I think this is the root source of many bugs. This variable is used both as an ordinal and as an index, and by setting it to represent both it seems to fix several bugs down the line. C++ never threw an index out of bounds exception, so it wa hard to deduce

Author: connoralittle

src/pr2.cc

@@ -288,12 +288,13 @@ void PR2Wrapper::generate_nondet_operator_mappings() {
         }
         PR2.general.nondet_mapping[nondet_name_to_index[op.get_nondet_name()]].push_back(op.get_id());
         // outcome id comes from action name after _DETDUP_. The "8" is length of "_DETDUP_"
-        //Some elements don't have detdup, they have an assignment of 1
+        //Some elements don't have detdup, they have an assignment of 0
+        // Changed so it corresponds with the index
         if (op.get_name().find("_detdup_") == std::string::npos){
-            PR2.general.nondet_outcome_mapping[op.get_id()] = 1;
+            PR2.general.nondet_outcome_mapping[op.get_id()] = 0;
         } else {
             PR2.general.nondet_outcome_mapping[op.get_id()] = 
-                stoi(op.get_name().substr(op.get_name().find("_detdup_") + 8).substr(0, 1));
+                stoi(op.get_name().substr(op.get_name().find("_detdup_") + 8).substr(0, 1)) - 1;
         }
         op.nondet_index = nondet_name_to_index[op.get_nondet_name()];
         op.nondet_outcome = PR2.general.nondet_outcome_mapping[op.get_id()];