def main():
state = pyhop.State('state')
state.people = {'me': 1, 'assistant': 2, 'janitor': 5, 'professor': 8}
state.side = {
'left': {person
for person in state.people.keys()},
'right': set()
}
state.chosen = []
state.torch = 'left'
state.time = 15
pyhop.declare_operators(all_on_right_within_time, none_on_left,
walk_people, is_person_on_side, is_not_chosen,
has_time, append_person_to_chosen)
pyhop.declare_methods(
'pick_person', *[
fun_factory('chose_{:d}'.format(i), i - 1)
for i in range(len(state.people.keys()))
])
pyhop.declare_methods('chose_person', chose_person)
pyhop.declare_methods('travel_person', travel_person)
pyhop.declare_methods('travel_2_people', travel_2_people)
pyhop.declare_methods('assert_escape', assert_escape)
pyhop.declare_methods('escape', assert_escape, travel_person,
travel_2_people)
pyhop.pyhop(state, [('escape', )], verbose=3)
def plan(domain, state0, tasks, verbose=0):
# Register planning operations with pyhop
ops = domain.htn_operators()
methods = domain.htn_methods()
ph.declare_operators(*ops.values())
for name, fun in methods.items():
ph.declare_methods(name, fun) # one method per task name
# Run pyhop planner
actions = ph.pyhop(state0, tasks, verbose=verbose)
return actions
def setupTeaAtHome():
'''!@brief Setup tea at home.
This method declares operators, tasks and methods to pyhop. This must be called BEFORE running pyhop with teaathome.
'''
pyhop.declare_operators(goto, openitem, grasp, place, close, check, weigh,
placein, turnonkettlebase, access, opencoldtap,
pourintocup)
pyhop.declare_methods('taskmaketea', maketea)
pyhop.declare_methods('taskpreparehotwater', preparehotwater_fullhotk,
preparehotwater_fullk, preparehotwater)
pyhop.declare_methods('taskcheckkettlefill', checkkettlefill)
pyhop.declare_methods('tasplacekettleinsink', placekettleinsink)
pyhop.declare_methods('taskfillkettle', fillkettle_kopen, fillkettle)
pyhop.declare_methods('taskplacekettleonbase', placekettleonbase)
pyhop.declare_methods('taskbringkettletobase', bringkettletobase)
pyhop.declare_methods('taskboilwater', boilwater)
pyhop.declare_methods('taskgetcleancup', getcleancup)
pyhop.declare_methods('taskcheckcupdirty', checkcupdirty)
pyhop.declare_methods('taskplacecup', placecup)
pyhop.declare_methods('taskfinalizetea', finalizetea)
pyhop.declare_methods('taskprepareteabag', prepareteabag)
pyhop.declare_methods('taskgetteabag', getteabag)
pyhop.declare_methods('taskplacebagincup', placebagincup)
pyhop.declare_methods('taskbrewtea', brewtea_kopen, brewtea)
def ask_true_false_on_relation(state, r):
state.status += 1
state.variables.affect.frustration += 1 # how to model user's success rate on a particular question
state.variables.affect.challenge += 1
state.variables.affect.boredom -= 1
# print "Is it true?\n", r
return state
def show_congrats(state, a=0):
return state
pyhop.declare_operators(print_a_concept_1, print_a_concept_2,
print_a_relation_1, print_a_relation_2,
ask_true_false_on_concept, ask_true_false_on_relation,
show_congrats)
# pyhop.print_operators()
# End - Operators
# Methods
def present_a_concept(state, c):
if state.variables.affect.boredom < 3:
if random.randint(0, 100) < 50:
return [('print_a_concept_1', c)]
else:
return [('print_a_concept_2', c)]
return []
state.health = state.health - WORK_HEALTH_COST
return state
else:
return False
def eat(state):
state.fed = state.fed + FED_VAL
state.health = state.health - WORK_HEALTH_COST
state.backlog = state.backlog + BACKLOG_INCREMENT_VAL
return state
def relax(state):
state.energy = state.energy + RELAX_VAL
state.backlog = state.backlog + BACKLOG_INCREMENT_VAL
return state
def gym(state):
if state.fed >= WORK_FED_REQ:
state.health = state.health + HEALTH_VAL
state.energy = state.energy - WORK_ENERGY_COST
state.fed = state.fed - WORK_FOOD_COST
state.backlog = state.backlog + BACKLOG_INCREMENT_VAL
