{"action":"created","comment":{"url":"https://api.github.com/repos/personalrobotics/prpy/pulls/comments/27405459","id":27405459,"diff_hunk":"@@ -44,21 +44,29 @@ def __dir__(self):\n         # Add planning methods to the tab-completion list.\n         method_names = set(self.__dict__.keys())\n         method_names.update(self.GetRobot().planner.get_planning_method_names())\n+        method_names.update(self.GetRobot().actionlibrary.get_actions())\n         return list(method_names)\n \n     def __getattr__(self, name):\n         # We have to manually perform a lookup in InstanceDeduplicator because\n         # __methods__ bypass __getattribute__.\n         self = bind.InstanceDeduplicator.get_canonical(self)\n-        delegate_method = getattr(self.GetRobot().planner, name)\n-\n+ \n         # Resolve planner calls through the robot.planner field.\n         # FIXME: We need to replicate the _PlanWrapper functionality here.\n         if self.GetRobot().planner.has_planning_method(name):","path":"src/prpy/base/manipulator.py","position":16,"original_position":16,"commit_id":"54fcc9a77a4e0c3a742828425496e33be2c1c8c0","original_commit_id":"54fcc9a77a4e0c3a742828425496e33be2c1c8c0","user":{"login":"mkoval","id":142251,"avatar_url":"https://avatars.githubusercontent.com/u/142251?v=3","gravatar_id":"","url":"https://api.github.com/users/mkoval","html_url":"https://github.com/mkoval","followers_url":"https://api.github.com/users/mkoval/followers","following_url":"https://api.github.com/users/mkoval/following{/other_user}","gists_url":"https://api.github.com/users/mkoval/gists{/gist_id}","starred_url":"https://api.github.com/users/mkoval/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mkoval/subscriptions","organizations_url":"https://api.github.com/users/mkoval/orgs","repos_url":"https://api.github.com/users/mkoval/repos","events_url":"https://api.github.com/users/mkoval/events{/privacy}","received_events_url":"https://api.github.com/users/mkoval/received_events","type":"User","site_admin":false},"body":"Don't bother replicating the `_PlanWrapper` logic for now. It sounds like we may be refactoring how that works in the near future; see #73.","created_at":"2015-03-30T16:20:48Z","updated_at":"2015-03-30T16:20:48Z","html_url":"https://github.com/personalrobotics/prpy/pull/75#discussion_r27405459","pull_request_url":"https://api.github.com/repos/personalrobotics/prpy/pulls/75","_links":{"self":{"href":"https://api.github.com/repos/personalrobotics/prpy/pulls/comments/27405459"},"html":{"href":"https://github.com/personalrobotics/prpy/pull/75#discussion_r27405459"},"pull_request":{"href":"https://api.github.com/repos/personalrobotics/prpy/pulls/75"}}},"pull_request":{"url":"https://api.github.com/repos/personalrobotics/prpy/pulls/75","id":32183377,"html_url":"https://github.com/personalrobotics/prpy/pull/75","diff_url":"https://github.com/personalrobotics/prpy/pull/75.diff","patch_url":"https://github.com/personalrobotics/prpy/pull/75.patch","issue_url":"https://api.github.com/repos/personalrobotics/prpy/issues/75","number":75,"state":"open","locked":false,"title":"Feature/action library","user":{"login":"jeking04","id":3662021,"avatar_url":"https://avatars.githubusercontent.com/u/3662021?v=3","gravatar_id":"","url":"https://api.github.com/users/jeking04","html_url":"https://github.com/jeking04","followers_url":"https://api.github.com/users/jeking04/followers","following_url":"https://api.github.com/users/jeking04/following{/other_user}","gists_url":"https://api.github.com/users/jeking04/gists{/gist_id}","starred_url":"https://api.github.com/users/jeking04/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jeking04/subscriptions","organizations_url":"https://api.github.com/users/jeking04/orgs","repos_url":"https://api.github.com/users/jeking04/repos","events_url":"https://api.github.com/users/jeking04/events{/privacy}","received_events_url":"https://api.github.com/users/jeking04/received_events","type":"User","site_admin":false},"body":"I don't know if this is a good way to implement this. But I'm submitting the pull request to get feedback. Its basically a combination of the implementations of planning methods and the tsrlibrary. The idea is we can make calls such as:\r\n\r\nrobot.PushGrasp(bottle)\r\n\r\nor \r\n\r\nmanip.PushGrasp(bottle)\r\n\r\nSee the associated herbpy pull request for an example actions (src/herbpy/action/grasping.py) and example calls. 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