| | action PickUpGeneral | | param obj, hand, handPose0, handPose1, handPose2, handPose3 | | precond empty (hand), robotAt (baseLoc), | | objectAt (obj, objLoc), handAt (hand, handPose0), | | graspableHandPose (hand, obj, objLoc, baseLoc, handPose2), | | preGraspableHandPose (hand, obj, objLoc, baseLoc, handPose2, handPose1), | | poseGraspableHandPose (hand, obj, objLoc, baseLoc, handPose2, handPose3), | | validHandPath (hand, baseLoc, handPose0, handPose1), | | validHandPath (hand, baseLoc, handPose1, handPose2), | | validHandPath (hand, baseLoc, handPose2, handPose3), | | validHandPath (hand, baseLoc, handPose3, handPose0) | | effect graspedBy (obj, gripper), —empty (gripper), —objectAt (obj, objLoc) | | action PutDownGeneral | | param obj, hand, plane, objLoc, handPose0, handPose1, handPose2, handPose3 | | precond graspedBy (obj, hand), | | robotAt (baseLoc), handAt (hand, handPose0), | | placeableObjectLocation (obj, plane, objLoc), | | lowerableHandPose (hand, obj, objLoc, baseLoc, handPose2), | | placeableHandPose (hand, obj, objLoc, baseLoc, handPose2, handPose1), | | retractableHandPose (hand, obj, objLoc, baseLoc, handPose2, handPose3), | | validHandPath (hand, baseLoc, handPose0, handPose1), | | validHandPath (hand, baseLoc, handPose1, handPose2), | | validHandPath (hand, baseLoc, handPose2, handPose3), | | validHandPath (hand, baseLoc, handPose3, handPose0) | | effect—graspedBy (obj, gripper), objectAt (obj, objLoc) |
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