return state
return False
pyhop.declare_operators(finish_thesis, write_sph, write_other, study, eat, relax, gym)
def visit(state, agent, waypoint): state.visited[agent].add(waypoint) return state def unvisit(state, agent, waypoint): state.visited[agent].remove(waypoint) return state """ Below, 'declare_operators(pickup, unstack, putdown, stack)' tells Pyhop what the operators are. Note that the operator names are *not* quoted. """ pyhop.declare_operators(navigate_op, sample, set_up_rock_experiment, set_up_soil_experiment, analyze_rock_sample, analyze_soil_sample, drop, calibrate, take_image, communicate_data, visit, unvisit) """ TODO: Figure out what to do if there are different preconditions for the same operator. For example: Sampling rock or soil depending on where. """
return state
else:
return False
# Calculate the total cost for this specific plan
def costForPlan(plan):
cost = 0
if plan != False:
for item in plan:
if item[0][0:3] == "pay":
# Add up all cost that have the action 'pay'
cost = cost + item[2]
return cost
# Decalare all the operators for pyhop
pyhop.declare_operators(walk, call_taxi, ride_taxi, pay_cab_driver, pay_bus_driver, ride_bus, withdraw_money)
# Main pyhop method to reach the goal state from initial state
def travel_by_goal_state(state, goal):
# Get the problem domain info related file
fo = openFile('static_value.txt')
exec('content=' + fo.read())
global static_state
static_state = pyhop.State("static")
for stateItem in content:
# Load the problem domain info into the state
exec("static_state."+stateItem)
a = state.target
x = state.loc[a]
y = goal.loc[a]
state.ubi_camion[camion] = destino
state.ubi_conductor[conductor] = destino
return state
else:
return False
def viajar_a_pie(state, conductor, destino):
lugar = state.ubi_conductor[conductor]
if lugar not in state.parada:
for p in state.parada:
for x in state.senda:
if ((destino == x[0]) and (p == x[1])):
for y in state.senda:
if ((p == y[0]) and (lugar == y[1])):
state.ubi_conductor[conductor] = destino
return state
else:
for i in range(len(state.senda)):
if ((lugar == state.senda[i][0])
and (destino == state.senda[i][1])):
state.ubi_conductor[conductor] = destino
return state
return False
pyhop.declare_operators(cargar_paquete, descargar_paquete,
conductor_subir_camion, conductor_bajar_camion,
viajar_en_camion, viajar_a_pie)
pyhop.print_operators()
sys.setrecursionlimit(30000)
global num_states_explored
## Operators
def move(state, disk, source, dest):
global num_states_explored
if state.loc[disk] == source:
state.loc[disk] = dest
num_states_explored = num_states_explored + 1
return state
else:
return False
pyhop.declare_operators(move)
print('')
pyhop.print_operators()
## Methods
def move_stack(state, disk, source, dest, spare):
global num_states_explored
if disk > 0:
return [('move_tower', disk - 1, source, spare, dest),
('move', disk, source, dest),
('move_tower', disk - 1, spare, dest, source)]
else:
num_states_explored = num_states_explored + 1
return False
state.wood = state.wood + GATHER_WOOD return state else: return False def train_peon(state): if state.gold >= PEON_COST_GOLD and state.free_places > 0: state.gold = state.gold - PEON_COST_GOLD state.free_places = state.free_places - 1 state.peons = state.peons + 1 return state return False def build_house(state): if state.gold >= HOUSE_COST_GOLD: state.gold = state.gold - HOUSE_COST_GOLD state.free_places = state.free_places + 5 state.houses = state.houses + 1 return state return False def build_watchtower(state): if state.gold >= WATCHTOWER_COST_GOLD and state.wood >= WATCHTOWER_COST_WOOD and state.peons > 0: state.gold = state.gold - WATCHTOWER_COST_GOLD state.peons = state.peons - 1 state.wood = state.wood - WATCHTOWER_COST_WOOD return state return False pyhop.declare_operators(build_barracks,gather_gold,gather_wood,train_peon,build_house,build_watchtower)
