def problem(verbose):
domain = Domain((
Action(
'oppoint',
preconditions=(('at', 'home'), ),
effects=(('loverget', 'present'), ),
),
Action(
'dating',
preconditions=(('loverget', 'present'), ),
effects=(('feel', 'happy'), ),
),
))
problem = Problem(domain, {
'storelist': ('restaurant', 'bookstore'),
'buylist': ('book', 'food'),
'decidelist': ('outside', 'playground'),
},
init=(('at', 'home'), ),
goal=(
('loverget', 'present'),
('feel', 'happy'),
))
plan = planner(problem, verbose=verbose)
if plan is None:
print('No Plan!')
else:
for action in plan:
print(action)
def problem(distancemat, agentcount, verbose=True):
agents = [i for i in range(agentcount)]
trashcount = len(distancemat) - agentcount
trash_cans = [i + agentcount for i in range(trashcount)]
agentDict = dict([(i,0) for i in agents])
domain = Domain((
Action(
"Check",
# Send agent A1 from T1 to pick up trash at T2
parameters=(
("agent", "A1"),
("trash_can", "T1"),
("trash_can", "T2"),
),
preconditions=(
("at", "A1", "T1"),
("unchecked", "T2"),
),
effects=(
# A1 is no longer at T1
neg(("at", "A1", "T1")),
# A1 is now at T2
("at", "A1", "T2"),
# T2 is checked.
("checked", "T2"),
neg(("unchecked", "T2")),
)
),
))
problem = Problem(
domain,
{
# List of all agents
"agent": agents,
# list of trash cans. Note: Starting positions are
# treated as trash cans.
"trash_can": [i for i in range(len(distancemat))],
},
init=[("at", i, i) for i in agents] + \
[("unchecked", i) for i in trash_cans],
goal=[("checked", i) for i in trash_cans]
)
# Heuristics based on the agent that has travelled the farthest
def heuristic(state):
# copy prepared table
agent2cost = agentDict.copy()
# calculate cost
for a in [action.sig for action in state.plan()]:
agent2cost[a[1]] += distancemat[a[2]][a[3]]
cost = max(agent2cost.values())
#heur = ?
return cost
return planner(problem,
heuristic=heuristic,
verbose=verbose)
def problem(verbose):
domain = Domain((
Action(
'sell',
parameters=(
('product', 'p'),
),
preconditions=(
('>', ('quantity', 'p'), 0),
('>=', ('customer-money',), ('price', 'p')),
),
effects=(
('-=', ('quantity', 'p'), 1),
('+=', ('account',), ('price', 'p')),
('-=', ('customer-money',), ('price', 'p')),
),
),
))
problem = Problem(
domain,
{
'product': ('apples', 'oranges',),
},
init=(
('=', ('account',), 0),
('=', ('customer-money',), 15),
('=', ('quantity', 'apples'), 10),
('=', ('quantity', 'oranges'), 10),
('=', ('price', 'apples'), 3),
('=', ('price', 'oranges'), 5),
),
goal=(
('=', ('account',), 13),
)
)
plan = planner(problem, verbose=True)
if plan is None:
print('No Plan!')
else:
state = problem.initial_state
for action in plan:
print(action)
state = state.apply(action)
print(state.f_dict)
def problem2(world):
domain = Domain((
Action(
'askPhone',
preconditions=(
('t', 'start'),
('f', 'askPhoneNO'),
),
effects=(('t', 'askPhoneNO'), ),
),
Action(
'start',
preconditions=(('f', 'start'), ),
effects=(('t', 'start'), ),
),
Action(
'close2',
preconditions=(
('t', 'start'),
('t', 'askPhoneNO'),
('f', 'close'),
),
effects=(('t', 'close'), ),
),
))
init = [('t', 'start'), ('f', 'close')]
goal = (('t', 'close'), )
init.append(
('t', 'askPhoneNO')) if world.userProfile.phone > 0 else init.append(
('f', 'askPhoneNO'))
init = tuple(init)
# print(init)
problem = Problem(domain, {}, init=init, goal=goal)
plan = planner(problem)
return plan
def problem(verbose):
domain = Domain((
Action(
#학교에 갈 짐을 쌉니다. 교재와 펜을 챙겨야 합니다.
'pack',
parameters=(
('things', 'th'),
),
preconditions=(
('at', 'home'),
),
effects=(
('packed', 'th'),
),
),
Action(
#교재와 펜을 챙기면 밖으로 나올 수 있습니다. 피시방을 가거나 학교에 갑니다.
'walk',
parameters=(
('locations', 'loc'),
),
preconditions=(
('packed', 'textbook'),
('packed', 'pen'),
),
effects=(
('at', 'loc'),
),
),
Action(
#맞는 교실을 갑니다. 지금은 인공지능 수업을 가야할 때 입니다.
'goclass',
parameters=(
('buildings', 'bui'),
),
preconditions=(
('at', 'waytoschool'),
),
effects=(
('at', 'bui'),
neg(('at','waytoschool')),
),
),
Action(
#가지고 온 것들을 엽니다. 인공지능 수업에 있고 교재가 필요합니다.
'seetextbook',
parameters=(
('things', 'th'),
),
preconditions=(
('at', 'aiclass'),
('packed','textbook')
),
effects=(
neg(('packed', 'textbook')),
('open','th')
),
),
Action(
#수업을 듣습니다. 교재를 핀 상태여야 합니다.
'takeclass',
parameters=(
('things', 'th'),
),
preconditions=(
('open', 'textbook'),
),
effects=(
('study', 'th'),
),
),
Action(
#수업이 끝나면 물건들을 닫고 마무리합니다.
'endclass',
parameters=(
('things', 'th'),
),
preconditions=(
('study', 'textbook'),
),
effects=(
('closed', 'th'),
),
),
))
problem = Problem(
domain,
{
'things': ('textbook', 'comicbook','pen'),
'locations': ('PCroom', 'waytoschool'),
'buildings': ('aiclass', 'algorithmclass'),
},
init=(
('at', 'home'),
),
goal=(
('closed', 'textbook'),
)
)
plan = planner(problem, verbose=verbose)
if plan is None:
print('No Plan!')
else:
for action in plan:
print(action)
def problem(verbose):
domain = Domain((
Action(
'move-up',
parameters=(
('tile', 't'),
('position', 'px'),
('position', 'py'),
('position', 'by'),
),
preconditions=(
('dec', 'by', 'py'),
('blank', 'px', 'by'),
('at', 't', 'px', 'py'),
),
effects=(
neg(('blank', 'px', 'by')),
neg(('at', 't', 'px', 'py')),
('blank', 'px', 'py'),
('at', 't', 'px', 'by'),
),
),
Action(
'move-down',
parameters=(
('tile', 't'),
('position', 'px'),
('position', 'py'),
('position', 'by'),
),
preconditions=(
('inc', 'by', 'py'),
('blank', 'px', 'by'),
('at', 't', 'px', 'py'),
),
effects=(
neg(('blank', 'px', 'by')),
neg(('at', 't', 'px', 'py')),
('blank', 'px', 'py'),
('at', 't', 'px', 'by'),
),
),
Action(
'move-left',
parameters=(
('tile', 't'),
('position', 'px'),
('position', 'py'),
('position', 'bx'),
),
preconditions=(
('dec', 'bx', 'px'),
('blank', 'bx', 'py'),
('at', 't', 'px', 'py'),
),
effects=(
neg(('blank', 'bx', 'py')),
neg(('at', 't', 'px', 'py')),
('blank', 'px', 'py'),
('at', 't', 'bx', 'py'),
),
),
Action(
'move-right',
parameters=(
('tile', 't'),
('position', 'px'),
('position', 'py'),
('position', 'bx'),
),
preconditions=(
('inc', 'bx', 'px'),
('blank', 'bx', 'py'),
('at', 't', 'px', 'py'),
),
effects=(
neg(('blank', 'bx', 'py')),
neg(('at', 't', 'px', 'py')),
('blank', 'px', 'py'),
('at', 't', 'bx', 'py'),
),
),
))
problem = Problem(
domain,
{
'tile': (1, 2, 3, 4, 5, 6, 7, 8),
'position': (1, 2, 3),
},
init=(
('inc', 1, 2),
('inc', 2, 3),
('dec', 3, 2),
('dec', 2, 1),
('at', 8, 1, 1),
('at', 7, 2, 1),
('at', 6, 3, 1),
('blank', 1, 2),
('at', 4, 2, 2),
('at', 1, 3, 2),
('at', 2, 1, 3),
('at', 5, 2, 3),
('at', 3, 3, 3),
),
goal=(
('blank', 1, 1),
('at', 1, 2, 1),
('at', 2, 3, 1),
('at', 3, 1, 2),
('at', 4, 2, 2),
('at', 5, 3, 2),
('at', 6, 1, 3),
('at', 7, 2, 3),
('at', 8, 3, 3),
)
)
def to_coordinates(state):
grid = {}
for p in state:
if p[0] == 'at':
grid[p[1]] = (p[2], p[3])
return grid
goal_coords = to_coordinates(problem.goals)
def manhattan_distance_heuristic(state):
state_coords = to_coordinates(state.predicates)
dist = 0
for k in goal_coords.keys():
c1, r1 = goal_coords[k]
c2, r2 = state_coords[k]
dist += (abs(c1 - c2) + abs(r1 - r2))
return dist
plan = planner(problem, heuristic=manhattan_distance_heuristic, verbose=verbose)
if plan is None:
print('No Plan!')
