risk_bound,sc_schedule = paris.stnu_reformulation(global_prog,makespan=True,cc=0.001) if risk_bound != None: risk_bound = min(risk_bound,1.0) print('\nSuccessfully performed STNU reformulation with scheduling risk %f %%!'%(risk_bound*100.0)) for tc in global_prog.temporal_constraints: if tc.type == 'uncontrollable_bounded': tc.type = 'controllable' for i in range(len(pddl_episodes)-1): global_prog.add_temporal_constraint(TemporalConstraint(start=pddl_episodes[i].end,end=pddl_episodes[i+1].start, ctype='controllable',lb=1.005,ub=2.1)) global_prog.simplify_temporal_constraints() # activation_episode_end_events = [ep.end for ep in activation_episodes] # for tc in global_prog.temporal_constraints: # if tc.start in activation_episode_end_events: # global_prog.remove_temporal_constraint(tc) global_prog.to_ptpn(filename=output_file) print('\nThis is the schedule:') for e,t in sorted([(e,t) for e,t in sc_schedule.items()],key=lambda x: x[1]): print('\t%s: %.2f s'%(e,t)) else: print('\nFailed to perform STNU reformulation...')
def rmpyl_breakfast(): """ Example from (Levine & Williams, ICAPS14). """ #Actions that Alice performs get_mug_ep = Episode(action='(get alice mug)',duration={'ctype':'controllable','lb':0.5,'ub':1.0}) get_glass_ep = Episode(action='(get alice glass)',duration={'ctype':'controllable','lb':0.5,'ub':1.0}) make_cofee_ep = Episode(action='(make-coffee alice)',duration={'ctype':'controllable','lb':3.0,'ub':5.0}) pour_cofee_ep = Episode(action='(pour-coffee alice mug)',duration={'ctype':'controllable','lb':0.5,'ub':1.0}) pour_juice_glass = Episode(action='(pour-juice alice glass)',duration={'ctype':'controllable','lb':0.5,'ub':1.0}) get_bagel_ep = Episode(action='(get alice bagel)',duration={'ctype':'controllable','lb':0.5,'ub':1.0}) get_cereal_ep = Episode(action='(get alice cereal)',duration={'ctype':'controllable','lb':0.5,'ub':1.0}) toast_bagel_ep = Episode(action='(toast alice bagel)',duration={'ctype':'controllable','lb':3.0,'ub':5.0}) add_cheese_bagel_ep = Episode(action='(add-cheese alice bagel)',duration={'ctype':'controllable','lb':1.0,'ub':2.0}) mix_cereal_ep = Episode(action='(mix-cereal alice milk)',duration={'ctype':'controllable','lb':1.0,'ub':2.0}) #Actions that the robot performs get_grounds_ep = Episode(action='(get grounds robot)',duration={'ctype':'controllable','lb':0.5,'ub':1.0}) get_juice_ep = Episode(action='(get juice robot)',duration={'ctype':'controllable','lb':0.5,'ub':1.0}) get_milk_ep = Episode(action='(get milk robot)',duration={'ctype':'controllable','lb':0.5,'ub':1.0}) get_cheese_ep = Episode(action='(get cheese robot)',duration={'ctype':'controllable','lb':0.5,'ub':1.0}) prog = RMPyL() prog *= prog.sequence( prog.parallel( prog.observe( {'name':'observe-utensil','domain':['Mug','Glass'],'ctype':'uncontrollable'}, get_mug_ep, get_glass_ep, id='observe-utensil-ep'), prog.decide( {'name':'choose-beverage-ingredient','domain':['Grounds','Juice'],'utility':[0,0]}, get_grounds_ep, get_juice_ep, id='choose-beverage-ingredient-ep')), prog.observe( {'name':'observe-alice-drink','domain':['Coffee','Juice'],'ctype':'uncontrollable'}, prog.sequence(make_cofee_ep,pour_cofee_ep), pour_juice_glass, id='observe-alice-drink-ep'), prog.parallel( prog.observe( {'name':'observe-food','domain':['Bagel','Cereal'],'ctype':'uncontrollable'}, get_bagel_ep, get_cereal_ep, id='observe-food-ep'), prog.decide( {'name':'choose-food-ingredient','domain':['Milk','Cheese'],'utility':[0,0]}, get_milk_ep, get_cheese_ep, id='choose-food-ingredient-ep'), id='parallel-food-ep'), prog.observe( {'name':'observe-alice-food','domain':['Bagel','Cereal'],'ctype':'uncontrollable'}, prog.sequence(toast_bagel_ep,add_cheese_bagel_ep), mix_cereal_ep), id='breakfast-sequence') extra_tcs = [TemporalConstraint(start=prog.episode_by_id('breakfast-sequence').start, end=prog.episode_by_id('observe-utensil-ep').start, ctype='controllable',lb=0.0,ub=0.0), TemporalConstraint(start=prog.episode_by_id('breakfast-sequence').start, end=prog.episode_by_id('choose-beverage-ingredient-ep').start, ctype='controllable',lb=0.2,ub=0.3), TemporalConstraint(start=prog.episode_by_id('parallel-food-ep').start, end=prog.episode_by_id('observe-food-ep').start, ctype='controllable',lb=0.0,ub=0.0), TemporalConstraint(start=prog.episode_by_id('parallel-food-ep').start, end=prog.episode_by_id('choose-food-ingredient-ep').start, ctype='controllable',lb=0.2,ub=0.3)] for tc in extra_tcs: prog.add_temporal_constraint(tc) prog.add_overall_temporal_constraint(ctype='controllable',lb=0.0,ub=7.0) prog.simplify_temporal_constraints() return prog
def rmpyl_breakfast(): """ Example from (Levine & Williams, ICAPS14). """ #Actions that Alice performs get_mug_ep = Episode(action='(get alice mug)', duration={ 'ctype': 'controllable', 'lb': 0.5, 'ub': 1.0 }) get_glass_ep = Episode(action='(get alice glass)', duration={ 'ctype': 'controllable', 'lb': 0.5, 'ub': 1.0 }) make_cofee_ep = Episode(action='(make-coffee alice)', duration={ 'ctype': 'controllable', 'lb': 3.0, 'ub': 5.0 }) pour_cofee_ep = Episode(action='(pour-coffee alice mug)', duration={ 'ctype': 'controllable', 'lb': 0.5, 'ub': 1.0 }) pour_juice_glass = Episode(action='(pour-juice alice glass)', duration={ 'ctype': 'controllable', 'lb': 0.5, 'ub': 1.0 }) get_bagel_ep = Episode(action='(get alice bagel)', duration={ 'ctype': 'controllable', 'lb': 0.5, 'ub': 1.0 }) get_cereal_ep = Episode(action='(get alice cereal)', duration={ 'ctype': 'controllable', 'lb': 0.5, 'ub': 1.0 }) toast_bagel_ep = Episode(action='(toast alice bagel)', duration={ 'ctype': 'controllable', 'lb': 3.0, 'ub': 5.0 }) add_cheese_bagel_ep = Episode(action='(add-cheese alice bagel)', duration={ 'ctype': 'controllable', 'lb': 1.0, 'ub': 2.0 }) mix_cereal_ep = Episode(action='(mix-cereal alice milk)', duration={ 'ctype': 'controllable', 'lb': 1.0, 'ub': 2.0 }) #Actions that the robot performs get_grounds_ep = Episode(action='(get grounds robot)', duration={ 'ctype': 'controllable', 'lb': 0.5, 'ub': 1.0 }) get_juice_ep = Episode(action='(get juice robot)', duration={ 'ctype': 'controllable', 'lb': 0.5, 'ub': 1.0 }) get_milk_ep = Episode(action='(get milk