def declare_ops():
pyhop.declare_operators(pickup, unstack, unstack_mortared, putdown, stack,
stack_mortared, putoutfire, apprehend, searchfor,
get_from_store)
def ride_taxi(state,a,x,y):
if state.loc['taxi']==x and state.loc[a]==x:
state.loc['taxi'] = y
state.loc[a] = y
state.owe[a] = taxi_rate(state.dist[x][y])
return state
else: return False
def pay_driver(state,a):
if state.cash[a] >= state.owe[a]:
state.cash[a] = state.cash[a] - state.owe[a]
state.owe[a] = 0
return state
else: return False
pyhop.declare_operators(walk, call_taxi, ride_taxi, pay_driver)
print('')
pyhop.print_operators()
def travel_by_foot(state,a,x,y):
if state.dist[x][y] <= 2:
return [('walk',a,x,y)]
return False
def travel_by_taxi(state,a,x,y):
if state.cash[a] >= taxi_rate(state.dist[x][y]):
return [('call_taxi',a,x), ('ride_taxi',a,x,y), ('pay_driver',a)]
return False
if (state.robot_location == room):
state.clean.append(room)
return state
else:
return False
def lock(state, room):
if (state.robot_location == room) and (room in state.clean):
state.locked.append(room)
return state
else:
return False
pyhop.declare_operators(move, mop, lock)
def clean_lock(state, room):
return [('move', state.robot_location, room), ('mop', room),
('lock', room)]
pyhop.declare_methods('clean_lock', clean_lock)
def clean_lock_all(state, rooms):
return [[('clean_lock', room)] for room in rooms]
# return [('clean_lock', rooms[0]),
return False
def call_taxi(state, x):
if state.loc['taxi'] != x and \
state.time >= 5:
state.time -= 5
state.loc['taxi'] = x
return state
return False
pyhop.declare_operators(
ride_car,
ride_public_transport,
walk,
ride_taxi,
call_taxi
)
def travel_car(state, x, y):
return [('ride_car', x, y)]
def travel_taxi_pt(state, x, y):
return [('call_taxi', x), ('ride_taxi', x, 'train_station'), ('ride_public_transport', 'train_station', y)]
def travel_car_pt(state, x, y):
return [('ride_car', x, 'train_station'), ('ride_public_transport', 'train_station', y)]
state.time[agent] = state.time[agent] - 280
state.money[agent] = state.money[agent] - 168
return state
def pocket(state, agent):
state.time[agent] = state.time[agent] - 240
state.money[agent] = state.money[agent] - 190
return state
def foam(state, agent):
state.time[agent] = state.time[agent] - 390
state.money[agent] = state.money[agent] - 130
return state
####################### Operators declaration:
pyhop.declare_operators(offline, own_transport, post_transport, bonell, pocket, foam)
print('\n#########################################################\n')
pyhop.print_operators()
####################### Ordering and dependencies:
def buy_foam(state, agent):
if state.time[agent] >= 490: #Offline
if ((state.money[agent] >= 160) and (state.time[agent] >= 530)):
return [('own_transport', agent),('foam', agent), ('offline', agent)]
elif state.money[agent] >= 190:
return [('post_transport', agent),('foam', agent), ('offline', agent)]
elif state.time[agent] >= 450: #Online
if state.money[agent] >= 200:
return [('post_transport', agent),('foam', agent)]
else:
return False
state.empty[truck].extend(state.empty[cran])
state.empty[cran]=True
return state
else:
return False
def find_shortest_path(graph, start, end, path=[]):
path = path + [start]
if start == end:
return path
if start not in graph.keys():
return None
shortest = None
for node in graph[start]:
if node not in path:
newpath = find_shortest_path(graph, node, end, path)
if newpath:
if not shortest or len(newpath) < len(shortest):
shortest = newpath
return shortest
def done(state, container_list, destination):
return state
#find_shortest_path(path,'D', 'D5')
pyhop.declare_operators(already_there,already_unloaded,lift,drop,load,unload,find_shortest_path,done)