else:
for action in plan:
print(action)
def problem3(world):
domain = Domain((
Action(
'suggestLong',
preconditions=(('f', 'start'), ),
effects=(('t', 'start'), ),
),
Action(
'askWant',
preconditions=(
('t', 'start'),
('f', 'want'),
('f', 'close'),
),
effects=(
('t', 'want'),
('t', 'want', 'short_invest'),
('t', 'want', 'invest'),
('t', 'want', 'insurance'),
('t', 'want', 'fund'),
('t', 'want', 'plan'),
),
),
Action(
'askTerm',
preconditions=(
('t', 'start'),
('t', 'want'),
('f', 'need_term'),
('f', 'close'),
),
effects=(
('t', 'need_term'),
('t', 'need_term', 'short'),
('t', 'need_term', 'long'),
),
),
Action(
'askMoney',
preconditions=(
('t', 'start'),
('t', 'want'),
('f', 'need_money'),
('f', 'close'),
),
effects=(
('t', 'need_money'),
('t', 'need_money', 'small'),
('t', 'need_money', 'large'),
),
),
Action(
'askRequirement',
preconditions=(
('t', 'start'),
('t', 'want'),
('t', 'need_term'),
('t', 'need_money'),
('t', 'want', 'plan'),
('f', 'requirement'),
('f', 'close'),
),
effects=(
('t', 'requirement'),
('t', 'requirement', 'house'),
('t', 'requirement', 'education'),
),
),
Action(
'suggestPlan',
preconditions=(
('t', 'start'),
('t', 'want'),
('f', 'want', 'plan'),
('t', 'need_term', 'long'),
('t', 'need_money', 'large'),
('f', 'close'),
),
effects=(('t', 'want', 'plan'), ),
),
Action(
'suggestPlanResult',
preconditions=(
('t', 'start'),
('t', 'want'),
('t', 'want', 'plan'),
('t', 'need_term'),
('t', 'need_money'),
('t', 'requirement'),
('f', 'suggest'),
('f', 'close'),
),
effects=(('t', 'suggest'), ),
),
Action(
'suggestShort',
preconditions=(
('t', 'start'),
('t', 'want'),
('f', 'want', 'plan'),
('f', 'want', 'short_invest'),
('t', 'need_term', 'short'),
('f', 'close'),
),
effects=(('t', 'want', 'short_invest'), ),
),
Action(
'executeShortInvest',
preconditions=(
('t', 'start'),
('t', 'want'),
('t', 'want', 'short_invest'),
('t', 'need_term', 'short'),
('f', 'suggest'),
('f', 'close'),
),
effects=(('t', 'suggest'), ),
),
Action(
'executeInvest',
preconditions=(
('t', 'start'),
('t', 'want'),
('t', 'want', 'invest'),
('t', 'need_term', 'long'),
('t', 'need_money', 'small'),
('f', 'suggest'),
('f', 'close'),
),
effects=(('t', 'suggest'), ),
),
Action(
'suggestOther',
preconditions=(
('t', 'start'),
('t', 'want'),
('f', 'want', 'invest'),
('f', 'want', 'plan'),
('t', 'need_term', 'long'),
('t', 'need_money', 'small'),
('f', 'close'),
),
effects=(('t', 'want', 'invest'), ),
),
Action(
'close',
preconditions=(
('t', 'start'),
('t', 'want'),
('t', 'suggest'),
('f', 'close'),
),
effects=(('t', 'close'), ),
),
))
init = [
('f', 'start'),
# ('f', 'want'),
# ('f', 'want', 'invest'),
# ('f', 'want', 'short_invest'),
# ('f', 'want', 'fund'),
# ('f', 'want', 'insurance'),
# ('f', 'want', 'plan'),
# ('f', 'need_term'),
# ('f', 'need_term', 'short'),
# ('f', 'need_term', 'long'),
# ('f', 'need_money'),
# ('f', 'need_money', 'small'),
# ('f', 'need_money', 'large'),
# ('f', 'requirement'),
# ('f', 'requirement', 'house'),
# ('f', 'requirement', 'education'),
('f', 'close')
]
goal = (('t', 'close'), )
init.append(
('t', 'want')) if world.salesProfile.status >= 1 else init.append(
('f', 'want'))
init.append(
('t', 'want',
'invest')) if world.salesProfile.userGoal == 1 else init.append(
('f', 'want', 'invest'))
init.append(
('t', 'want',
'short_invest')) if world.salesProfile.userGoal == 2 else init.append(
('f', 'want', 'short_invest'))
init.append(('t', 'want',
'fund')) if world.salesProfile.userGoal == 3 else init.append(
('f', 'want', 'fund'))
init.append(
('t', 'want',
'insurance')) if world.salesProfile.userGoal == 4 else init.append(
('f', 'want', 'insurance'))
init.append(('t', 'want',
'plan')) if world.salesProfile.userGoal == 5 else init.append(
('f', 'want', 'plan'))
init.append(
('t', 'need_term')) if world.userProfile.term > 0 else init.append(
('f', 'need_term'))
init.append(('t', 'need_term',
'short')) if world.userProfile.term == 1 else init.append(
('f', 'need_term', 'short'))
init.append(('t', 'need_term',
'long')) if world.userProfile.term == 2 else init.append(
('f', 'need_term', 'long'))
init.append(
('t', 'need_money')) if world.userProfile.money > 0 else init.append(
('f', 'need_money'))
init.append(('t', 'need_money',
'small')) if world.userProfile.money == 1 else init.append(
('f', 'need_money', 'small'))
init.append(('t', 'need_money',
'large')) if world.userProfile.money == 2 else init.append(
('f', 'need_mongey', 'large'))
init.append(
('t',
'requirement')) if world.userProfile.purpose > 0 else init.append(
('f', 'requirement'))
init.append(('t', 'requirement',
'house')) if world.userProfile.purpose == 1 else init.append(
('f', 'requirement', 'house'))
init.append(
('t', 'requirement',
'education')) if world.userProfile.purpose == 4 else init.append(
('f', 'requirement', 'education'))
init.append(
('t', 'suggest')
) if world.salesProfile.currentType == 2 and world.salesProfile.yesorno == 1 else init.append(
('f', 'suggest'))
init = tuple(init)
# print(init)
problem = Problem(domain, {}, init=init, goal=goal)
plan = planner(problem)
return plan
def problem1(world):
domain = Domain((
Action(
'start',
preconditions=(
('f', 'start'),
),
effects=(
('t', 'start'),
),
),
Action(
'opening',
preconditions=(
('t', 'start'),
('f', 'sizeConfirmation'),
('f', 'timeConfirmation'),
('t', 'doneWaiting'),
('t', 'reason'),
('f', 'bar'),
('f', 'confirm'),
('f', 'sayThanks'),
('f', 'doubleConfirm')
),
effects=(
('t', 'sizeConfirmation'),
('t', 'timeConfirmation'),
('t', 'sayThanks'),
),
),
Action(
'tableFor2',
preconditions=(
('t', 'start'),
('f', 'sizeConfirmation'),
('t', 'timeConfirmation'),
('f', 'tableFor2')
),
effects=(
('t', 'tableFor2'),
('t', 'sayThanks'),
),
),
Action(
'combineTables',
preconditions=(
('t', 'start'),
('t', 'tableFor2'),
('f', 'sizeConfirmation'),
('f', 'confirm'),
