if is_a(x, 'location') and x != y:
state.loc[taxi] = y
state.owe[p] = taxi_rate(distance(x, y))
return state
def pay_driver(state, p, y):
if is_a(p, 'person'):
if state.cash[p] >= state.owe[p]:
state.cash[p] = state.cash[p] - state.owe[p]
state.owe[p] = 0
state.loc[p] = y
return state
pyhop2.declare_actions(walk, call_taxi, ride_taxi, pay_driver)
###############################################################################
# Commands:
# this does the same thing as the action model
def c_walk(state, p, x, y):
if is_a(p, 'person') and is_a(x, 'location') and is_a(y, 'location'):
if state.loc[p] == x:
state.loc[p] = y
return state
# c_call_taxi
# like the action model, but chooses the taxi randomly
return state
def pick_item(state, r, y):
if is_a(r,'person') and is_a(y,'location') and state.loc[r] == state.loc[y]:
state.loc[y] = state.loc[r]
print(y, ' picked !!')
return state
def pay_robot(state, r, y):
if is_a(r,'person') and is_a(y,'location') and state.loc[r] == state.loc[y]:
state.cost[r] = 0
print(r, ' paid !!')
return state
pyhop2.declare_actions(move_robot, pick_item, pay_robot)
# Commands:
def c_move_robot(state,r,y):
if is_a(r,'person') and is_a(y,'location') and state.loc[r] != state.loc[y]:
resp_location = robot_location('mobile_base', 'world')
coord = (resp_location.pose.position.x, resp_location.pose.position.y)
#######################################
### PLANNING WITHOUT FINITE HORIZON ###
#######################################
# wayp = astar(coord, state.loc[y], 0.4)
# path = wayp
"""
return variable in rigid.types[type]
###############################################################################
# Actions:
def append(state, x, y):
if is_a(x, 'character') and is_a(y, 'character'):
if state.last_char == x and permissible(x, y):
state.last_char = y
return state
pyhop2.declare_actions(append)
###############################################################################
# Methods:
def do_nothing(state, y):
if is_a(y, 'character') and state.last_char == y:
return []
def ms(x):
def make_string(state, y):
if is_a(y, 'character') and permissible(x, y):
return [('make_string', x), ('append', x, y)]
###############################################################################
# Actions:
def putv(state, flag_val):
state.flag = flag_val
return state
def getv(state, flag_val):
if state.flag == flag_val:
return state
pyhop2.declare_actions(putv, getv)
###############################################################################
# Problem:
###############################################################################
# Running the examples
print(
'-----------------------------------------------------------------------')
print(f"Created the domain '{domain_name}'. To run the examples, type this:")
print(f"{domain_name}.main()")
def main():
# Code for use in paging and debugging
return []
def insert_dummy(state, stack):
bottom = None
if state.stacks[stack]:
bottom = state.stacks[stack][0]
state.stacks[stack].insert(0, dummy_block)
if bottom:
state.pos[bottom] = dummy_block
state.clear[dummy_block] = False
state.pos[dummy_block] = 'table'
return state
pyhop2.declare_actions(insert_dummy, remove_dummy)
def m_dissolve_stack(state, stack):
"""
This is used to clear a specified stack from the table.
Note that it can use any of the clearing methods for blocks.
"""
return [('insert_dummy', stack), ('make_clear', dummy_block, dummy_block),
('remove_dummy', )]
pyhop2.declare_task_methods('dissolve_stack', m_dissolve_stack)
def m_move_one(state, b1, dest):
def unstack(state,b1,b2):
if state.pos[b1] == b2 and b2 != 'table' and state.clear[b1] == True and state.holding['hand'] == False:
state.pos[b1] = 'hand'
state.clear[b1] = False
state.holding['hand'] = b1
state.clear[b2] = True
return state
def putdown(state,b1):
if state.pos[b1] == 'hand':
state.pos[b1] = 'table'
state.clear[b1] = True
state.holding['hand'] = False
return state
def stack(state,b1,b2):
if state.pos[b1] == 'hand' and state.clear[b2] == True:
state.pos[b1] = b2
state.clear[b1] = True
state.holding['hand'] = False
state.clear[b2] = False
return state
"""
Below, 'declare_actions(pickup, unstack, putdown, stack)' tells pyhop2
what the actions are. Note that the action names are *not* quoted.
"""
pyhop2.declare_actions(pickup, unstack, putdown, stack)
state.loc['briefcase'] = l2
return state
def take_out(state,x,l):
if is_a(x,'object') and is_a(l,'location'):
if state.loc[x] == 'briefcase' and state.loc['briefcase'] == l:
state.loc[x] = l
return state
def put_in(state,x,l):
if is_a(x,'object') and is_a(l,'location'):
if state.loc[x] == l and state.loc['briefcase'] == l:
state.loc[x] = 'briefcase'
return state
pyhop2.declare_actions(move, take_out, put_in)
###############################################################################
# Methods:
def organize(state, g):
x = state.loc['briefcase']
todo = []
for obj in objects():
if state.loc[obj] == 'briefcase' and g.loc[obj] == x:
todo.append(('take_out', obj, x))
elif state.loc[obj] == x and g.loc[obj] != x:
todo.append(('put_in', obj, x))
return todo
pyhop2.declare_task_methods('organize',organize)
def restack(state, block, position, dest):
if state.pos[block] == position and position != 'table' and state.clear[
block] and state.clear[dest]:
remove_from_stack(state, block)
state.pos[block] = dest
state.stacks[get_stack_of_block(state, dest)] += [block]
state.clear[position] = True
state.clear[dest] = False
return state
"""moves any clear block to the top of a stack specified by stack index"""
def move_to_stack(state, block, stack_index):
position = state.pos[block]
if state.clear[block]:
remove_from_stack(state, block)
if position != 'table': state.clear[position] = True
dest = 'table'
if not is_empty(state, stack_index):
dest = state.stacks[stack_index][-1]
state.clear[dest] = False
state.pos[block] = dest
state.stacks[stack_index] += [block]
return state
"""incorporating these actions into the planner"""
pyhop2.declare_actions(move_to_stack, stack, unstack, restack)
# x = state.loc[taxi]
# if is_a(x,'location') and x != y:
# state.loc[taxi] = y
# state.owe[p] = taxi_rate(distance(x,y))
# return state
# def pay_driver(state,p,y):
# if is_a(p,'person'):
# if state.cash[p] >= state.owe[p]:
# state.cash[p] = state.cash[p] - state.owe[p]
# state.owe[p] = 0
# state.loc[p] = y
# return state
pyhop2.declare_actions(move_robot)
###############################################################################
# Commands:
# this does the same thing as the action model
# def c_move_robot(state,p,x,y):
# if is_a(p,'person') and is_a(x,'location') and is_a(y,'location'):
# if state.loc[p] == x:
# state.loc[p] = y
# return state
def c_move_robot(state,r,y):
if is_a(r,'person') and is_a(y,'location') and state.loc[r] != state.loc[y]:
