def make_initial_state(instream, task, orig_num_cylinders):
# 1. initialize all to False
# 2. initialize actual values
input_line = instream.readline()
facts = set()
while 'goal' not in input_line:
decode_vars(task, input_line, facts)
input_line = instream.readline()
# determine values for task variables
valuation = dict()
if 'gripper_empty' in facts:
valuation[task.gripper_empty.index] = True
for k in xrange(task.objects.num_blocks()):
if block_clear(k) in facts:
valuation[task.block_clear[k].index] = True
for l in xrange(task.objects.num_cylinders()):
valuation[task.cylinder_empty[l].index] = True
for k in xrange(task.objects.num_blocks()):
for l in xrange(task.objects.num_cylinders()):
if block_in_cylinder(k, l) in facts:
valuation[task.block_container[k].
index] = task.block_container_values[in_cylinder(l)]
valuation[task.cylinder_empty[l].index] = False
break
for k in xrange(task.objects.num_blocks()):
is_on_block = False
for l in xrange(task.objects.num_blocks()):
if block_on_block(k, l) in facts:
valuation[task.block_position[k].
index] = task.block_position_values[on_block(l)]
valuation[task.block_clear[l].index] = False
is_on_block = True
break
if is_on_block: continue
is_on_piston = False
for l in xrange(task.objects.num_cylinders()):
if block_on_piston(k) in facts:
valuation[task.block_position[k].
index] = task.block_position_values['on_piston']
is_on_piston = True
break
if is_on_piston: continue
assert False
print([(task.state_vars[x].name, v) for x, v in valuation.iteritems()])
return State(task, [(x, v) for x, v in valuation.iteritems()])
def make_goal(instream, task):
valuation = {}
input_line = instream.readline()
facts = set()
while 'end' not in input_line:
decode_vars(task, input_line, facts)
input_line = instream.readline()
# determine values for task variables
valuation = dict()
if 'gripper_empty' in facts:
valuation[task.gripper_empty.index] = True
for k in xrange(task.objects.num_blocks()):
if block_clear(k) in facts:
valuation[task.block_clear[k].index] = True
for k in xrange(task.objects.num_blocks()):
for l in xrange(task.objects.num_cylinders()):
if block_in_cylinder(k, l) in facts:
valuation[task.block_container[k].
index] = task.block_container_values[in_cylinder(l)]
break
for k in xrange(task.objects.num_blocks()):
is_on_block = False
for l in xrange(task.objects.num_blocks()):
if block_on_block(k, l) in facts:
valuation[task.block_position[k].
index] = task.block_position_values[on_block(l)]
is_on_block = True
break
if is_on_block: continue
is_on_piston = False
for l in xrange(task.objects.num_cylinders()):
if block_on_piston(k) in facts:
valuation[task.block_position[k].
index] = task.block_position_values['on_piston']
is_on_piston = True
break
if is_on_piston: continue
return [(x, v) for x, v in valuation.iteritems()]