('t', 'timeConfirmation'),
('f', 'bar'),
('f', 'biggerTable'),
),
effects=(
('t', 'sizeConfirmation'),
('t', 'sayThanks'),
),
),
Action(
'changeTime',
preconditions=(
('t', 'start'),
('f', 'timeConfirmation'),
('t', 'sizeConfirmation'),
('f', 'askForAlternative'),
('f', 'confirm'),
),
effects=(
('t', 'timeConfirmation'),
('t', 'sayThanks'),
),
),
Action(
'changeRestaurant',
preconditions=(
('t', 'start'),
('t', 'changeRestaurant'),
),
effects=(
('t', 'confirm'),
),
),
Action(
'tentativelyReserve',
preconditions=(
('t', 'start'),
('t', 'tentativelyReserve'),
('t', 'timeConfirmation'),
('t', 'sizeConfirmation'),
),
effects=(
('t', 'callBackLater'),
),
),
Action(
'askForAlternatives',
preconditions=(
('t', 'start'),
('t', 'askForAlternative'),
),
effects=(
('t', 'confirm'),
),
),
Action(
'askForReason',
preconditions=(
('t', 'start'),
('f', 'sizeConfirmation'),
('f', 'timeConfirmation'),
('f', 'confirm'),
('f', 'reason')
),
effects=(
('t', 'reason'),
('t', 'sizeConfirmation'),
('t', 'timeConfirmation'),
('t', 'sayThanks'),
),
),
Action(
'sitAtBar',
preconditions=(
('t', 'start'),
('t', 'timeConfirmation'),
('f', 'sizeConfirmation'),
('f', 'confirm'),
('t', 'bar'),
),
effects=(
('t', 'sizeConfirmation'),
('t', 'sayThanks'),
),
),
Action(
'callBackLater',
preconditions=(
('t', 'start'),
('t', 'callBackLater'),
),
effects=(
('t', 'confirm'),
),
),
Action(
'wait',
preconditions=(
('t', 'start'),
('t', 'timeConfirmation'),
('t', 'sizeConfirmation'),
('f', 'confirm'),
('f', 'doneWaiting')
),
effects=(
('t', 'doneWaiting'),
('t', 'sayThanks'),
),
),
Action(
'askForBiggerTable',
preconditions=(
('t', 'start'),
('t', 'biggerTable'),
('t', 'timeConfirmation'),
('f', 'sizeConfirmation'),
),
effects=(
('t', 'sizeConfirmation'),
('t', 'sayThanks'),
),
),
Action(
'sayName',
preconditions=(
('t', 'start'),
('t', 'name')
),
effects=(
('t', 'confirm'),
),
),
Action(
'doubleConfirm',
preconditions=(
('t', 'start'),
('t', 'timeConfirmation'),
('t', 'sizeConfirmation'),
('f', 'tentativelyReserve'),
('f', 'confirm'),
('t', 'doubleConfirm'),
('t', 'doneWaiting'),
),
effects=(
('t', 'confirm'),
),
),
Action(
'sayThanks',
preconditions=(
('t', 'sayThanks'),
('t', 'start'),
('t', 'timeConfirmation'),
('t', 'sizeConfirmation'),
('f', 'tentativelyReserve'),
('f', 'confirm'),
('t', 'doneWaiting'),
),
effects=(
('t', 'confirm'),
),
),
Action(
'close',
preconditions=(
('t', 'confirm'),
('f', 'close'),
),
effects=(
('t', 'close'),
),
),
))
init = [
('f', 'close'),
]
goal = (
('t', 'timeConfirmation'),
('t', 'sizeConfirmation'),
('t', 'close'),
)
init.append(('t', 'start')) if world.dialog.status >= 1 else init.append(('f', 'start'))
init.append(('t', 'size_user'))
init.append(('t', 'time_user'))
if world.dialog.status == 6.1:
init.append(('t', 'askForAlternative'))
else:
init.append(('f', 'askForAlternative'))
if world.dialog.status == 6:
init.append(('t', 'changeRestaurant'))
else:
init.append(('f', 'changeRestaurant'))
if world.humanSlot.size > 0 and world.humanSlot.size == world.robotSlot.size:
init.append(('t', 'sizeConfirmation'))
else:
init.append(('f', 'sizeConfirmation'))
if len(world.humanSlot.time) > 0 and world.humanSlot.time == world.robotSlot.time:
init.append(('t', 'timeConfirmation'))
else:
init.append(('f', 'timeConfirmation'))
if world.dialog.status == 3:
init.append(('f', 'doneWaiting'))
else:
init.append(('t', 'doneWaiting'))
if world.dialog.status == 4.9:
init.append(('t', 'name'))
else:
init.append(('f', 'name'))
if world.dialog.status == 7:
init.append(('t', 'callBackLater'))
else:
init.append(('f', 'callBackLater'))
if world.dialog.status == 5:
init.append(('t', 'sayThanks'))
else:
init.append(('f', 'sayThanks'))
if world.dialog.status == 8:
init.append(('t', 'confirm'))
else:
init.append(('f', 'confirm'))
if world.dialog.status == 1.1:
init.append(('f', 'reason'))
else:
init.append(('t', 'reason'))
if world.dialog.status == 4.1:
init.append(('t', 'biggerTable'))
else:
init.append(('f', 'biggerTable'))
if world.dialog.status == 9:
init.append(('t', 'askForAlternative'))
else:
init.append(('f', 'askForAlternative'))
if world.dialog.status == 4.12:
init.append(('t', 'bar'))
else:
init.append(('f', 'bar'))
if world.dialog.status == 4.2:
init.append(('f', 'tableFor2'))
else:
init.append(('t', 'tableFor2'))
if world.dialog.status == 5.1:
init.append(('t', 'tentativelyReserve'))
else:
init.append(('f', 'tentativelyReserve'))
if world.dialog.status == 5.2:
init.append(('t', 'doubleConfirm'))
else:
init.append(('f', 'doubleConfirm'))
init = tuple(init)
problem = Problem(
domain,
{},
init=init,
goal=goal
)
plan = planner(problem)
return plan, init
def problem(verbose):
domain = Domain((
# 일반 공격 : me와 enemy 모두 가능한 액션, 현재 턴(now_turn)인 공격자가 상대방(prev_turn)의 hp를 20 깎음
Action(
'normal-attack',
parameters=(
('turn', 't'),
('turn', 'prev_t'),
),
preconditions=(
('now_turn', 't'),
('prev_turn', 'prev_t'),
),
effects=(
neg(('now_turn', 't')),
neg(('prev_turn', 'prev_t')),
('now_turn', 'prev_t'),
('prev_turn', 't'),
('+=', ('hp', 'prev_t'), -20),
('-=', ('damaged', 'prev_t'), ('damaged', 'prev_t')),
('+=', ('damaged', 'prev_t'), -20),
),
),
# 마법 공격 : me와 enemy 모두 가능한 액션, 현재 턴(now_turn)인 공격자가 상대방(prev_turn)의 hp를 35 깎고, mp를 40 소모
# mp가 40 이상일 때만 사용 가능
Action(
'magic-attack',
parameters=(
('turn', 't'),
('turn', 'prev_t'),
),
preconditions=(
('now_turn', 't'),
('prev_turn', 'prev_t'),
('>=', ('mp', 't'), 40),
),
effects=(
neg(('now_turn', 't')),
neg(('prev_turn', 'prev_t')),
('now_turn', 'prev_t'),
('prev_turn', 't'),
('+=', ('hp', 'prev_t'), -35),
('+=', ('mp', 't'), -40),
('-=', ('damaged', 'prev_t'), ('damaged', 'prev_t')),
('+=', ('damaged', 'prev_t'), -35),
),
),
# hp 회복 : me 만 사용 가능한 스킬, me의 mp를 60 소모하여, hp를 55 회복 함
# mp가 60 이상일 때만 사용 가능, 현재 hp가 0 보다 클 때만 사용 가능(부활 불가)
Action(
'heal-me',
preconditions=(