#pyhop.declare_operators(already_there,navigatsample_soil,sample_rock,drop,calibrate,take_image,communicate_soil_data_to_lander,communicate_rock_data_to_lander,communicate_image_data_to_lander)
import pyhop
def move_disk(state, disk, peg_source, peg_dest):
if state.diskLocation[disk] == peg_source:
state.diskLocation[disk] = peg_dest
return state
else:
return False
pyhop.declare_operators(move_disk)
def move_multiple(state, disk, peg_source, peg_dest, peg_via):
if disk > 0:
return [('move', disk - 1, peg_source, peg_via, peg_dest), ('move_disk', disk, peg_source, peg_dest), ('move', disk - 1, peg_via, peg_dest, peg_source)]
else:
return False
def move_single(state, disk , peg_source, peg_dest, peg_via):
if disk <= 0:
return [('move_disk', disk, peg_source, peg_dest)]
else:
return False
pyhop.declare_methods('move', move_single, move_multiple)
return agents
def robot_stack(agents, self_state, self_name):
if self_state.isCarrying[self_name] is not None:
c = self_state.isCarrying[self_name]
for a in agents.values():
a.state.isOnStack[c] = True
a.state.onStack.append(c)
a.state.isCarrying[self_name] = None
return agents
else:
return False
pyhop.declare_operators("human", human_pick, human_stack, human_wait)
pyhop.declare_operators("robot", robot_pick, robot_stack)
### Methods definitions
def moveb_m_human(agents, self_state, self_name, c, goal):
if self_name in self_state.isReachableBy[
c] and c in goal.isOnStack and goal.isOnStack[
c] and not self_state.isOnStack[c]:
return [("human_pick", c), ("human_stack", )]
return []
def moveb_m_robot(agents, self_state: pyhop.State, self_name, c, goal):
if self_name in self_state.isReachableBy[
arm_xyz, servo_values = get_xyz(to_)
if arm_xyz != False:
state.location['arm_xyz'] = arm_xyz
state.location['servo_values'] = servo_values
arm_xyz, servo_values = move_arm(state, to_)
if arm_xyz != False:
actee_diameter = get_diameter(actee)
if open_hand(actee_diameter):
state.location['arm_xyz'] = arm_xyz
state.location['servo_values'] = servo_values
return state
pyhop.failure_reason = "{} can't put {} to {}".format(actor, actee, to_)
return False
pyhop.declare_operators(initialize, grab, put, move_arm, close_hand, open_hand)
print('')
pyhop.print_operators()
# Methods (compound tasks)
def put_grabbed(state, actor, actee, from_, to_):
if actor == "arm":
if state.grabbed["ball"]:
return [('put', actor, actee, to_)]
pyhop.failure_reason = "{} can't put_grabbed {} from {} to {}".format(
actor, actee, from_, to_)
return False
return state
else: return False
def pay_driver(state,a):
if state.cash[a] >= state.owe[a]:
state.cash[a] = state.cash[a] - state.owe[a]
state.owe[a] = 0
return state
else: return False
# Declaracion de los operadores. NO BASTA con definirlos con "def" sino que
# tambien hay que indicarselo a pyhop.
# Importante: se deben declarar TODOS los operadores en un UNICO "declare_operators"
pyhop.declare_operators(walk, call_taxi, wait_taxi, read_book, ride_taxi, pay_driver)
print('')
pyhop.print_operators()
# Definición de dos metodos para "read_if_necessary_book". Solo uno de ellos se ejecutara
# como maximo. Deben devolver un conjunto de operadores/tareas (aunque sea vacio) o False
# si no se puede aplicar
def do_read(state,a,x,y):
if not state.read_book[a]:
return [('read_book',a)]
return False
state.pos[b] = 'hand'
state.clear[b] = False
state.holding = b
state.clear[c] = True
return state
else: return False
def putdown(state,b):
if state.pos[b] == 'hand':
state.pos[b] = 'table'
state.clear[b] = True
state.holding = False
return state
else: return False
def stack(state,b,c):
if state.pos[b] == 'hand' and state.clear[c] == True:
state.pos[b] = c
state.clear[b] = True
state.holding = False
state.clear[c] = False
return state
else: return False
"""
Below, 'declare_operators(pickup, unstack, putdown, stack)' tells Pyhop
what the operators are. Note that the operator names are *not* quoted.
