risk_bound,sc_schedule = paris.stnu_reformulation(global_prog,makespan=True,cc=0.001)
if risk_bound != None:
risk_bound = min(risk_bound,1.0)
print('\nSuccessfully performed STNU reformulation with scheduling risk %f %%!'%(risk_bound*100.0))
for tc in global_prog.temporal_constraints:
if tc.type == 'uncontrollable_bounded':
tc.type = 'controllable'
for i in range(len(pddl_episodes)-1):
global_prog.add_temporal_constraint(TemporalConstraint(start=pddl_episodes[i].end,end=pddl_episodes[i+1].start,
ctype='controllable',lb=1.005,ub=2.1))
global_prog.simplify_temporal_constraints()
# activation_episode_end_events = [ep.end for ep in activation_episodes]
# for tc in global_prog.temporal_constraints:
# if tc.start in activation_episode_end_events:
# global_prog.remove_temporal_constraint(tc)
global_prog.to_ptpn(filename=output_file)
print('\nThis is the schedule:')
for e,t in sorted([(e,t) for e,t in sc_schedule.items()],key=lambda x: x[1]):
print('\t%s: %.2f s'%(e,t))
else:
print('\nFailed to perform STNU reformulation...')
def rmpyl_breakfast():
"""
Example from (Levine & Williams, ICAPS14).
"""
#Actions that Alice performs
get_mug_ep = Episode(action='(get alice mug)',duration={'ctype':'controllable','lb':0.5,'ub':1.0})
get_glass_ep = Episode(action='(get alice glass)',duration={'ctype':'controllable','lb':0.5,'ub':1.0})
make_cofee_ep = Episode(action='(make-coffee alice)',duration={'ctype':'controllable','lb':3.0,'ub':5.0})
pour_cofee_ep = Episode(action='(pour-coffee alice mug)',duration={'ctype':'controllable','lb':0.5,'ub':1.0})
pour_juice_glass = Episode(action='(pour-juice alice glass)',duration={'ctype':'controllable','lb':0.5,'ub':1.0})
get_bagel_ep = Episode(action='(get alice bagel)',duration={'ctype':'controllable','lb':0.5,'ub':1.0})
get_cereal_ep = Episode(action='(get alice cereal)',duration={'ctype':'controllable','lb':0.5,'ub':1.0})
toast_bagel_ep = Episode(action='(toast alice bagel)',duration={'ctype':'controllable','lb':3.0,'ub':5.0})
add_cheese_bagel_ep = Episode(action='(add-cheese alice bagel)',duration={'ctype':'controllable','lb':1.0,'ub':2.0})
mix_cereal_ep = Episode(action='(mix-cereal alice milk)',duration={'ctype':'controllable','lb':1.0,'ub':2.0})
#Actions that the robot performs
get_grounds_ep = Episode(action='(get grounds robot)',duration={'ctype':'controllable','lb':0.5,'ub':1.0})
get_juice_ep = Episode(action='(get juice robot)',duration={'ctype':'controllable','lb':0.5,'ub':1.0})
get_milk_ep = Episode(action='(get milk robot)',duration={'ctype':'controllable','lb':0.5,'ub':1.0})
get_cheese_ep = Episode(action='(get cheese robot)',duration={'ctype':'controllable','lb':0.5,'ub':1.0})
prog = RMPyL()
prog *= prog.sequence(
prog.parallel(
prog.observe(
{'name':'observe-utensil','domain':['Mug','Glass'],'ctype':'uncontrollable'},
get_mug_ep,
get_glass_ep,
id='observe-utensil-ep'),
prog.decide(
{'name':'choose-beverage-ingredient','domain':['Grounds','Juice'],'utility':[0,0]},
get_grounds_ep,
get_juice_ep,
id='choose-beverage-ingredient-ep')),
prog.observe(