('now_turn', 'me'),
('prev_turn', 'enemy'),
('>', ('hp', 'me'), 0),
('>=', ('mp', 'me'), 60),
),
effects=(
neg(('now_turn', 'me')),
neg(('prev_turn', 'enemy')),
('now_turn', 'enemy'),
('prev_turn', 'me'),
('+=', ('hp', 'me'), 55),
('+=', ('mp', 'me'), -60),
),
),
# mp 회복 : me 만 사용 가능한 스킬, me의 mp를 40 회복 함
Action(
'charge-my-magicka',
preconditions=(
('now_turn', 'me'),
('prev_turn', 'enemy'),
),
effects=(
neg(('now_turn', 'me')),
neg(('prev_turn', 'enemy')),
('now_turn', 'enemy'),
('prev_turn', 'me'),
('+=', ('mp', 'me'), 40),
),
),
# 반격 : me 만 사용 가능한 스킬, me의 mp를 60 소모하여, 바로 직전 턴에 enemy 에게 받은 데미지 만큼 hp를 회복함
# mp가 60 이상일 때만 사용 가능, 직전 턴에 받은 데미지를 회복한 hp가 0 보다 커야만 사용 가능
Action(
'reflect-enemy-attack',
preconditions=(
('now_turn', 'me'),
('prev_turn', 'enemy'),
('>', ('hp', 'me'), ('damaged', 'me')),
('>=', ('mp', 'me'), 60),
),
effects=(
neg(('now_turn', 'me')),
neg(('prev_turn', 'enemy')),
('now_turn', 'enemy'),
('prev_turn', 'me'),
('-=', ('hp', 'me'), ('damaged', 'me')),
('+=', ('hp', 'enemy'), ('damaged', 'me')),
('+=', ('mp', 'me'), -60),
('-=', ('damaged', 'me'), ('damaged', 'me')),
),
),
))
problem = Problem(
domain,
{
'turn': ('me', 'enemy'), # 가능한 turn Domain
},
# hp:100, mp:80 인 enemy와 hp:50, mp:100인 me 중 enemy의 선공으로 게임을 시작하는 초기 state
init=(
('now_turn', 'enemy'), # enemy 선공
('prev_turn', 'me'), # prev_turn 이지만 init 단계이므로 다음 턴 공격자인 me
('=', ('hp', 'me'), 50), # me의 시작 hp
('=', ('mp', 'me'), 100), # me의 시작 mp
('=', ('damaged', 'me'), 0), # me가 입은 데미지 초기 값, reflect-enemy-attack 액션을 통해 받은 데미지를 회복하기 위해 필요
('=', ('hp', 'enemy'), 100), # enemy의 시작 hp
('=', ('mp', 'enemy'), 80), # enemy의 시작 mp
('=', ('damaged', 'enemy'), 0), # enemy가 입은 데미지 초기 값, enemy는 reflect-enemy-attack 액션을 사용할 수 없지만, domain parameter로 인한 런타임 에러를 막기위해 필요
),
# goal test 직전인 마지막 액션의 turn이 me이고, 생존 상태의 me가 enemy를 쓰러트린 state
# me가 생존한 상태에서, enemy를 쓰러트리는 state
goal=(
('prev_turn', 'me'),
('>', ('hp', 'me'), 0),
('<=', ('hp', 'enemy'), 0),
)
)
plan = planner(problem, verbose=verbose)
if plan is None:
print('No Plan!')
else:
for action in plan:
print(action)
def problem(verbose):
domain = Domain((
#ready-for-battle & defencable -> enemy is defenced
Action(
'enemy-defenced',
parameters=(
('state', '_state'),
('state', '_prev_state'),
),
preconditions=(
('defencable', '_state'),
('ready-for-battle', ''),
('character_state', '_state'),
('character_prev_state', '_prev_state'),
),
effects=(
neg(('character_prev_state', '_prev_state')),
neg(('character_state', '_state')),
('character_prev_state', '_state'),
('character_state', 'defenced'),
('use-defence', ''),
),
),
#ready-for-battle & exhaustable -> enemy is exhausted
Action(
'enemy-exhausted',
parameters=(
('state', '_state'),
('state', '_prev_state'),
),
preconditions=(
('exhaustable', '_state'),
('ready-for-battle', ''),
('character_state', '_state'),
('character_prev_state', '_prev_state'),
),
effects=(
neg(('character_prev_state', '_prev_state')),
neg(('character_state', '_state')),
('character_state', 'exhausted'),
('character_prev_state', '_state'),
),
),
#ready-for-battle & ignitable -> enemy is ignited
Action(
'enemy-ignited',
parameters=(
('state', '_state'),
('state', '_prev_state'),
),
preconditions=(
('ignitable', '_state'),
('ready-for-battle', ''),
('character_state', '_state'),
('character_prev_state', '_prev_state'),
),
effects=(
neg(('character_prev_state', '_prev_state')),
neg(('character_state', '_state')),
('character_prev_state', '_state'),
('character_state', 'ignited'),
('use-ignite', ''),
),
),
# ready-for-battle & electric ready & electric shockable -> enemy is electric shocked
Action(
'electric-shock',
parameters=(
('state', '_state'),
('state', '_prev_state'),
),
preconditions=(
('electric-shockable', '_state', '_prev_state'),
('electric-ready', ''),
('ready-for-battle', ''),
('character_state', '_state'),
('character_prev_state', '_prev_state'),
),
effects=(
neg(('character_prev_state', '_prev_state')),
neg(('character_state', '_state')),
('character_prev_state', '_state'),
('character_state', 'electric-shocked'),
),
),
# ready-for-battle & electric preparable -> electric is prepared
Action(
'electric-ready-perfectly',
parameters=(
('state', '_state'),
('state', '_prev_state'),
),
preconditions=(
('electric-preparable', '_state'),
('ready-for-battle', ''),
('character_state', '_state'),
('character_prev_state', '_prev_state'),
),
effects=(('electric-ready', ''), ),
),
# idle -> ready for battle
Action(
'ready-for-battle',
parameters=(
('state', '_state'),
('state', '_prev_state'),
),
preconditions=(
('character_state', 'idle'),
('character_state', '_state'),
('character_prev_state', '_prev_state'),
),
effects=(('ready-for-battle', ''), ),
),
))
problem = Problem(
domain,
{
'state': ('electric-shocked', 'idle', 'defenced', 'ignited',
'exhausted', 'NONE'),
},
init=(
('electric-shockable', 'exhausted', 'defenced'
), #defenced -> exghausted -> now it can use electric shock
('electric-shockable', 'exhausted', 'ignited'
), #ignited -> exghausted -> now it can use electric shock
('electric-preparable',
'ignited'), #prepare electric when enemy was ignited
('electric-preparable',
'defenced'), #prepare electric when enemy was exhausted
('defencable', 'idle'),
('ignitable', 'idle'),
('exhaustable', 'ignited'),
('exhaustable', 'defenced'),
('character_state', 'idle'),
('character_prev_state', 'NONE'),
),
goal=(
('character_state', 'electric-shocked'),
# case 1 use ignite
('use-ignite', ''),
# 1. ready for battle
# 2. ignite to enemy
# 3. ready electric
# 4. enemy was exhausted
# 5. electric shock to enemy
################
# case 2 use defence
# ('use-defence',''),
# 1. ready for battle
# 2. enemy was defenced
# 3. ready electric
# 4. enemy was exhausted
# 5. electric shock to enemy
))
plan = planner(problem, verbose=verbose)
if plan is None:
print('No Plan!')