"""
pyhop.declare_operators(pickup, unstack, putdown, stack)
def __init__(self):
self.failure_reason = ""
self.verbose = 0
# Helper methods
def is_within_bounds(location1, min_bounds, max_bounds):
for i in range(len(location1)):
if location1[i] < min_bounds[i] or location1[i] > max_bounds[i]:
return False
return True
# Operators (primitive tasks)
def move_arm(state, to_):
arm_min_bounds = state.min_bounds["xyz"]
arm_max_bounds = state.max_bounds["xyz"]
if to_ == "target_object" or to_ == "container":
xyz = state.xyz[to_]
if not is_within_bounds(xyz, arm_min_bounds, arm_max_bounds):
self.failure_reason = "can't move arm to {}: {} outside of bounds: {} {}"\
.format(to_, xyz, arm_min_bounds, arm_max_bounds)
return False
return state
return state
def move_arm_above(state, to_):
return move_arm(state, to_)
def close_hand(state):
gripper_min_bounds = state.min_bounds["object_side_length"]
gripper_max_bounds = state.max_bounds["object_side_length"]
distance = state.size['object_side_length']
if distance < gripper_min_bounds or distance > gripper_max_bounds:
self.failure_reason = "can't close hand to distance {}".format(
distance)
print(self.failure_reason)
return False
return state
def open_hand(state):
gripper_min_bounds = state.min_bounds["object_side_length"]
gripper_max_bounds = state.max_bounds["object_side_length"]
distance = state.size['object_side_length']
if distance < gripper_min_bounds or distance > gripper_max_bounds:
self.failure_reason = "can't open hand to distance {}".format(
distance)
return False
return state
def initialize(state, actor):
if actor == "arm":
state.initialized["arm"] = True
return state
self.failure_reason = "{} can't initialize".format(actor)
return False
pyhop.declare_operators(initialize, move_arm, move_arm_above,
close_hand, open_hand)
if self.verbose > 0:
pyhop.print_operators()
# Methods (compound tasks)
def put_grabbed(state, actor, actee, from_, to_):
if actor == "arm":
if state.grabbed["target_object"]:
return [('move_arm_above', to_), ('open_hand', )]
return False
def full_transfer(state, actor, actee, from_, to_):
if actor == "arm":
return [('initialize', actor), ('open_hand', ),
('move_arm_above', 'target_object'),
('move_arm', 'target_object'), ('close_hand', ),
('move_arm_above', 'target_object'),
('move_arm_above', to_), ('open_hand', )]
return False
def transfer(state, actor, actee, from_, to_):
if actor == "arm":
if state.initialized["arm"]:
return [('move_arm_above', 'target_object'),
('move_arm', 'target_object'), ('close_hand', ),
('move_arm_above', 'target_object'),
('move_arm_above', to_), ('open_hand', )]
return False
pyhop.declare_methods('transfer_target_object_to_container',
full_transfer, put_grabbed, transfer)
import pyhop
def completed(state, plan):
if state.objects[plan] == False:
state.objects[plan] = True
return state
else:
return state
def not_completed(state, plan):
if state.objects[plan] == True:
state.objects[plan] = False
return state
else:
return state
def skip(state, plan):
return state
pyhop.declare_operators(completed, not_completed, skip)
def declare_ops():
pyhop.declare_operators(pickup, unstack, putdown, stack, putoutfire, apprehend, searchfor)
state.owe[a] = taxi_rate(state.dist[x][y])
return state
else:
return False
def pay_driver(state, a):
if state.cash[a] >= state.owe[a]:
state.cash[a] = state.cash[a] - state.owe[a]
state.owe[a] = 0
return state
else:
return False
pyhop.declare_operators(walk, cycle, call_taxi, ride_taxi, pay_driver, fly)
print('')
pyhop.print_operators()
# Methods (compound tasks)
def travel_by_foot(state, a, x, y):
if state.dist[x][y] <= 2:
return [('walk', a, x, y)]
return False
def travel_by_bicycle(state, a, x, y):
if not state.weather['raining'] and state.dist[x][y] < 8:
return [('cycle', a, x, y)]
def stack(state,b,c):
if state.pos[b] == 'hand' and state.clear[c] == True:
state.pos[b] = c
state.clear[b] = True
state.holding = False
state.clear[c] = False
return state
else: return False
def putoutfire(state, b):
if state.fire[b] == True:
state.fire[b] == False
return state
else:
return False
def apprehend(state, perp):
if state.free[perp] == True:
state.free[perp] = False
return state
else:
return False
"""
Below, 'declare_operators(pickup, unstack, putdown, stack)' tells Pyhop
what the operators are. Note that the operator names are *not* quoted.
