def gen_actions():
parameters=[x, y, z]
preconditions = list()
preconditions.append(conditions.Atom(ON, [x, z]))
preconditions.append(conditions.Atom(CLEAR, [x]))
preconditions.append(conditions.Atom(CLEAR, [y]))
preconditions.append(conditions.NegatedAtom('=', [y, z]))
preconditions.append(conditions.NegatedAtom('=', [x, z]))
preconditions.append(conditions.NegatedAtom('=', [x, y]))
preconditions.append(conditions.NegatedAtom('=', [x, Table]))
action_effects = list()
action_effects.append(effects.Effect(parameters=[], condition=conditions.Truth(),
literal=conditions.Atom(ON,[x,y])))
action_effects.append(effects.Effect(parameters=[], condition=conditions.Truth(),
literal=conditions.NegatedAtom(ON, [x,z])))
action_effects.append(effects.Effect(parameters=[],
condition=conditions.NegatedAtom('=', [z, Table]),
literal=conditions.Atom(CLEAR, [z])))
action_effects.append(effects.Effect(parameters=[],
condition=conditions.NegatedAtom('=', [y, Table]),
literal=conditions.NegatedAtom(CLEAR, [y])))
puton = actions.Action('puton', parameters,
len(parameters), conditions.Conjunction(preconditions).simplified(),
action_effects, None)
return [puton]
def gen_init():
init = set()
init.add(conditions.Atom(block, [a]))
init.add(conditions.Atom(block, [b]))
init.add(conditions.Atom(block, [c]))
init.add(conditions.Atom(block, [Table]))
init.add(conditions.Atom(ON, [c, a]))
init.add(conditions.Atom(ON, [a, Table]))
init.add(conditions.Atom(ON, [b, Table]))
init.add(conditions.Atom(CLEAR, [c]))
init.add(conditions.Atom(CLEAR, [b]))
init.add(conditions.Atom(CLEAR, [Table]))
return init
def gen_goal():
goal = set()
goal.add(conditions.Atom(ON, [b, c]))
goal.add(conditions.Atom(ON, [a, b]))
return conditions.Conjunction(goal)