else:
for action in plan:
print(action)
def problem(verbose):
domain = Domain((
Action(
'move-up',
parameters=(
('tile', 't'),
('position', 'px'),
('position', 'py'),
('position', 'by'),
),
preconditions=(
('dec', 'by', 'py'),
('blank', 'px', 'by'),
('at', 't', 'px', 'py'),
),
effects=(
neg(('blank', 'px', 'by')),
neg(('at', 't', 'px', 'py')),
('blank', 'px', 'py'),
('at', 't', 'px', 'by'),
),
),
Action(
'move-down',
parameters=(
('tile', 't'),
('position', 'px'),
('position', 'py'),
('position', 'by'),
),
preconditions=(
('inc', 'by', 'py'),
('blank', 'px', 'by'),
('at', 't', 'px', 'py'),
),
effects=(
neg(('blank', 'px', 'by')),
neg(('at', 't', 'px', 'py')),
('blank', 'px', 'py'),
('at', 't', 'px', 'by'),
),
),
Action(
'move-left',
parameters=(
('tile', 't'),
('position', 'px'),
('position', 'py'),
('position', 'bx'),
),
preconditions=(
('dec', 'bx', 'px'),
('blank', 'bx', 'py'),
('at', 't', 'px', 'py'),
),
effects=(
neg(('blank', 'bx', 'py')),
neg(('at', 't', 'px', 'py')),
('blank', 'px', 'py'),
('at', 't', 'bx', 'py'),
),
),
Action(
'move-right',
parameters=(
('tile', 't'),
('position', 'px'),
('position', 'py'),
('position', 'bx'),
),
preconditions=(
('inc', 'bx', 'px'),
('blank', 'bx', 'py'),
('at', 't', 'px', 'py'),
),
effects=(
neg(('blank', 'bx', 'py')),
neg(('at', 't', 'px', 'py')),
('blank', 'px', 'py'),
('at', 't', 'bx', 'py'),
),
),
))
problem = Problem(domain, {
'tile': (1, 2, 3, 4, 5, 6, 7, 8),
'position': (1, 2, 3),
},
init=(
('inc', 1, 2),
('inc', 2, 3),
('dec', 3, 2),
('dec', 2, 1),
('at', 8, 1, 1),
('at', 7, 2, 1),
('at', 6, 3, 1),
('blank', 1, 2),
('at', 4, 2, 2),
('at', 1, 3, 2),
('at', 2, 1, 3),
('at', 5, 2, 3),
('at', 3, 3, 3),
),
goal=(
('blank', 1, 1),
('at', 1, 2, 1),
('at', 2, 3, 1),
('at', 3, 1, 2),
('at', 4, 2, 2),
('at', 5, 3, 2),
('at', 6, 1, 3),
('at', 7, 2, 3),
('at', 8, 3, 3),
))
def to_coordinates(state):
grid = {}
for p in state:
if p[0] == 'at':
grid[p[1]] = (p[2], p[3])
return grid
goal_coords = to_coordinates(problem.goals)
def manhattan_distance_heuristic(state):
state_coords = to_coordinates(state.predicates)
dist = 0
for k in goal_coords.keys():
c1, r1 = goal_coords[k]
c2, r2 = state_coords[k]
dist += (abs(c1 - c2) + abs(r1 - r2))
return dist
plan = planner(problem,
heuristic=manhattan_distance_heuristic,
verbose=verbose)
if plan is None:
print('No Plan!')
else:
for action in plan:
print(action)
def problem(verbose):
domain = Domain((
Action(
'walk',
parameters=(
('person', 'p'),
('location', 'l1'),
('location', 'l2'),
),
preconditions=(('at', 'p', 'l1'), ),
effects=(
('at', 'p', 'l2'),
neg(('at', 'p', 'l1')),
),
),
Action(
'pick_from',
parameters=(
('person', 'p'),
('object', 'o1'),
('object', 'o2'),
('location', 'l'),
),
preconditions=(
('at', 'o1', 'l'),
('contains', 'o1', 'o2'),
('at', 'p', 'l'),
('found', 'p', 'o2'),
),
effects=(
('has', 'p', 'o2'),
neg(('contains', 'o1', 'o2')),
),
),
Action(
'look_n_found',
parameters=(
('person', 'p'),
('object', 'o1'),
('object', 'o2'),
('location', 'l'),
),
preconditions=(
('at', 'p', 'l'),
('at', 'o1', 'l'),
('contains', 'o1', 'o2'),
('>=', ('brave', 'p'), 10),
),
effects=(('found', 'p', 'o2'), ),
),
Action(
'sing_for',
parameters=(
('person', 'p1'),
('person', 'p2'),
('location', 'l'),
),
preconditions=(
('at', 'p1', 'l'),
('at', 'p2', 'l'),
('>=', ('like', 'p1', 'p2'), 10),
('>=', ('brave', 'p1'), 10),
),
effects=(
('+=', ('delighted', 'p2'), 10),
('+=', ('jealousy', 'Jack'), 5),
),
),
Action(
'propose',
parameters=(
('person', 'p1'),
('person', 'p2'),
('location', 'l'),
),
preconditions=(
('at', 'p1', 'l'),
('at', 'p2', 'l'),
('>=', ('like', 'p1', 'p2'), 10),
('>=', ('brave', 'p1'), 10),
),
effects=(
('+=', ('like', 'p2', 'p1'), 5),
('+=', ('jealousy', 'Jack'), 5),
),
),
Action(
'steal',
parameters=(
('person', 'p1'),
('person', 'p2'),
('object', 'o'),
('location', 'l'),
),
preconditions=(
('at', 'p1', 'l'),
('at', 'p2', 'l'),
('has', 'p2', 'ring'),
('>=', ('jealousy', 'p1'), 10),
),
effects=(
neg(('has', 'p2', 'ring')),
('has', 'p1', 'ring'),
('+=', ('upset', 'p2'), 5),
),
),
Action(
'give_ring',
parameters=(
('person', 'p1'),
('person', 'p2'),
('location', 'l'),
),
preconditions=(
('has', 'p1', 'ring'),
('at', 'p1', 'l'),
('at', 'p2', 'l'),
('>=', ('like', 'p1', 'p2'), 10),
),
effects=(
('wait_accept', 'p1', 'p2', 'l'),
('+=', ('happy', 'p2'), 5),
('+=', ('jealousy', 'Jack'), 5),
),
),
Action(
'accept_ring',
parameters=(
('person', 'p1'),
('person', 'p2'),
('location', 'l'),
),
preconditions=(
('wait_accept', 'p2', 'p1', 'l'),
('has', 'p2', 'ring'),
('at', 'p1', 'l'),
('at', 'p2', 'l'),
('>=', ('like', 'p1', 'p2'), 10),
('>=', ('happy', 'p1'), 10),
('>=', ('delighted', 'p1'), 10),
),
effects=(
neg(('has', 'p2', 'ring')),
('has', 'p1', 'ring'),
('+=', ('happy', 'p2'), 5),
('propose_accepted', 'p1', 'p2'),
('+=', ('jealousy', 'Jack'), 5),
),
),
Action(
'wisper',
parameters=(
('person', 'p1'),
('person', 'p2'),
('location', 'l'),
),
preconditions=(
('at', 'p1', 'l'),
('at', 'p2', 'l'),
('>=', ('like', 'p1', 'p2'), 10),
),
effects=(('-=', ('upset', 'p2'), 5), ),
),
Action(
'accept_propose',
parameters=(
('person', 'p1'),
('person', 'p2'),
('location', 'l'),
),
preconditions=(
('at', 'p1', 'l'),
('at', 'p2', 'l'),
('>=', ('like', 'p1', 'p2'), 10),
('>=', ('happy', 'p1'), 10),
('>=', ('delighted', 'p1'), 10),
('<=', ('upset', 'p1'), 1),
('<=', ('jealousy', 'p1'), 1),
),
effects=(
('propose_accepted', 'p1', 'p2'),
('+=', ('happy', 'p2'), 5),
('+=', ('desparate', 'Jack'), 10),
),
),
))
problem = Problem(
domain,
{
'location': ('loc1', 'loc2', 'loc3', 'loc4'),
'person': ('Bob', 'Marry', 'Jack'),
'object': ('ring', 'box', 'bench'),
},
init=(
('at', 'Bob', 'loc1'),
('at', 'Marry', 'loc2'),
('at', 'Jack', 'loc3'),
('at', 'bench', 'loc2'),
('at', 'box', 'loc4'),
('contains', 'box', 'ring'),
('sit_on', 'Marry', 'bench'),
('=', ('like', 'Marry', 'Bob'), 5),
('=', ('like', 'Marry', 'Jack'), 1),
('=', ('like', 'Bob', 'Marry'), 10),
('=', ('like', 'Bob', 'Jack'), 1),
('=', ('like', 'Jack', 'Marry'), 10),
('=', ('like', 'Jack', 'Bob'), 1),
('=', ('like', 'Bob', 'Bob'), -1),
('=', ('like', 'Marry', 'Marry'), -1),
('=', ('like', 'Jack', 'Jack'), -1),
('=', ('happy', 'Bob'), 5),
('=', ('happy', 'Marry'), 5),
('=', ('happy', 'Jack'), 5),
('=', ('brave', 'Bob'), 10),
('=', ('brave', 'Marry'), 1),
('=', ('brave', 'Jack'), 1),
('=', ('delighted', 'Bob'), 5),
('=', ('delighted', 'Marry'), 5),
('=', ('delighted', 'Jack'), 5),
('=', ('jealousy', 'Bob'), 1),
('=', ('jealousy', 'Marry'), 1),
('=', ('jealousy', 'Jack'), 5),
('=', ('desparate', 'Bob'), 1),
('=', ('desparate', 'Marry'), 1),
('=', ('desparate', 'Jack'), 1),
('=', ('upset', 'Bob'), 1),
('=', ('upset', 'Marry'), 1),
('=', ('upset', 'Jack'), 1),
),
goal=(
# ('propose_accepted', 'Marry', 'Bob'),
# ('>=', ('desparate', 'Jack'), 5),
# ('>=', ('happy', 'Marry'), 10),
# ('>=', ('happy', 'Bob'), 10),
# ('has', 'Jack', 'ring'),
('has', 'Jack', 'ring'),
('>=', ('jealousy', 'Jack'), 10),
('>=', ('happy', 'Marry'), 10),
('>=', ('happy', 'Bob'), 10),
))
plan = planner(problem, verbose=verbose)
if plan is None:
print('No Plan!')
