Update pour option init to allow oracle to run when exclude all predi…

…cates (#1682)

* Update pour option init

* fix yapf

---------

Co-authored-by: yichao-liang <yichao-liang>

.gitignore

@@ -27,6 +27,8 @@ machines.txt
 tests/_fake_trajs
 tests/_fake_results
 sas_plan
+downward/
+Gymnasium-Robotics/
 
 # Jetbrains IDEs
 .idea/

predicators/ground_truth_models/coffee/options.py

@@ -131,6 +131,12 @@ def _TurnMachineOn_terminal(state: State, memory: Dict,
         )
 
         # Pour
+        def _Pour_initiable(state: State, memory: Dict,
+                            objects: Sequence[Object], params: Array) -> bool:
+            del memory, params
+            robot, jug, _ = objects
+            return Holding.holds(state, [robot, jug])
+
         def _Pour_terminal(state: State, memory: Dict,
                            objects: Sequence[Object], params: Array) -> bool:
             del memory, params  # unused
@@ -142,7 +148,7 @@ def _Pour_terminal(state: State, memory: Dict,
             types=[robot_type, jug_type, cup_type],
             params_space=Box(0, 1, (0, )),
             policy=cls._create_pour_policy(),
-            initiable=lambda s, m, o, p: True,
+            initiable=_Pour_initiable,
             terminal=_Pour_terminal,
         )