def create_small_bw_task():
lang = generate_small_fstrips_bw_language()
init = tarski.model.create(lang)
b1, b2, b3, b4, clear, loc, table = lang.get('b1', 'b2', 'b3', 'b4',
'clear', 'loc', 'table')
block, place = lang.get('block', 'place')
init.set(loc, b1, b2) # loc(b1) := b2
init.set(loc, b2, b3) # loc(b2) := b3
init.set(loc, b3, table) # loc(b3) := table
init.set(loc, b4, table) # loc(b4) := table
init.add(clear, b1) # clear(b1)
init.add(clear, b4) # clear(b4)
init.add(clear, table) # clear(table)
src = lang.variable('src', block)
dest = lang.variable('dest', place)
x = lang.variable('x', block)
y = lang.variable('y', block)
clear_constraint = forall(
x, equiv(neg(clear(x)), land(x != table, exists(y,
loc(y) == x))))
G = land(loc(b1) == b2, loc(b2) == b3, loc(b3) == b4, loc(b4) == table)
problem = fs.Problem("tower4", "blocksworld")
problem.language = lang
problem.init = init
problem.goal = G
problem.constraints += [clear_constraint]
problem.action('move', [src, dest], land(clear(src), clear(dest)),
[fs.FunctionalEffect(loc(src), dest)])
return problem
def create_small_task():
upp = create_small_language()
dummy_sheet = upp.constant('dummy-sheet', upp.sheet_t)
sheet1 = upp.constant('sheet1', upp.sheet_t)
M = tsk.model.create(upp)
M.evaluator = evaluate
M.add(upp.Uninitialized)
M.add(upp.Location, dummy_sheet, upp.some_finisher_tray)
M.add(upp.Prevsheet, sheet1, dummy_sheet)
M.add(upp.Sheetsize, sheet1, upp.letter)
M.add(upp.Location, sheet1, upp.some_feeder_tray)
M.set(upp.total_cost(), 0)
sheet = upp.variable('sheet', upp.sheet_t)
prevsheet = upp.variable('prevsheet', upp.sheet_t)
precondition = land(
upp.Available(upp.finisher2_rsrc), upp.Prevsheet(sheet, prevsheet),
upp.Location(prevsheet, upp.some_finisher_tray),
upp.Sheetsize(sheet, upp.letter),
upp.Location(sheet, upp.finisher2_entry_finisher1_exit))
effects = [
fs.DelEffect(upp.Available(upp.finisher2_rsrc)),
fs.DelEffect(upp.Location(sheet, upp.finisher2_entry_finisher1_exit)),
fs.AddEffect(upp.Location(sheet, upp.some_finisher_tray)),
fs.AddEffect(upp.Stackedin(sheet, upp.finisher2_tray)),
fs.AddEffect(upp.Available(upp.finisher2_rsrc)),
fs.IncreaseEffect(upp.total_cost(), 8000)
]
problem = fs.Problem()
problem.name = "fun"
problem.language = upp
problem.init = M
problem.goal = top
problem.action('Finisher2-Stack-Letter', [sheet, prevsheet], precondition,
effects)
problem.metric = fs.OptimizationMetric(upp.total_cost(),
fs.OptimizationType.MINIMIZE)
return problem
def create_small_task():
upp = parcprinter.create_small_language()
dummy_sheet = upp.constant('dummy-sheet', upp.sheet_t)
sheet1 = upp.constant('sheet1', upp.sheet_t)
M = tsk.model.create(upp)
M.evaluator = evaluate
M.add(upp.Uninitialized)
M.add(upp.Location, dummy_sheet, upp.some_finisher_tray)
M.add(upp.Prevsheet, sheet1, dummy_sheet)
M.add(upp.Sheetsize, sheet1, upp.letter)
M.add(upp.Location, sheet1, upp.some_feeder_tray)
sheet = upp.variable('sheet', upp.sheet_t)
prevsheet = upp.variable('prevsheet', upp.sheet_t)
precondition = land(upp.Available(upp.finisher2_rsrc),
upp.Prevsheet(sheet, prevsheet),
upp.Location(prevsheet, upp.some_finisher_tray),
upp.Sheetsize(sheet, upp.letter),
upp.Location(sheet, upp.finisher2_entry_finisher1_exit))
# MRJ: note that the positive effects should be under an extra X op, as per the
# "deletes before adds" semantics,
effects = [fs.DelEffect(upp.Available(upp.finisher2_rsrc)),
fs.DelEffect(upp.Location(sheet, upp.finisher2_entry_finisher1_exit)),
fs.AddEffect(upp.Location(sheet, upp.some_finisher_tray)),
fs.AddEffect(upp.Stackedin(sheet, upp.finisher2_tray)),
fs.AddEffect(upp.Available(upp.finisher2_rsrc))
]
P = fs.Problem()
P.name = "fun"
P.language = upp
P.init = M
P.goal = top
P.action('Finisher2-Stack-Letter', [sheet, prevsheet], precondition, effects)
return P
def create_4blocks_task():
bw = generate_bw_loc_and_clear(4)
M = tarski.model.create(bw)
loc = bw.get_function('loc')
clear = bw.get_predicate('clear')
b1, b2, b3, b4 = [bw.get_constant('b{}'.format(k)) for k in range(1, 5)]
table = bw.get_constant('table')
hand = bw.get_constant('hand')
M.setx(loc(b1), b2) # loc(b1) := b2
M.setx(loc(b2), b3) # loc(b2) := b3
M.setx(loc(b3), table) # loc(b3) := table
M.setx(loc(b4), table) # loc(b4) := table
M.setx(loc(table), table)
M.setx(loc(hand), hand)
M.add(clear, b1) # clear(b1)
M.add(clear, b4) # clear(b4)
M.add(clear, hand) # handempty
G = land(loc(b1) == b2, loc(b2) == b3, loc(b3) == b4, loc(b4) == table)
P = fs.Problem()
P.name = "tower4"
P.domain_name = "blocksworld"
P.language = bw
P.init = M
P.goal = G
# P.constraints += [clear_constraint]
# @NOTE: These are the state variables associated with the constraint above
P.state_variables = [
] # [StateVariable(clear(dest), [tb]) for tb in [tb1, tb2, tb3, tb4, table]]
b = bw.variable('b', bw.Object)
P.action(
'pick_up', [b],
land(clear(b), clear(hand),
loc(b) == table, b != hand, b != table), [
fs.FunctionalEffect(loc(b), hand),
fs.DelEffect(clear(b)),
fs.DelEffect(clear(hand))
])
P.action('put_down', [b], land(loc(b) == hand, b != table, b != hand), [
fs.FunctionalEffect(loc(b), table),
fs.AddEffect(clear(b)),
fs.AddEffect(clear(hand))
])
src = bw.variable('src', bw.Object)
dest = bw.variable('dest', bw.Object)
P.action(
'stack', [src, dest],
land(
loc(src) == hand, clear(dest), src != dest, src != table,
src != hand, dest != table, dest != hand), [
fs.FunctionalEffect(loc(src), dest),
fs.DelEffect(clear(dest)),
fs.AddEffect(clear(src)),
fs.AddEffect(clear(hand))
])
P.action(
'unstack', [src, dest],
land(clear(hand),
loc(src) == dest, clear(src), src != dest, src != table,
src != hand, dest != table, dest != hand), [
fs.FunctionalEffect(loc(src), hand),
fs.DelEffect(clear(src)),
fs.AddEffect(clear(dest)),
fs.DelEffect(clear(hand))
])
return P