else:
for action in plan:
print(action)
gripper_name = "R_gripper"
# put all objects into one dictionary with types
scene_obj = {type_block: block_names, type_gripper: (gripper_name, )}
# get simple action from all controllers
domain = Domain(actions)
# goal is for now numerical order of block placed on each other, unless specified otherwise
goal = [(b_on_b, scene_obj[type_block][i], scene_obj[type_block][i + 1])\
for i in range(len(scene_obj[type_block]) - 1)]
# also append free hand
goal.append((hand_empty, scene_obj[type_gripper][0]))
print(goal)
# normal initial conditions
init_free_hand = (hand_empty, scene_obj[type_gripper][0])
init_free_blocks = [(block_free, block) for block in scene_obj[type_block]]
# extend all initial conditions
init = [init_free_hand]
init.extend(init_free_blocks)
# define problem here
prob = Problem(domain, scene_obj, init=init, goal=goal)
G = planner(prob, monotone=False)
visualize_search.draw_search_graph([], [], G, "simple_path.png")
def problem(verbose):
# problem domain
domain = Domain((
# Function to move between tiles.
Action(
"move",
# P1 and P2 are the parameters the solver will tweak.
parameters=(
("agent", "A"),
("position", "P1"),
("position", "P2"),
),
# Agent(a), Adjacent(P1, P2), At(a, P1), Blank(P2)
preconditions=(
("adjacent", "P1", "P2"),
("at", "A", "P1"),
("blank", "P2"),
),
# At(a, P2), Blank(P1), not(At(a, P1)), not(Blank(P2))
effects=(
("at", "A", "P2"),
("blank", "P1"),
neg(("at", "A", "P1")),
neg(("blank", "P2")),
)), ))
problem = Problem(
domain,
{
# type values
"agent": ("a", "b"),
"position": (1, 2, 3, 4, 5, 6, 7, 8, 9),
},
init=(
# initial KB for our problem
("at", "a", 1),
("at", "b", 9),
("blank", 2),
("blank", 3),
("blank", 4),
("blank", 5),
("blank", 6),
("blank", 7),
("blank", 8),
("adjacent", 1, 2),
("adjacent", 1, 4),
("adjacent", 2, 1),
("adjacent", 2, 5),
("adjacent", 2, 3),
("adjacent", 3, 2),
("adjacent", 3, 6),
("adjacent", 4, 1),
("adjacent", 4, 5),
("adjacent", 4, 7),
("adjacent", 5, 2),
("adjacent", 5, 4),
("adjacent", 5, 6),
("adjacent", 5, 8),
("adjacent", 6, 3),
("adjacent", 6, 5),
("adjacent", 6, 9),
("adjacent", 7, 4),
("adjacent", 7, 8),
("adjacent", 8, 7),
("adjacent", 8, 5),
("adjacent", 8, 9),
("adjacent", 9, 6),
("adjacent", 9, 8),
),
goal=(
("at", "a", 9),
("at", "b", 1),
))
postable = {
1: (1, 1),
2: (1, 2),
3: (1, 3),
4: (2, 1),
5: (2, 2),
6: (2, 3),
7: (3, 1),
8: (3, 2),
9: (3, 3)
}
def to_coordinates(state):
poslist = {}
for p in state:
if p[0] == "at":
poslist[p[1]] = postable[p[2]]
return poslist
goal_coords = to_coordinates(problem.goals)
def manhattan_distance_heuristic(state):
state_coords = to_coordinates(state.predicates)
dist = 0
for k in goal_coords.keys():
c1, r1 = goal_coords[k]
c2, r2 = state_coords[k]
dist += (abs(c1 - c2) + abs(r1 - r2))
return dist
plan = planner(problem,
heuristic=manhattan_distance_heuristic,
verbose=verbose)
if plan is None:
print('No Plan!')
else:
for action in plan:
print(action)
domain,
{
'position': tuple(positions),
},
init=tuple(init),
goal=tuple(goal),
)
return problem
if __name__ == '__main__':
if len(sys.argv) < 2:
print("Map file need to be specified!")
print("Example: python3 " + sys.argv[0] + " world1.txt")
sys.exit(1)
w = world()
w.load(sys.argv[1])
problem = w.getProblem()
plan = pyddl.planner(problem, verbose=True)
if plan is None:
print('Hunter is not able to solve this world!')
else:
actions = [action.name for action in plan]
print(", ".join(actions))
f = open(sys.argv[1] + ".solution", "w")
f.write("\n".join(actions))
f.close()
input()
simulator.simulate(sys.argv[1], sys.argv[1] + ".solution")
def problem(verbose):
domain = Domain(
(
Action(
"cross-right",
preconditions=(("at", "left-bank"), (">", ("occupants",), 0)),
effects=(neg(("at", "left-bank")), ("at", "right-bank")),
),
Action(
"cross-left",
preconditions=(("at", "right-bank"), (">", ("occupants",), 0)),
effects=(neg(("at", "right-bank")), ("at", "left-bank")),
),
Action(
"onboard-cannibal",
parameters=(("location", "l"),),
preconditions=(("at", "l"), (">", ("cannibals", "l"), 0), ("<", ("occupants",), 2)),
effects=(("-=", ("cannibals", "l"), 1), ("+=", ("cannibals", "boat"), 1), ("+=", ("occupants",), 1)),
),
Action(
"onboard-missionary",
parameters=(("location", "l"),),
preconditions=(
("at", "l"),
(">", ("missionaries", "l"), 0),
(">", ("missionaries", "l"), ("cannibals", "l")),
("<", ("occupants",), 2),
),
effects=(
("-=", ("missionaries", "l"), 1),
("+=", ("missionaries", "boat"), 1),
("+=", ("occupants",), 1),
),
),
Action(
"offboard-cannibal",
parameters=(("location", "l"),),
preconditions=(
("at", "l"),
(">", ("cannibals", "boat"), 0),
(">", ("missionaries", "l"), ("cannibals", "l")),
),
effects=(("-=", ("cannibals", "boat"), 1), ("-=", ("occupants",), 1), ("+=", ("cannibals", "l"), 1)),
),
Action(
"offboard-missionary",
parameters=(("location", "l"),),
preconditions=(("at", "l"), (">", ("missionaries", "boat"), 0)),
effects=(
("-=", ("missionaries", "boat"), 1),
("-=", ("occupants",), 1),
("+=", ("missionaries", "l"), 1),
),
),
)
)
problem = Problem(
domain,
{"location": ("left-bank", "right-bank")},
init=(
("at", "left-bank"),
("=", ("missionaries", "boat"), 0),
("=", ("cannibals", "boat"), 0),
("=", ("occupants",), 0),
("=", ("missionaries", "left-bank"), 3),
("=", ("cannibals", "left-bank"), 3),
("=", ("missionaries", "right-bank"), 0),
("=", ("cannibals", "right-bank"), 0),
),
goal=(("=", ("missionaries", "right-bank"), 3), ("=", ("cannibals", "right-bank"), 3)),
)
plan = planner(problem, verbose=verbose)
if plan is None:
print("No Plan!")