"""
pyhop.declare_operators(pickup, unstack, putdown, stack, putoutfire, apprehend)
else:
return False
def store_ingredient(state, elem, num):
#print("store_ingredient" + elem + str(num))
state.ingredients[elem] += num
return state
def store_tool(state, tool):
state.tool[tool] = True
return state
pyhop.declare_operators(check_tool, check_ingredients, use_ingredient,
store_ingredient, use_time)
# mehtods
def wooden_axe_for_wood(state, num):
#print("wooden_axe for wood")
if state.time >= 1:
state.time -= 1
return [('check_ingredients', 'wood', num),
('check_tool', 'wooden_axe'), ('store_ingredient', 'wood', 1)]
else:
return False
def stone_axe_for_wood(state, num):
def pizza(state, agent):
state.time[agent] -= 60
state.money[agent] -= 35
state.fullness[agent] += 1.0
return state
def chinese(state, agent):
state.time[agent] -= 18
state.money[agent] -= 25
state.fullness[agent] += 0.6
return state
pyhop.declare_operators(buy_ingredients, actually_cook, burger, pizza, chinese)
print '\n'
pyhop.print_operators()
def cook(state, agent, full):
if state.time[agent] >= 90:
if state.money[agent] >= 10:
if state.fullness[agent] + 1.5 < full:
return [('buy_ingredients', agent), ('actually_cook', agent), ("eating", agent, full)]
else:
return [('buy_ingredients', agent), ('actually_cook', agent)]
return False
from holidays_travalling_helper import \
go_by_ferry, \
fly, \
call_taxi, \
ride_taxi, \
buy_ferry_ticket, \
buy_plane_ticket, \
pay_taxi_driver, \
travel_by_plane, \
travel_by_ferry, \
travel_by_taxi, \
get_souvenir
from holidays_planner_data_helper import state0, places
pyhop.declare_operators(fly, buy_plane_ticket, call_taxi, ride_taxi,
pay_taxi_driver, buy_ferry_ticket, go_by_ferry,
get_souvenir)
print('')
pyhop.print_operators()
pyhop.declare_methods('travel', travel_by_plane, travel_by_taxi,
travel_by_ferry)
print('')
pyhop.print_methods()
# Call
#
pyhop.pyhop(state0, [('travel', 'me', places[0], places[-1], 0)], verbose=3)
def carga(state,transp,paquete):
print "Entro en carga"
ciudad=state.at_paquete[paquete]
if state.at_camiones[transp]==ciudad:
state.at_paquete[paquete]=transp
state.carga_camion[transp].append(paquete)
return state
else:
return False
def subir_camion(state,transp,driver):
print "Entro en subir_camion"
if state.at_camiones[transp]==state.at_cond[driver]:
state.at_cond[driver]=transp
return state
else:
return False
def bajar_camion(state,transp,driver):
print "Entro en bajar_camion"
ciudad = state.at_camiones[transp]
if state.at_cond[driver]==transp:
state.at_cond[driver]=ciudad
return state
else:
return False
pyhop.declare_operators(walk,drive,carga,descarga,subir_camion,bajar_camion,already_there)
del state.at[obj]
return state
else:
return False
def drop(state, obj, location):
if state.at['robot'] == location and state.holding == obj:
state.holding = None
state.at[obj] = location
return state
else:
return False
pyhop.declare_operators(move, take, drop)
print('')
pyhop.print_operators()
def deliver(state, obj, destination):
obj_start = state.at[obj]
return [('move', 'robot', state.at['robot'], obj_start),
('take', obj, obj_start),
('move', 'robot', obj_start, destination),
('drop', obj, destination)]
pyhop.declare_methods('deliver', deliver)
state1 = pyhop.State('state1')
import pyhop
def move_disk(state, disk, peg_source, peg_dest):
if state.diskLocation[disk] == peg_source:
state.diskLocation[disk] = peg_dest
return state
else:
return False
pyhop.declare_operators(move_disk)
def move_multiple(state, disk, peg_source, peg_dest, peg_via):
if disk > 0:
return [('move', disk - 1, peg_source, peg_via, peg_dest),
('move_disk', disk, peg_source, peg_dest),
('move', disk - 1, peg_via, peg_dest, peg_source)]
else:
