def get_automaton(self):
automaton = SubgoalAutomaton()
automaton.add_state("u0")
automaton.add_state("u1")
automaton.add_state("u_acc")
automaton.add_edge(
"u0", "u1",
[OfficeWorldObject.COFFEE, "~" + OfficeWorldObject.OFFICE])
automaton.add_edge(
"u0", "u_acc",
[OfficeWorldObject.COFFEE, OfficeWorldObject.OFFICE])
automaton.add_edge(
"u1", "u_acc",
[OfficeWorldObject.OFFICE, "~" + OfficeWorldObject.PLANT])
if self.drop_coffee_on_plant_enable:
automaton.add_edge("u1", "u0", [OfficeWorldObject.PLANT])
else:
automaton.add_state("u_rej")
automaton.set_reject_state("u_rej")
automaton.add_edge("u0", "u_rej", [
OfficeWorldObject.PLANT, "~" + OfficeWorldObject.COFFEE,
"~" + OfficeWorldObject.OFFICE
])
automaton.add_edge("u1", "u_rej", [OfficeWorldObject.PLANT])
automaton.set_initial_state("u0")
automaton.set_accept_state("u_acc")
return automaton
def get_automaton(self):
automaton = SubgoalAutomaton()
automaton.add_state("u0")
automaton.add_state("u1")
automaton.add_state("u2")
automaton.add_state("u3")
automaton.add_state("u_acc")
automaton.add_state("u_rej")
automaton.add_edge(
"u0", "u1",
[OfficeWorldObject.ROOM_A, "~" + OfficeWorldObject.PLANT])
automaton.add_edge("u0", "u_rej", [OfficeWorldObject.PLANT])
automaton.add_edge(
"u1", "u2",
[OfficeWorldObject.ROOM_B, "~" + OfficeWorldObject.PLANT])
automaton.add_edge("u1", "u_rej", [OfficeWorldObject.PLANT])
automaton.add_edge(
"u2", "u3",
[OfficeWorldObject.ROOM_C, "~" + OfficeWorldObject.PLANT])
automaton.add_edge("u2", "u_rej", [OfficeWorldObject.PLANT])
automaton.add_edge(
"u3", "u_acc",
[OfficeWorldObject.ROOM_D, "~" + OfficeWorldObject.PLANT])
automaton.add_edge("u3", "u_rej", [OfficeWorldObject.PLANT])
automaton.set_initial_state("u0")
automaton.set_accept_state("u_acc")
automaton.set_reject_state("u_rej")
return automaton
def _set_basic_automata(self):
self.automata = []
for _ in range(self.num_domains):
# the initial automaton is an automaton that doesn't accept nor reject anything
automaton = SubgoalAutomaton()
automaton.add_state(ISAAlgorithmBase.INITIAL_STATE_NAME)
automaton.set_initial_state(ISAAlgorithmBase.INITIAL_STATE_NAME)
# automaton.add_state(ISAAlgorithm.ACCEPTING_STATE_NAME) # DO NOT UNCOMMENT!
# automaton.add_state(ISAAlgorithm.REJECTING_STATE_NAME)
# automaton.set_accept_state(ISAAlgorithm.ACCEPTING_STATE_NAME)
# automaton.set_reject_state(ISAAlgorithm.REJECTING_STATE_NAME)
self.automata.append(automaton)
def get_automaton(self):
automaton = SubgoalAutomaton()
automaton.set_initial_state("u0")
automaton.set_accept_state("u_acc")
if self._is_strict_sequence():
self._add_strict_transitions_to_automaton(automaton)
automaton.set_reject_state("u_rej")
else:
if self.obs_to_avoid is not None:
automaton.set_reject_state("u_rej")
self._add_transitions_to_automaton(automaton)
return automaton
def get_automaton(self):
automaton = SubgoalAutomaton()
automaton.add_state("u0")
automaton.add_state("u1")
automaton.add_state("u2")
automaton.add_state("u3")
automaton.add_state("u_acc")
if self.enforce_single_observable_per_location:
automaton.add_edge(
"u0", "u2",
[CraftWorldObject.WOOD, "~" + CraftWorldObject.IRON])
automaton.add_edge("u0", "u3", [CraftWorldObject.IRON])
automaton.add_edge("u2", "u1", [CraftWorldObject.IRON])
automaton.add_edge("u3", "u1", [CraftWorldObject.WOOD])
else:
automaton.add_edge("u0", "u1", [
CraftWorldObject.WOOD, "~" + CraftWorldObject.WORKBENCH,
CraftWorldObject.IRON
])
automaton.add_edge(
"u0", "u2",
[CraftWorldObject.WOOD, "~" + CraftWorldObject.IRON])
automaton.add_edge(
"u0", "u3",
["~" + CraftWorldObject.WOOD, CraftWorldObject.IRON])
automaton.add_edge("u0", "u_acc", [
CraftWorldObject.WOOD, CraftWorldObject.WORKBENCH,
CraftWorldObject.IRON
])
automaton.add_edge(
"u2", "u1",
["~" + CraftWorldObject.WORKBENCH, CraftWorldObject.IRON])
automaton.add_edge(
"u2", "u_acc",
[CraftWorldObject.WORKBENCH, CraftWorldObject.IRON])
automaton.add_edge(
"u3", "u1",
[CraftWorldObject.WOOD, "~" + CraftWorldObject.WORKBENCH])
automaton.add_edge(
"u3", "u_acc",
[CraftWorldObject.WOOD, CraftWorldObject.WORKBENCH])
automaton.add_edge("u1", "u_acc", [CraftWorldObject.WORKBENCH])
automaton.set_initial_state("u0")
automaton.set_accept_state("u_acc")
return automaton
def get_automaton(self):
automaton = SubgoalAutomaton()
automaton.add_state("u0")
automaton.add_state("u1")
automaton.add_state("u_acc")
if self.enforce_single_observable_per_location:
automaton.add_edge("u0", "u1", [CraftWorldObject.GRASS])
else:
automaton.add_edge(
"u0", "u1",
[CraftWorldObject.GRASS, "~" + CraftWorldObject.TOOLSHED])
automaton.add_edge(
"u0", "u_acc",
[CraftWorldObject.GRASS, CraftWorldObject.TOOLSHED])
automaton.add_edge("u1", "u_acc", [CraftWorldObject.TOOLSHED])
automaton.set_initial_state("u0")
automaton.set_accept_state("u_acc")
return automaton
def get_automaton(self):
automaton = SubgoalAutomaton()
automaton.add_state("u0")
automaton.add_state("u1")
automaton.add_state("u_acc")
automaton.add_state("u_rej")
automaton.add_edge("u0", "u1", [
OfficeWorldObject.MAIL, "~" + OfficeWorldObject.OFFICE,
"~" + OfficeWorldObject.PLANT
])
automaton.add_edge("u0", "u_acc", [
OfficeWorldObject.MAIL, OfficeWorldObject.OFFICE,
"~" + OfficeWorldObject.PLANT
])
automaton.add_edge("u0", "u_rej", [OfficeWorldObject.PLANT])
automaton.add_edge(
"u1", "u_acc",
[OfficeWorldObject.OFFICE, "~" + OfficeWorldObject.PLANT])
automaton.add_edge("u1", "u_rej", [OfficeWorldObject.PLANT])
automaton.set_initial_state("u0")
automaton.set_accept_state("u_acc")
automaton.set_reject_state("u_rej")
return automaton