else:
for action in plan:
print(action)
def brain_surgery_heuristic(state):
r = 0.0
for p in state.predicates:
if (p[0] == 'open'):
r += 0.0 #0.1
elif (p[0] == 'on_ice'):
r += 0.4
elif (p[0] == 'empty'):
r += 0.4
return r
# In[18]:
#tbs_plan = pyddl.planner(two_brain_swap, heuristic=brain_surgery_heuristic)
tbs_plan = pyddl.planner(two_brain_swap)
# In[19]:
for action in tbs_plan:
print(action)
# In[20]:
g = Grammar({
'open':
'#body_id.possessive# cranium is open and the brain is exposed',
'closed':
'#body_id.possessive# cranium is either intact, or closed and repaired',
'brain_in':
'#brain_id.possessive# brain is in #body_id.possessive# head',
def problem(verbose):
domain = Domain((
Action(
'oppoint',
parameters=(
('location', 'loc'),
),
preconditions=(
('energy', 'high'),
('emotion', 'bad'),
),
effects=(
('at','loc'),
('emotion', 'good'),
neg(('emotion', 'bad')),
),
),
Action(
'dating',
parameters=(
('storelist', 'store'),
('decidelist', 'dec'),
),
preconditions=(
neg(('at', 'home')),
),
effects=(
('at', 'store'),
neg(('at','dec')),
),
),
Action(
'buy',
parameters=(
('buylist', 'buy'),
('storelist','store'),
),
preconditions=(
('at', 'store'),
),
effects=(
('have','buy'),
),
),
Action(
'pack',
parameters=(
('buylist', 'buy'),
),
preconditions=(
('have','buy'),
),
effects=(
('packed','buy'),
),
),
Action(
'give',
parameters=(
('buylist', 'buy'),
),
preconditions=(
('packed', 'buy'),
),
effects=(
('loverget','present'),
),
),
))
problem = Problem(
domain,
{
'storelist': ('restaurant', 'bookstore'),
'buylist': ('book', 'food'),
'decidelist': ('outside', 'playground'),
},
init=(
('at', 'home'),
),
goal=(
('loverget', 'present'),
)
)
plan = planner(problem, verbose=verbose)
if plan is None:
print('No Plan!')
else:
for action in plan:
print(action)
def problem(verbose):
domain = Domain((
Action(
'askPhone',
preconditions=(
('t', 'start'),
('t', 'want'),
('f', 'askPhoneNO'),
),
effects=(('t', 'askPhoneNO'), ),
),
Action(
'start',
preconditions=(('f', 'start'), ),
effects=(('t', 'start'), ),
),
Action(
'askWant',
preconditions=(
('t', 'start'),
('f', 'want'),
('f', 'close'),
),
effects=(
('t', 'want'),
('t', 'want', 'short_invest'),
('t', 'want', 'invest'),
('t', 'want', 'insurance'),
('t', 'want', 'fund'),
('t', 'want', 'plan'),
),
),
Action(
'askTerm',
preconditions=(
('t', 'start'),
('t', 'want'),
('f', 'need_term'),
('f', 'close'),
),
effects=(
('t', 'need_term'),
('t', 'need_term', 'short'),
('t', 'need_term', 'long'),
),
),
Action(
'askMoney',
preconditions=(
('t', 'start'),
('t', 'want'),
('f', 'need_money'),
('f', 'close'),
),
effects=(
('t', 'need_money'),
('t', 'need_money', 'small'),
('t', 'need_money', 'large'),
),
),
Action(
'askRequirement',
preconditions=(
('t', 'start'),
('t', 'want'),
('t', 'need_term'),
('t', 'need_money'),
('t', 'want', 'plan'),
('f', 'requirement'),
('f', 'close'),
),
effects=(
('t', 'requirement'),
('t', 'requirement', 'house'),
('t', 'requirement', 'education'),
),
),
Action(
'suggestPlan',
preconditions=(
('t', 'start'),
('t', 'want'),
('f', 'want', 'plan'),
('t', 'need_term', 'long'),
('t', 'need_money', 'large'),
('f', 'close'),
),
effects=(('t', 'want', 'plan'), ),
),
Action(
'suggestPlanResult',
preconditions=(
('t', 'start'),
('t', 'want'),
('t', 'want', 'plan'),
('t', 'need_term'),
('t', 'need_money'),
('t', 'requirement'),
('f', 'suggest'),
('f', 'close'),
),
effects=(('t', 'suggest'), ),
),
Action(
'suggestShort',
preconditions=(
('t', 'start'),
('t', 'want'),
('f', 'want', 'plan'),
('f', 'want', 'short_invest'),
('t', 'need_term', 'short'),
('f', 'close'),
),
effects=(('t', 'want', 'short_invest'), ),
),
Action(
'executeShortInvest',
preconditions=(
('t', 'start'),
('t', 'want'),
('t', 'want', 'short_invest'),
('t', 'need_term', 'short'),
('f', 'suggest'),
('f', 'close'),
),
effects=(('t', 'suggest'), ),
),
Action(
'executeInvest',
preconditions=(
('t', 'start'),
('t', 'want'),
('t', 'want', 'invest'),
('t', 'need_term', 'long'),
('t', 'need_money', 'small'),
('f', 'suggest'),
('f', 'close'),
),
effects=(('t', 'suggest'), ),
),
Action(
'suggestOther',
preconditions=(
('t', 'start'),
('t', 'want'),
('f', 'want', 'invest'),
('f', 'want', 'plan'),
('t', 'need_term', 'long'),
('t', 'need_money', 'small'),
('f', 'close'),
),
effects=(('t', 'want', 'invest'), ),
),
Action(
'close',
preconditions=(
('t', 'start'),
('t', 'want'),
('t', 'askPhoneNO'),
('f', 'close'),
),
effects=(('t', 'close'), ),
),
))
init = (
('t', 'start'),
('f', 'suggest'),
('f', 'close'),
('t', 'want'),
('f', 'want', 'fund'),
('f', 'want', 'insurance'),
('t', 'want', 'invest'),
('f', 'want', 'short_invest'),
('f', 'want', 'plan'),
('t', 'need_term'),
('f', 'need_term', 'short'),
('t', 'need_term', 'long'),
('t', 'need_money'),
('f', 'need_money', 'small'),
('t', 'need_money', 'large'),
('t', 'requirement'),
('t', 'requirement', 'house'),
('f', 'requirement', 'education'),
('t', 'replan'),
('f', 'askPhoneNO'),
)
problem = Problem(
domain,
{
# 'brick': ('want', 'need_term', 'need_money', 'requirement'),
# 'state': ('fund', 'insurance', 'invest', 'short_invest', 'plan', 'short', 'long', 'small', 'large', 'house', 'pension', 'education', 'marriage'),
# 'product': ('short_small', 'short_large', 'long_small', 'long_large', 'insurance', 'fund1', 'fund2'),
},
init=init,
goal=(
# ('t', 'start'),
('t', 'close'), ))
plan = planner(problem, verbose=verbose)
if plan is None:
print('No Plan!')
else:
for action in plan:
print(action)
def find_a_path(hand_start_node_id,
object_start_node_id,
graph,
goal_node_labels,
verbose=False):
locations = ['l' + str(i) for i in range(len(graph.nodes))]
connections = [('connected', 'l' + str(e.node_id_start),
'l' + str(e.node_id_end)) for e in graph.edges]
grasping_locations = [('is_grasping_location', 'l' + str(i))
for i, n in enumerate(graph.nodes)
if n.label in goal_node_labels or n.label + '_' +
str(i) in goal_node_labels]
# define possible actions
domain = pyddl.Domain((
pyddl.Action(
'move_hand',
parameters=(
('location', 'from'),
('location', 'to'),
),
preconditions=(
('hand_at', 'from'),
('connected', 'from', 'to'),
),
effects=(
pyddl.neg(('hand_at', 'from')),
('hand_at', 'to'),
),
),
pyddl.Action(
'move_object',
parameters=(
('location', 'from'),
('location', 'to'),
),
preconditions=(
('hand_at', 'from'),
('object_at', 'from'),
('connected', 'from', 'to'),
),
effects=(
pyddl.neg(('hand_at', 'from')),
pyddl.neg(('object_at', 'from')),
('hand_at', 'to'),
('object_at', 'to'),
),
),
pyddl.Action(
'grasp_object',
parameters=(('location', 'l'), ),
preconditions=(('hand_at', 'l'), ('object_at', 'l'),
('is_grasping_location', 'l')),
effects=(('grasped', 'object'), ),
),
))
# each node in the graph is a location
problem = pyddl.Problem(domain, {
'location': locations,
},
init=[
('hand_at', 'l' + str(hand_start_node_id)),
('object_at', 'l' + str(object_start_node_id)),
] + connections + grasping_locations,
goal=(('grasped', 'object'), ))
plan = pyddl.planner(problem, verbose=verbose)
if plan is None:
print('No Plan!')