return False
def move_single(state, disk, peg_source, peg_dest, peg_via):
if disk <= 0:
return [('move_disk', disk, peg_source, peg_dest)]
else:
return False
pyhop.declare_methods('move', move_single, move_multiple)
buy_ferry_ticket, \
buy_plane_ticket, \
pay_taxi_driver, \
travel_by_plane, \
travel_by_ferry, \
travel_by_taxi, \
get_souvenir
from holidays_planner_data_helper import state0, places
pyhop.declare_operators(
fly,
buy_plane_ticket,
call_taxi,
ride_taxi,
pay_taxi_driver,
buy_ferry_ticket,
go_by_ferry,
get_souvenir)
print('')
pyhop.print_operators()
pyhop.declare_methods('travel', travel_by_plane, travel_by_taxi, travel_by_ferry)
print('')
pyhop.print_methods()
# Call
return state
else:
return False
def classify(state):
if (state.holding == 'red'):
state.red = True
return state
elif (state.holding == 'green'):
state.green = True
return state
elif (state.holding == 'blue'):
state.blue = True
return state
else:
return False
def leave(state):
if (state.holding == state.robot_location):
state.amounts[state.holding] += 1
state.holding = None
return state
else:
return False
pyhop.declare_operators(move, take, classify, leave)
pyhop.pyhop(domains.state22, domains.prob22, verbose=3)
def declare_ops(): pyhop.declare_operators(pickup, unstack, putdown, stack, putoutfire, apprehend, searchfor)
def communicate_rock_data_to_lander(
state, rover,
probe_p): # зачем передавать позицию бича,когда она и так в стейте
rstate = state.at[rover]
if state.at_lander in state.visible[state.at[rover]]:
state.communicated_rock_data.append(probe_p)
return state
else:
return False
def communicate_image_data_to_lander(
state, rover, obj,
mode): # зачем передавать позицию бича,когда она и так в стейте
rstate = state.at[rover]
if state.have_image[rover] and state.at_lander in state.visible[
state.at[rover]]: #add. check,if we made some photos
state.communicated_image_data.append(state.have_image[rover])
return state
else:
return False
pyhop.declare_operators(already_there, navigate, sample_soil, sample_rock,
drop, calibrate, take_image,
communicate_soil_data_to_lander,
communicate_rock_data_to_lander,
communicate_image_data_to_lander)
def declare_ops(): pyhop.declare_operators(pickup, unstack, unstack_mortared, putdown, stack, stack_mortared, putoutfire, apprehend, searchfor, get_from_store)
def declare_ops(): pyhop.declare_operators(pickup, unstack, putdown, stack, putoutfire, apprehend, searchfor, pickup_extinguisher, putdown_extinguisher)
"""
import pyhop
def walk(state,a,x,y):
if state.loc[a] == x:
state.loc[a] = y
return state
else: return False
def call_taxi(state,a,x):
state.loc['taxi'] = x
return state
def ride_taxi(state,a,x,y):
if state.loc['taxi']==x and state.loc[a]==x:
state.loc['taxi'] = y
state.loc[a] = y
return state
else: return False
def pay_driver(state,a,x,y):
if state.cash[a] >= 1.5 + 0.5 * state.dist[x][y]:
state.cash[a] = state.cash[a] - (1.5 + 0.5 * state.dist[x][y])
return state
else: return False
pyhop.declare_operators(walk, call_taxi, ride_taxi, pay_driver)
def moveRobot(state, locTo):
state.locRobot = locTo
return state
#def unstack(state,b,c):
# if state.pos[b] == c and c != 'table' and state.clear[b] == True and state.holding == False:
# state.pos[b] = 'hand'
# state.clear[b] = False
# state.holding = b
# state.clear[c] = True
# return state
# else: return False
#
#def stack(state,b,c):
# if state.pos[b] == 'hand' and state.clear[c] == True:
# state.pos[b] = c
# state.clear[b] = True
# state.holding = False
# state.clear[c] = False
# return state
# else: return False
#
"""
Below, 'declare_operators(pickup, unstack, putdown, stack)' tells Pyhop
what the operators are. Note that the operator names are *not* quoted.
