def moveb_m(state,goal):
"""
This method implements the following block-stacking algorithm:
If there's a block that can be moved to its final position, then
do so and call move_blocks recursively. Otherwise, if there's a
block that needs to be moved and can be moved to the table, then
do so and call move_blocks recursively. Otherwise, no blocks need
to be moved.
"""
for b1 in all_blocks(state):
s = status(b1,state,goal)
if s == 'move-to-table':
return [('move_one',b1,'table'),('move_blocks',goal)]
elif s == 'move-to-block':
return [('move_one',b1,goal.pos[b1]), ('move_blocks',goal)]
else:
continue
#
# if we get here, no blocks can be moved to their final locations
b1 = pyhop.find_if(lambda x: status(x,state,goal) == 'waiting', all_blocks(state))
if b1 != None:
return [('move_one',b1,'table'), ('move_blocks',goal)]
#
# if we get here, there are no blocks that need moving
return []
def moveb_m(state,goal):
"""
This method implements the following block-stacking algorithm:
If there's a block that can be moved to its final position, then
do so and call move_blocks recursively. Otherwise, if there's a
block that needs to be moved and can be moved to the table, then
do so and call move_blocks recursively. Otherwise, no blocks need
to be moved.
"""
for b1 in all_blocks(state):
s = status(b1,state,goal)
if s == 'move-to-table':
return [('move_one',b1,'table'),('move_blocks',goal)]
elif s == 'move-to-block':
return [('move_one',b1,goal.pos[b1]), ('move_blocks',goal)]
else:
continue
#
# if we get here, no blocks can be moved to their final locations
b1 = pyhop.find_if(lambda x: status(x,state,goal) == 'waiting', all_blocks(state))
if b1 != None:
return [('move_one',b1,'table'), ('move_blocks',goal)]
#
# if we get here, there are no blocks that need moving
return []
def moveb_m(state, goal):
"""
This method implements the following block-stacking algorithm:
If there's a block that can be moved to its final position, then
do so and call move_blocks recursively. Otherwise, if there's a
block that needs to be moved and can be moved to the table, then
do so and call move_blocks recursively. Otherwise, no blocks need
to be moved.
"""
blocks = blocks_according_to_goal(state, goal)
#print(blocks)
for b1 in blocks:
s = status(b1, state, goal)
# print("status for block" + str(b1) + "is " + str(s))
if s == 'move-to-table':
return [('move_one', b1, 'table'), ('move_blocks', goal)]
elif s == 'move-to-block':
return [('move_one', b1, goal.pos[b1]), ('move_blocks', goal)]
elif s == 'move-to-block-with-mortar':
return [('move_one_mortar', b1, goal.pos[b1]),
('move_blocks', goal)]
elif s == 'get-from-store':
return [('move_from_store', b1, goal.pos[b1]),
('move_blocks', goal)]
else:
continue
#
# if we get here, no blocks can be moved to their final locations
b1 = pyhop.find_if(lambda x: status(x, state, goal) == 'waiting',
all_blocks(state))
if b1 != None:
return [('move_one', b1, 'table'), ('move_blocks', goal)]
#
# if we get here, there are no blocks that need moving
return []