def init_state(self):
# set state variables to be used by operators and methods
self.state = hop.State('start_state')
self.state.path = []
self.state.path_found = 0
self.state.path_idx = -1
self.state.equipment = None
self.state.inventory = {
'wood' : 1,
'iron' : 0,
'steel' : 1,}
self.state.targets = {
'gold': {
'location': (0,0,0),
'reached': 0,
'broken': 0,
'acquired': 0,},
'wall': {
'location': (-66,14,-46),
'reached': 0,
'broken': 0,
'acquired': 0,},}
self.failed_method = None
self.preconditions = {
'break_wall' : {
'precondition' : None,
'inventory' : ['iron'],
},
}
self.methods = {
'break_wall' : self.break_wall
}
def init_state(self):
# set state variables to be used by operators and methods
self.state = hop.State('start_state')
self.state.gold = 1 # 1: unbroken, 0: broken
self.state.path = []
self.state.gold_reached = 0
self.state.path_found = 0
self.state.path_idx = -1
self.state.gold_broken = 0
self.state.gold_acquired = 0
def __init__(self):
self.state = hop.State("Initial State")
self.objList = {}
self.taskList = []
self.methodList = {}
def task1(state, r, o, x, y):
tasklist = [('look_cupboard', r), ('goto', r, '', x), ('open', r, x),
('look_table', r), ('goto', r, x, y)]
X1 = [('pick', r, o, y), ('goto', r, y, x), ('place', r, o, x),
('goto', r, x, y)]
for k in range(5):
for j in range(len(X1)):
tasklist.append(X1[j])
return tasklist
hop.declare_methods('task1', task1)
print('')
hop.print_methods(hop.get_methods())
state1 = hop.State('state1')
state1.loc = {'objects': 'table', 'robot': ''}
state1.objects = {'table': 5, 'cupboard': 0}
state1.gripperfree = True #gripper true referes to gripper free state
state1.cupboardisopen = False #cupboard is closed
state1.isTable = False
state1.isCupboard = False
print("""
********************************************************************************
Call hop.plan(state1,[('task1','robot','coke','cupboard','table')])
********************************************************************************
""")
print('- If verbose=3, Pyhop also prints the intermediate states:')
hop.plan(state1, [('task1', 'robot', 'objects', 'cupboard', 'table')],
def init_state(self):
# set state variables to be used by operators and methods
self.state = hop.State('start_state')
# TODO: convert everything into one directory which has 'resource', 'inventory' key all in one
# variables in this minecraft world
self.PLAN_STATUS = None
# 0: Rendered obsolete by assertions, 1: All okay, 2: Error, need replanning or introspection
self.ASSERT_ID = None
# id of the assertion held true right now
self.state.target = 'gold'
self.plan_idx = 0
self.state.turn_num = 0
self.state.objects = {
'gold',
'stone_block',
}
self.state.object_id = {'gold': 41, 'stone_block': 100}
self.state.tools = {}
# information structure for keeping track of world state
self.state.resources = {}
for obj in self.state.objects:
self.state.resources[obj] = {
'state': None,
'hemisphere': None,
'location': None,
}
# information structure to keep track of self state
# State = None: not located yet, 0: seen but not near, 1: near, -1: broken
# Hemisphere = None: Haven't seen so far, -1: was to the left of the cone,
# 0: was in the center, +1: was to the right of the cone
self.state.agent = {
'cur_xyz': None,
'cur_theta': None,
'start_xyz': None,
'start_theta': None,
}
self.state.inventory = {}
for obj in self.state.objects:
self.state.inventory[obj] = 0
# self.state.need_percept = 0
#goal state
self.goal_state = hop.State('goal_state')
self.goal_state.resources = {}
self.goal_state.resources['gold'] = {
'state': -1,
'hemisphere': [-1, 0, 1],
}
self.goal_state.inventory = {}
self.goal_state.inventory['gold'] = 1
self.assertions = {}
self.assertions = {
1: {
'resources': {
'gold': {
'state': 0,
},
},
},
# gold must be in sight to plan how to navigate
2: {
'resources': {
'gold': {
'state': 1,
},
},
'inventory': {
'gold': 0
},
},
3: {
'inventory': {
'gold': 1,
},
},
# agent must be next to gold block to plan how to break it
}
############# beginning of tests ################
print("""
****************************************
First, test pyhop on some of the operators and smaller tasks
****************************************
""")
print("- Define state1: a on b, b on tale, c on table")
"""
A state is a collection of all of the state variables and their values. Every
state variable in the domain should have a value.
"""
state1 = hop.State('state1')
state1.pos = {'a': 'b', 'b': 'table', 'c': 'table'}
state1.clear = {'c': True, 'b': False, 'a': True}
state1.holding = False
hop.print_state(state1)
print('')
print('- these should fail:')
hop.plan(state1, [('pickup', 'a')],
hop.get_operators(),
hop.get_methods(),
verbose=1)
hop.plan(state1, [('pickup', 'b')],
hop.get_operators(),
hop.get_methods(),