"""
pyhop.declare_operators(moveRobot,pickUp,putDown)
return False
def putdown(state, b):
if state.pos[b] == 'hand':
state.pos[b] = 'table'
state.clear[b] = True
state.holding = False
return state
else:
return False
def stack(state, b, c):
if state.pos[b] == 'hand' and state.clear[c] == True:
state.pos[b] = c
state.clear[b] = True
state.holding = False
state.clear[c] = False
return state
else:
return False
"""
Below, 'declare_operators(pickup, unstack, putdown, stack)' tells Pyhop
what the operators are. Note that the operator names are *not* quoted.
"""
pyhop.declare_operators(pickup, unstack, putdown, stack)
state.time[agent] = state.time[agent] - 25
spend_money(13)
return state
def eat_in_restaurant(state, agent):
state.time[agent] = state.time[agent] - 40
spend_money(14)
return state
def eat_in_milkbar(state, agent):
state.time[agent] = state.time[agent] - 20
spend_money(10)
return state
####################### Operators declaration:
pyhop.declare_operators(buy_ingredients, cooking_process, eat_kebab, eat_in_restaurant, eat_in_milkbar)
print('\n#########################################################\n')
pyhop.print_operators()
####################### Ordering and dependencies:
def cook_myself(state, agent):
if state.time[agent] >= 85:
if wallet() >= 10:
return [('buy_ingredients', agent),('cooking_process', agent)]
else:
return False
else:
return False
def order_in_restaurant(state, agent):
if state.time[agent] >= 40:
def leave(state, document, office):
if (state.holding == document):
state.at[document] = office
state.holding = None
return state
else:
return False
def sign(state, document, office):
if (state.at[document] == office):
state.signed.append(document)
return state
else:
return False
pyhop.declare_operators(GoTo, shred, take, leave, sign)
def goAndGet(state, document):
robot_start = state.at['robot']
doc_start = state.at[document]
return [('GoTo', robot_start, doc_start),
('take', document, doc_start)]
pyhop.declare_methods('goAndGet', goAndGet)
def deliver(state, document, office):
robot_start = state.at['robot']
return[('GoTo', robot_start, office),
('leave', document, office)]
pyhop.declare_methods('deliver', deliver)
def takeAndSign(state, document, office):
state.num_victims -= 1;
return state;
def call_success(state, goal):
for a in state.ambulances.items():
print(a[0], ": ", a[1]["t"]);
if(state.num_victims <= 0):
print("Success!!");
return [];
else:
return False;
#############################PYHOP############################
state1 = pyhop.State("state1");
state1.hospitals = hospitals;
state1.ambulances = ambulances;
state1.victims = victims;
state1.num_victims = len(victims);
goal1 = pyhop.Goal("goal1");
goal1.num_victims = 0;
pyhop.declare_operators(move_ambulance, enter_ambulance, exit_ambulance);
pyhop.declare_methods('save_the_victims', save_victim, call_success);
pyhop.pyhop(state1,[('save_the_victims', goal1)], verbose=1);
h=distance(state.coordinates[c],state.coordinates[y])
if g+h<best:
best_city=c
best=g+h
return best_city
def travel_op(state,y):
x=state.location
if y in state.connection[x]:
state.location = y
state.path.append(y)
state.cost += distance(state.coordinates[x],state.coordinates[y])
return state
else: return False
pyhop.declare_operators(travel_op)
print('')
pyhop.print_operators()
def travel_m(state,goal):
x=state.location_car
y=goal.final
if x!=y:
z=select_new_city(state,y)
g=pyhop.Goal('g')
g.final=y
return [('travel_op',z), ('travel_to_city',g)]
return False
def already_there(state,goal):
x=state.location_car
import sys
import time
sys.setrecursionlimit(30000)
global num_states_explored;
## Operators
def move(state, disk, source, dest):
global num_states_explored;
if state.loc[disk] == source:
state.loc[disk] = dest
num_states_explored = num_states_explored + 1;
return state
else:
return False
pyhop.declare_operators(move)
print('')
pyhop.print_operators()
## Methods
def move_stack(state, disk, source, dest, spare):
global num_states_explored;
if disk >0:
return [('move_tower', disk-1, source, spare, dest), ('move', disk, source, dest), ('move_tower', disk-1, spare, dest, source)]
else:
num_states_explored = num_states_explored + 1;
return False
def declare_ops():
pyhop.declare_operators(take_order, prepare_order, serve_order)