{'name':'observe-alice-drink','domain':['Coffee','Juice'],'ctype':'uncontrollable'},
prog.sequence(make_cofee_ep,pour_cofee_ep),
pour_juice_glass,
id='observe-alice-drink-ep'),
prog.parallel(
prog.observe(
{'name':'observe-food','domain':['Bagel','Cereal'],'ctype':'uncontrollable'},
get_bagel_ep,
get_cereal_ep,
id='observe-food-ep'),
prog.decide(
{'name':'choose-food-ingredient','domain':['Milk','Cheese'],'utility':[0,0]},
get_milk_ep,
get_cheese_ep,
id='choose-food-ingredient-ep'),
id='parallel-food-ep'),
prog.observe(
{'name':'observe-alice-food','domain':['Bagel','Cereal'],'ctype':'uncontrollable'},
prog.sequence(toast_bagel_ep,add_cheese_bagel_ep),
mix_cereal_ep),
id='breakfast-sequence')
extra_tcs = [TemporalConstraint(start=prog.episode_by_id('breakfast-sequence').start,
end=prog.episode_by_id('observe-utensil-ep').start,
ctype='controllable',lb=0.0,ub=0.0),
TemporalConstraint(start=prog.episode_by_id('breakfast-sequence').start,
end=prog.episode_by_id('choose-beverage-ingredient-ep').start,
ctype='controllable',lb=0.2,ub=0.3),
TemporalConstraint(start=prog.episode_by_id('parallel-food-ep').start,
end=prog.episode_by_id('observe-food-ep').start,
ctype='controllable',lb=0.0,ub=0.0),
TemporalConstraint(start=prog.episode_by_id('parallel-food-ep').start,
end=prog.episode_by_id('choose-food-ingredient-ep').start,
ctype='controllable',lb=0.2,ub=0.3)]
for tc in extra_tcs:
prog.add_temporal_constraint(tc)
prog.add_overall_temporal_constraint(ctype='controllable',lb=0.0,ub=7.0)
prog.simplify_temporal_constraints()
return prog
def rmpyl_breakfast():
"""
Example from (Levine & Williams, ICAPS14).
"""
#Actions that Alice performs
get_mug_ep = Episode(action='(get alice mug)',
duration={
'ctype': 'controllable',
'lb': 0.5,
'ub': 1.0
})
get_glass_ep = Episode(action='(get alice glass)',
duration={
'ctype': 'controllable',
'lb': 0.5,
'ub': 1.0
})
make_cofee_ep = Episode(action='(make-coffee alice)',
duration={
'ctype': 'controllable',
'lb': 3.0,
'ub': 5.0
})
pour_cofee_ep = Episode(action='(pour-coffee alice mug)',
duration={
'ctype': 'controllable',
'lb': 0.5,
'ub': 1.0
})
pour_juice_glass = Episode(action='(pour-juice alice glass)',
duration={
'ctype': 'controllable',
'lb': 0.5,
'ub': 1.0
})
get_bagel_ep = Episode(action='(get alice bagel)',
duration={
'ctype': 'controllable',
'lb': 0.5,
'ub': 1.0
})
get_cereal_ep = Episode(action='(get alice cereal)',
duration={
'ctype': 'controllable',
'lb': 0.5,
'ub': 1.0
})
toast_bagel_ep = Episode(action='(toast alice bagel)',
duration={
'ctype': 'controllable',
'lb': 3.0,
'ub': 5.0
})
add_cheese_bagel_ep = Episode(action='(add-cheese alice bagel)',
duration={
'ctype': 'controllable',
'lb': 1.0,
'ub': 2.0
})
mix_cereal_ep = Episode(action='(mix-cereal alice milk)',
duration={
'ctype': 'controllable',
'lb': 1.0,
'ub': 2.0
})
#Actions that the robot performs
get_grounds_ep = Episode(action='(get grounds robot)',
duration={
'ctype': 'controllable',
'lb': 0.5,
'ub': 1.0
})
get_juice_ep = Episode(action='(get juice robot)',
duration={
'ctype': 'controllable',
'lb': 0.5,
'ub': 1.0
})
get_milk_ep = Episode(action='(get milk robot)',
