def main():
# domain_file = drake_path + "/manipulation_tamp/pddl/throw_domain.pddl"
# problem_file = drake_path + "/manipulation_tamp/pddl/throw_problem.pddl"
domain_file = drake_path + "/manipulation_tamp/pddl/object_sorting/domain_10obj.pddl"
problem_file = drake_path + "/manipulation_tamp/pddl/object_sorting/problem_10obj.pddl"
# domain_file = drake_path + "/manipulation_tamp/pddl/object_sorting/domain_7obj.pddl"
# problem_file = drake_path + "/manipulation_tamp/pddl/object_sorting/problem_7obj.pddl"
# domain_file = drake_path + "/manipulation_tamp/pddl/object_sorting/domain.pddl"
# problem_file = drake_path + "/manipulation_tamp/pddl/object_sorting/problem.pddl"
problem = _parse(domain_file, problem_file)
task = _ground(problem)
geo_setup_file = drake_path + "/manipulation_tamp/setup/object_sorting/geo_setup.json"
traj_setup_file = drake_path + "/manipulation_tamp/setup/object_sorting/traj_setup.json"
# geo_setup_file = drake_path + "/manipulation_tamp/setup/object_sorting_multi_sol/geo_setup.json"
# traj_setup_file = drake_path + "/manipulation_tamp/setup/object_sorting_multi_sol/traj_setup.json"
motion_planner = MultiWPStaionaryManipMotionPlanRunner(
geo_setup_file, traj_setup_file)
planner = CausalGraphTampPlanner(task, motion_planner)
start = time.time()
planner.plan_iterative(option=TRAJ_OPTION)
end = time.time()
print("Total Planning Time: ", end - start, "sec")
filename = "object_sorting_plan" + datetime.now().strftime(
"%Y%m%dT%H%M%S") + ".json"
planner.save_traj(filename=filename)
planner.save_move_query_sequence()
print("Branching Factors", planner.branching_factor)
print("Tree Size", planner.num_nodes)
def main():
# domain_file = drake_path + "/manipulation_tamp/pddl/conveyor_belt/domain_4obj.pddl"
# problem_file = drake_path + "/manipulation_tamp/pddl/conveyor_belt/problem_4obj.pddl"
domain_file = drake_path + "/manipulation_tamp/pddl/conveyor_belt/domain_10obj.pddl"
problem_file = drake_path + "/manipulation_tamp/pddl/conveyor_belt/problem_10obj.pddl"
# domain_file = drake_path + "/manipulation_tamp/pddl/conveyor_belt/obj_cost/domain_3obj.pddl"
# problem_file = drake_path + "/manipulation_tamp/pddl/conveyor_belt/obj_cost/problem_3obj.pddl"
problem = _parse(domain_file, problem_file)
task = _ground(problem)
geo_setup_file = drake_path + "/manipulation_tamp/setup/conveyor_belt/geo_setup.json"
traj_setup_file = drake_path + "/manipulation_tamp/setup/conveyor_belt/traj_setup.json"
# geo_setup_file = drake_path + "/manipulation_tamp/setup/conveyor_belt_obj_cost/geo_setup.json"
# traj_setup_file = drake_path + "/manipulation_tamp/setup/conveyor_belt_obj_cost/traj_setup.json"
motion_planner = MultiWPConveyorBeltManipMotionPlanRunner(
geo_setup_file, traj_setup_file)
planner = CausalGraphTampPlanner(task, motion_planner)
start = time.time()
planner.plan(option=TRAJ_OPTION)
end = time.time()
print("Total Planning Time: ", end - start, "sec")
filename = "conveyor_belt_plan" + datetime.now().strftime(
"%Y%m%dT%H%M%S") + ".json"
planner.save_traj(filename=filename)
planner.save_move_query_sequence()
print("Branching Factors", planner.branching_factor)
print("Tree Size", planner.num_nodes)
def main():
domain_file = drake_path + "/manipulation_tamp/pddl/conveyor_belt_multi_grasp_mode/domain_coupled.pddl"
# domain_file = drake_path + "/manipulation_tamp/pddl/conveyor_belt_multi_grasp_mode/domain_coupled_stationary.pddl"
problem_file = drake_path + "/manipulation_tamp/pddl/conveyor_belt_multi_grasp_mode/3obj_coupled.pddl"
problem = _parse(domain_file, problem_file)
task = _ground(problem)
geo_setup_file = drake_path + "/manipulation_tamp/setup/geo_setup_multi_wp.json"
traj_setup_file = drake_path + "/manipulation_tamp/setup/traj_setup_multi_wp.json"
motion_planner = MultiWPConveyorBeltManipMotionPlanRunner(
geo_setup_file, traj_setup_file
)
planner = CausalGraphTampPlanner(task, motion_planner)
planner.plan(option=TRAJ_OPTION)
planner.save_traj()
finisher1-stack-letter sheet1 dummy-sheet
"""
optimal_plan = [op.strip() for op in optimal_plan.splitlines()]
import os
from pyperplan import planner
from pyperplan.search import breadth_first_search, searchspace
from pyperplan.task import Operator, Task
benchmarks = os.path.abspath(
os.path.join(os.path.abspath(__file__), "../../../../benchmarks"))
# Collect problem files
problem_file = os.path.join(benchmarks, "parcprinter", "task01.pddl")
domain_file = planner.find_domain(problem_file)
problem = planner._parse(domain_file, problem_file)
task = planner._ground(problem)
# Manually do the "search"
node = searchspace.make_root_node(task.initial_state)
for step, op_name in enumerate(optimal_plan, start=1):
for op, successor_state in task.get_successor_states(node.state):
if not op.name.strip("()") == op_name:
continue
node = searchspace.make_child_node(node, op, successor_state)
# Check that we reached the goal
assert len(task.goals - node.state) == 0
def parse_problem(problem_file, domain_file=None):
if domain_file is None:
domain_file = planner.find_domain(problem_file)
print("Parsing", problem_file)
problem = planner._parse(domain_file, problem_file)
return problem