could technically open the door with just one action (by setting the door level and door1 level correctly simultaneously?
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No, there isn't an action that handles both of the levels at once so it's forced to open the door through two actions (one TurnKey action and one MoveKey action)
| if robot_cell == light_cell and dlight == 0.75 and self._LightOff_holds( | ||
| state, [self._light]): | ||
| next_state.set(self._light, "level", 0.75) |
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wait - so is it now true that the dlight part of the action vector is effectively useless? If that's the case, I'd prefer you just modify the sampler to be correct instead of handling the light in this way in the transition function: modifying the sampler to always succeed is more straightforward and clear.
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i see you've also modified the sampler, so why do you also need this line in the transition function?
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Wait sorry I don't quite understand, don't we still need to change the light level and to do so we first need to check that the robot is currently in the light cell, if a TurnOnLight was called (dlight == 0.75)? I guess I could technically get rid of the self._LightOff_holds(state, [self._light]), but I think we'll need to check that the light is off when we generalize to multiple lights
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oh wait nvm, I missed the dlight == 0.75 part; my bad!
tests/envs/test_grid_row.py
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| assert option.terminal(state) | ||
| if all(a.holds(state) for a in ground_nsrt.add_effects): | ||
| break | ||
| print(state) |
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oops sorry about that!!
Added continuous door opening actions, MoveKey and TurnKey, and set the TurnOnLight action to always turn on the light successfully.