robot)', duration={ 'ctype': 'controllable', 'lb': 0.5, 'ub': 1.0 }) get_cheese_ep = Episode(action='(get cheese robot)', duration={ 'ctype': 'controllable', 'lb': 0.5, 'ub': 1.0 }) prog = RMPyL() prog *= prog.sequence( prog.parallel( prog.observe( { 'name': 'observe-utensil', 'domain': ['Mug', 'Glass'], 'ctype': 'uncontrollable' }, get_mug_ep, get_glass_ep, id='observe-utensil-ep'), prog.decide( { 'name': 'choose-beverage-ingredient', 'domain': ['Grounds', 'Juice'], 'utility': [0, 0] }, get_grounds_ep, get_juice_ep, id='choose-beverage-ingredient-ep')), prog.observe( { 'name': 'observe-alice-drink', 'domain': ['Coffee', 'Juice'], 'ctype': 'uncontrollable' }, prog.sequence(make_cofee_ep, pour_cofee_ep), pour_juice_glass, id='observe-alice-drink-ep'), prog.parallel(prog.observe( { 'name': 'observe-food', 'domain': ['Bagel', 'Cereal'], 'ctype': 'uncontrollable' }, get_bagel_ep, get_cereal_ep, id='observe-food-ep'), prog.decide( { 'name': 'choose-food-ingredient', 'domain': ['Milk', 'Cheese'], 'utility': [0, 0] }, get_milk_ep, get_cheese_ep, id='choose-food-ingredient-ep'), id='parallel-food-ep'), prog.observe( { 'name': 'observe-alice-food', 'domain': ['Bagel', 'Cereal'], 'ctype': 'uncontrollable' }, prog.sequence(toast_bagel_ep, add_cheese_bagel_ep), mix_cereal_ep), id='breakfast-sequence') extra_tcs = [ TemporalConstraint( start=prog.episode_by_id('breakfast-sequence').start, end=prog.episode_by_id('observe-utensil-ep').start, ctype='controllable', lb=0.0, ub=0.0), TemporalConstraint( start=prog.episode_by_id('breakfast-sequence').start, end=prog.episode_by_id('choose-beverage-ingredient-ep').start, ctype='controllable', lb=0.2, ub=0.3), TemporalConstraint(start=prog.episode_by_id('parallel-food-ep').start, end=prog.episode_by_id('observe-food-ep').start, ctype='controllable', lb=0.0, ub=0.0), TemporalConstraint( start=prog.episode_by_id('parallel-food-ep').start, end=prog.episode_by_id('choose-food-ingredient-ep').start, ctype='controllable', lb=0.2, ub=0.3) ] for tc in extra_tcs: prog.add_temporal_constraint(tc) prog.add_overall_temporal_constraint(ctype='controllable', lb=0.0, ub=7.0) prog.simplify_temporal_constraints() return prog
'\nSuccessfully performed STNU reformulation with scheduling risk %f %%!' % (risk_bound * 100.0)) for tc in global_prog.temporal_constraints: if tc.type == 'uncontrollable_bounded': tc.type = 'controllable' for i in range(len(pddl_episodes) - 1): global_prog.add_temporal_constraint( TemporalConstraint(start=pddl_episodes[i].end, end=pddl_episodes[i + 1].start, ctype='controllable', lb=1.005, ub=2.1)) global_prog.simplify_temporal_constraints() # activation_episode_end_events = [ep.end for ep in activation_episodes] # for tc in global_prog.temporal_constraints: # if tc.start in activation_episode_end_events: # global_prog.remove_temporal_constraint(tc) global_prog.to_ptpn(filename=output_file) print('\nThis is the schedule:') for e, t in sorted([(e, t) for e, t in sc_schedule.items()], key=lambda x: x[1]): print('\t%s: %.2f s' % (e, t)) else: print('\nFailed to perform STNU reformulation...')