duration={
'ctype': 'controllable',
'lb': 0.5,
'ub': 1.0
})
get_cheese_ep = Episode(action='(get cheese robot)',
duration={
'ctype': 'controllable',
'lb': 0.5,
'ub': 1.0
})
prog = RMPyL()
prog *= prog.sequence(
prog.parallel(
prog.observe(
{
'name': 'observe-utensil',
'domain': ['Mug', 'Glass'],
'ctype': 'uncontrollable'
},
get_mug_ep,
get_glass_ep,
id='observe-utensil-ep'),
prog.decide(
{
'name': 'choose-beverage-ingredient',
'domain': ['Grounds', 'Juice'],
'utility': [0, 0]
},
get_grounds_ep,
get_juice_ep,
id='choose-beverage-ingredient-ep')),
prog.observe(
{
'name': 'observe-alice-drink',
'domain': ['Coffee', 'Juice'],
'ctype': 'uncontrollable'
},
prog.sequence(make_cofee_ep, pour_cofee_ep),
pour_juice_glass,
id='observe-alice-drink-ep'),
prog.parallel(prog.observe(
{
'name': 'observe-food',
'domain': ['Bagel', 'Cereal'],
'ctype': 'uncontrollable'
},
get_bagel_ep,
get_cereal_ep,
id='observe-food-ep'),
prog.decide(
{
'name': 'choose-food-ingredient',
'domain': ['Milk', 'Cheese'],
'utility': [0, 0]
},
get_milk_ep,
get_cheese_ep,
id='choose-food-ingredient-ep'),
id='parallel-food-ep'),
prog.observe(
{
'name': 'observe-alice-food',
'domain': ['Bagel', 'Cereal'],
'ctype': 'uncontrollable'
}, prog.sequence(toast_bagel_ep, add_cheese_bagel_ep),
mix_cereal_ep),
id='breakfast-sequence')
extra_tcs = [
TemporalConstraint(
start=prog.episode_by_id('breakfast-sequence').start,
end=prog.episode_by_id('observe-utensil-ep').start,
ctype='controllable',
lb=0.0,
ub=0.0),
TemporalConstraint(
start=prog.episode_by_id('breakfast-sequence').start,
end=prog.episode_by_id('choose-beverage-ingredient-ep').start,
ctype='controllable',
lb=0.2,
ub=0.3),
TemporalConstraint(start=prog.episode_by_id('parallel-food-ep').start,
end=prog.episode_by_id('observe-food-ep').start,
ctype='controllable',
lb=0.0,
ub=0.0),
TemporalConstraint(
start=prog.episode_by_id('parallel-food-ep').start,
end=prog.episode_by_id('choose-food-ingredient-ep').start,
ctype='controllable',
lb=0.2,
ub=0.3)
]
for tc in extra_tcs:
prog.add_temporal_constraint(tc)
prog.add_overall_temporal_constraint(ctype='controllable', lb=0.0, ub=7.0)
prog.simplify_temporal_constraints()
return prog
'\nSuccessfully performed STNU reformulation with scheduling risk %f %%!'
% (risk_bound * 100.0))
for tc in global_prog.temporal_constraints:
if tc.type == 'uncontrollable_bounded':
tc.type = 'controllable'
for i in range(len(pddl_episodes) - 1):
global_prog.add_temporal_constraint(
TemporalConstraint(start=pddl_episodes[i].end,
end=pddl_episodes[i + 1].start,
ctype='controllable',
lb=1.005,
ub=2.1))
global_prog.simplify_temporal_constraints()
# activation_episode_end_events = [ep.end for ep in activation_episodes]
# for tc in global_prog.temporal_constraints:
# if tc.start in activation_episode_end_events:
# global_prog.remove_temporal_constraint(tc)
global_prog.to_ptpn(filename=output_file)
print('\nThis is the schedule:')
for e, t in sorted([(e, t) for e, t in sc_schedule.items()],
key=lambda x: x[1]):
print('\t%s: %.2f s' % (e, t))
else:
print('\nFailed to perform STNU reformulation...')