else:
for action in plan:
print(action)
return plan
def problem(verbose):
domain = Domain((
Action(
'cross-right',
preconditions=(
('at', 'left-bank'),
('>', ('occupants', ), 0),
),
effects=(
neg(('at', 'left-bank')),
('at', 'right-bank'),
),
),
Action(
'cross-left',
preconditions=(
('at', 'right-bank'),
('>', ('occupants', ), 0),
),
effects=(
neg(('at', 'right-bank')),
('at', 'left-bank'),
),
),
Action(
'onboard-cannibal',
parameters=(('location', 'l'), ),
preconditions=(
('at', 'l'),
('>', ('cannibals', 'l'), 0),
('<', ('occupants', ), 2),
),
effects=(
('-=', ('cannibals', 'l'), 1),
('+=', ('cannibals', 'boat'), 1),
('+=', ('occupants', ), 1),
),
),
Action(
'onboard-missionary',
parameters=(('location', 'l'), ),
preconditions=(
('at', 'l'),
('>', ('missionaries', 'l'), 0),
('>', ('missionaries', 'l'), ('cannibals', 'l')),
('<', ('occupants', ), 2),
),
effects=(
('-=', ('missionaries', 'l'), 1),
('+=', ('missionaries', 'boat'), 1),
('+=', ('occupants', ), 1),
),
),
Action(
'offboard-cannibal',
parameters=(('location', 'l'), ),
preconditions=(
('at', 'l'),
('>', ('cannibals', 'boat'), 0),
('>', ('missionaries', 'l'), ('cannibals', 'l')),
),
effects=(
('-=', ('cannibals', 'boat'), 1),
('-=', ('occupants', ), 1),
('+=', ('cannibals', 'l'), 1),
),
),
Action(
'offboard-missionary',
parameters=(('location', 'l'), ),
preconditions=(
('at', 'l'),
('>', ('missionaries', 'boat'), 0),
),
effects=(
('-=', ('missionaries', 'boat'), 1),
('-=', ('occupants', ), 1),
('+=', ('missionaries', 'l'), 1),
),
),
))
problem = Problem(domain, {
'location': ('left-bank', 'right-bank'),
},
init=(
('at', 'left-bank'),
('=', ('missionaries', 'boat'), 0),
('=', ('cannibals', 'boat'), 0),
('=', ('occupants', ), 0),
('=', ('missionaries', 'left-bank'), 3),
('=', ('cannibals', 'left-bank'), 3),
('=', ('missionaries', 'right-bank'), 0),
('=', ('cannibals', 'right-bank'), 0),
),
goal=(
('=', ('missionaries', 'right-bank'), 3),
('=', ('cannibals', 'right-bank'), 3),
))
plan = planner(problem, verbose=verbose)
if plan is None:
print('No Plan!')
else:
for action in plan:
print(action)
def problem(verbose):
domain = Domain((
Action(
'move',
parameters=(
('position', 'wp_prec'),
('position', 'wp_effe'),
),
preconditions=(
('connect', 'wp_prec', 'wp_effe'),
('base', 'wp_prec'),
('arm', 'unreach'),
),
effects=(
neg(('base', 'wp_prec')),
('base', 'wp_effe'),
),
),
Action(
'reach',
parameters=(
('position', 'wp'),
('location', 'loc'),
),
preconditions=(
('reachable', 'wp', 'loc'),
('base', 'wp'),
('arm', 'unreach'),
),
effects=(
neg(('arm', 'unreach')),
('arm', 'reach'),
),
),
Action(
'grip',
parameters=(
('position', 'wp'),
('object', 'obj'),
('location', 'loc'),
),
preconditions=(
('locate', 'obj', 'loc'),
('ungripped', 'obj'),
('reachable', 'wp', 'loc'),
('base', 'wp'),
('arm', 'reach'),
),
effects=(
neg(('ungripped', 'obj')),
('gripped', 'obj'),
),
),
Action(
'unreach',
parameters=(),
preconditions=(('arm', 'reach'), ),
effects=(
('arm', 'unreach'),
neg(('arm', 'reach')),
),
),
Action(
'reach-when-gripping',
parameters=(
('position', 'wp'),
('location', 'loc'),
('object', 'obj'),
),
preconditions=(
('reachable', 'wp', 'loc'),
('base', 'wp'),
('gripped', 'obj'),
('arm', 'unreach'),
),
effects=(
neg(('arm', 'unreach')),
('arm', 'reach'),
('locate', 'obj', 'loc'),
),
),
Action(
'ungrip',
parameters=(('object', 'obj'), ),
preconditions=(('gripped', 'obj'), ),
effects=(
neg(('gripped', 'obj')),
('ungripped', 'obj'),
),
),
))
problem = Problem(
domain,
{
'position': ('wp1', 'wp2', 'wp3', 'wp4'),
'location': ('loc1', 'loc2', 'loc3'),
'object': ('obj1', 'obj2'),
},
init=(
('connect', 'wp4', 'wp3'),
('connect', 'wp3', 'wp2'),
('connect', 'wp2', 'wp1'),
('connect', 'wp1', 'wp3'),
('reachable', 'wp1', 'loc1'),
('reachable', 'wp3', 'loc3'),
('base', 'wp4'),
('locate', 'obj1', 'loc1'),
('ungripped', 'obj1'),
('arm', 'unreach'),
#('locate','obj2','loc2'),
#('ungripped','obj2'),
),
goal=(
#('base','wp1'),
#('gripped','obj1'),
('locate', 'obj1', 'loc3'),
('ungripped', 'obj1'),
))
plan = planner(problem, verbose=verbose)
#action_string = []
rank = 1
rank_return = rank
if plan is None:
print('No Plan!')
else:
for action in plan:
str_arr = StringArray()
i = 1
str_arr.strings.append(str(rank))
for arg in action.sig:
str_arr.strings.append(str(arg))
print(str_arr)
flag = 'unfinish'
while (flag != 'finish' or rank_return != rank): #finish and rank
pub.publish(str_arr)
#print(str_arr,i)
i = i + 1
#print(listening.action_state.strings,str_arr)
if listening.action_state.strings: #empty check
flag = listening.action_state.strings[1]
rank_return = int(listening.action_state.strings[0])
#while listening.action_state.strings[1] == 'finish':{} #may get previous 'finish', wait for a new unfinish
if rospy.is_shutdown():
return 0
#r.sleep()
print('finish', i)
rank = rank + 1
return 0
def problem(verbose):
with open("all_data.csv", "r") as f:
data = f.readlines()
data = [x.strip().strip(punctuation) for x in data]
data = data[:40]
medicines = []
symptoms = []
domain = Domain((Action(
'take',
parameters=(
('medicine', 'med'),
('symptom', 'sym1'),
('symptom', 'sym2'),
('symptom', 'sym3'),
),
preconditions=(
('cures', 'med', 'sym1'),
('cures', 'med', 'sym2'),
('cures', 'med', 'sym3'),
('have_med', 'med'),
('has', 'sym1'),
('has', 'sym2'),
('has', 'sym3'),
),
effects=(
('had', 'sym1'),
('had', 'sym2'),
('had', 'sym3'),
neg(('have_med', 'med')),
),
), ))
user_init = []
user_goal = []
user_symptoms = []
for x in data:
y = x.split(',')
y = [z.strip(punctuation) for z in y]
if len(y) < 2 or len(y) > 4:
continue
medicines.append(y[0])
user_init.append(('have_med', str(y[0])))
symptoms += y[1:]
for sym in y[1:]:
user_init.append(('cures', str(y[0]), str(sym)))
with open("user_symptoms.txt", "r") as f:
syms = f.readlines()
syms = [s.strip().strip(punctuation) for s in syms]
for sym in syms:
user_init.append(('has', str(sym)))
user_symptoms.append(str(sym))
user_goal.append(('had', str(sym)))
total_symptoms = len(user_init)
user_symptoms = list(set(user_symptoms))
problem = Problem(
domain,
{
'medicine': list(set(medicines)),
'symptom': list(set(symptoms)),
},
init=user_init,
goal=user_goal,
)
def distance_heuristic(state):
num_satisfied = len([
p for p in state.predicates
if p[0] == "had" and p[1] in user_symptoms
])
return total_symptoms - num_satisfied
plan = planner(problem, heuristic=distance_heuristic, verbose=verbose)
if plan is None:
print('No Plan!')
else:
for action in plan:
print(action)
