def json_parse_and_read_plan(domain_file, problem_file):
start_time = time.time()
os.system((
"./scripts/FD/fast-downward.py {} {} --search \"lazy_greedy([ff()], preferred=[ff()])\""
).format(domain_file, problem_file))
with open('books.json') as book_parse:
data = json.load(book_parse)
next_state = problem.State(0, 0, "EAST")
sas_file = open("sas_plan", "r")
for line in sas_file:
word = line.strip('(').split()
if word[0] == "move":
from_location = word[2]
print from_location
to_location = word[1][0:len(word[1]) - 5]
print to_location
if from_location == "tbot3_init_loc":
init_state = problem.get_initial_state()
if to_location[0:1] == 'b':
curr_loc = data["books"][to_location]["load_loc"][0]
curr_state = problem.State(curr_loc[0], curr_loc[1],
"EAST")
elif to_location[0:1] == 't':
curr_loc = data["bins"][to_location]["load_loc"][0]
curr_state = problem.State(curr_loc[0], curr_loc[1],
"EAST")
action_list = gbfs(init_state, curr_state)
action_list.pop(0)
if action_list:
next_state = curr_state
problem.execute_move_action(action_list)
print(action_list)
else:
init_state = next_state
if to_location[0:1] == 'b':
curr_loc = data["books"][to_location]["load_loc"][0]
curr_state = problem.State(curr_loc[0], curr_loc[1],
"EAST")
elif to_location[0:1] == 't':
curr_loc = data["bins"][to_location]["load_loc"][0]
curr_state = problem.State(curr_loc[0], curr_loc[1],
"EAST")
action_list = gbfs(init_state, curr_state)
action_list.pop(0)
if action_list:
next_state = curr_state
problem.execute_move_action(action_list)
print(action_list)
elif word[0] == "place":
book_name = word[1]
bin_name = word[6][0:len(word[6]) - 1]
problem.execute_place_action(book_name, bin_name, next_state)
elif word[0] == "pick":
book_name = word[1]
problem.execute_pick_action(book_name, next_state)
end_time = time.time()
def build_goal_states(self, locations):
"""
Creates a State representations for given list of locations
"""
states = []
for location in locations:
states.append(problem.State(location[0], location[1], "EAST"))
states.append(problem.State(location[0], location[1], "WEST"))
states.append(problem.State(location[0], location[1], "NORTH"))
states.append(problem.State(location[0], location[1], "SOUTH"))
return states
def main():
s = problem.State()
inputVar(s)
inputRules(s)
inputForbidden(s)
s.inputConstraints()
s.inputHeuristic()
print("\nDictionary: " + str(s.dt))
print("Variables: " + str(s.variables))
print("Rules: " + str(s.rules))
print("Rule Conditions: " + str(s.rule_conditions))
print("Rule costs: " + str(s.rule_cost))
print("Forbidden States: " + str(s.forbidden))
print("Constraints: " + str(s.constraints))
print("Heuristic function: " + str(s.heuristic))
s.inputStartState()
s.inputGoalState()
print("\nStart: " + str(s.dt))
print("Goal: " + str(s.goal))
print()
f = search.Search(s)
print(f.aSearch())
def get_possible_states(curr_state, action):
rospy.wait_for_service('get_successor')
try:
get_successor = rospy.ServiceProxy('get_successor', GetSuccessor)
response = get_successor(curr_state.x, curr_state.y,
curr_state.orientation, curr_state.battery)
states = collections.OrderedDict()
possible_state = []
if action not in response.action:
print "Action not applicable in this state"
return False
for i in range(len(response.action)):
if response.action[i] == action:
return problem.State(response.x[i], response.y[i],
response.direction[i],
response.battery[i])
except rospy.ServiceException, e:
print "Service call failed get_possible_states: %s" % e
def p_problem(p):
'''problem : LPAREN DEFINE_KEY problem_structure_def_lst RPAREN'''
prob, dom = None, None
init, goal = tuple(), tuple()
objects = dict()
for d in p[3]:
if 'PROBLEM_KEY' in d:
prob = d[1]
elif 'DOMAIN_KEY' in d:
dom = d[1]
elif 'OBJECTS_KEY' in d:
objects = d[1]
elif 'INIT_KEY' in d:
init = d[1]
elif 'GOAL_KEY' in d:
goal = d[1]
# add objects to 'objects' attributes of the State class
problem.State.objects = objects
p[0] = problem.Problem(prob, dom, problem.State(init), goal)
possible_state = []
if action not in response.action:
print "Action not applicable in this state"
return False
for i in range(len(response.action)):
if response.action[i] == action:
return problem.State(response.x[i], response.y[i],
response.direction[i],
response.battery[i])
except rospy.ServiceException, e:
print "Service call failed get_possible_states: %s" % e
if __name__ == "__main__":
state_to_check = problem.State(1.0, 1.5, 'EAST', 5)
action_to_check = 'REFUEL'
initial_state = get_current_state()
print "INITIAL STATE: " + str(initial_state)
is_goal = is_terminal_state(state_to_check)
print "IS TERMINAL STATE = " + str(is_goal)
all_actions = get_all_actions()
print "ALL ACTIONS: " + str(all_actions)
possible_actions = get_possible_actions(state_to_check)
print "POSSIBLE ACTIONS: " + str(possible_actions)
goal_state = get_terminal_state()
print("move_list:", moves_list)
if (flag == 1 and moves_list[0] == "MOVE"):
init_state_var = moves_list[1]
goal_state_var = moves_list[2]
if "INIT" in init_state_var and "BOOK" in goal_state_var:
init_state = problem.get_initial_state()
# print("initial state of robot:",init_state)
l = [
int(s) for s in goal_state_var.split('_')
if s.isdigit()
]
book_name = "book_" + str(l[0])
# print(book_name)
book_state = obj_dict["books"][book_name]["load_loc"][
0]
goal_state = problem.State(book_state[0],
book_state[1], "EAST")
print(type(goal_state))
actions = astar(init_state, goal_state)
print("actions 1st:", actions)
problem.execute_move_action(actions)
elif "BOOK" in init_state_var and "TROLLY" in goal_state_var:
m = [
int(s) for s in init_state_var.split('_')
if s.isdigit()
]
book_name = "book_" + str(m[0])
book_state = obj_dict["books"][book_name]["load_loc"][0]
init_state = problem.State(book_state[0], book_state[1],
"EAST")
# print("initial state of robot:",init_state)
n = [int(s) for s in goal_state_var.split('_') if s.isdigit()]
def build_goal_states(self, locations):
states = []
for location in locations:
states.append(problem.State(location[0], location[1], "EAST"))
return states