def jshop_tasks_from_goals(goals, pyhopState, STATE_FILE):
# thisDir = os.path.dirname(os.path.realpath(__file__))
# MIDCA_ROOT = thisDir + "/../"
# STATE_FILE = MIDCA_ROOT + "jshop_domains/blocks_world/bw_ran_problems_500.shp"
try:
f = open(STATE_FILE, 'a')
except Exception:
print("could not read the state file. Check the path...")
alltasks = []
blkgoals = pyhop.Goal("goals")
blkgoals.pos = {}
f.write(" ((achieve-goals ( list\n")
for goal in goals:
#extract predicate
if 'predicate' in goal.kwargs:
predicate = str(goal.kwargs['predicate'])
elif 'Predicate' in goal.kwargs:
predicate = str(goal.kwargs['Predicate'])
elif goal.args:
predicate = str(goal.args[0])
else:
raise ValueError("Goal " + str(goal) +
" does not translate to a valid pyhop task")
args = [str(arg) for arg in goal.args]
if args[0] == predicate:
args.pop(0)
if predicate == "on":
f.write("(on " + args[0] + " " + args[1] + ")\n")
elif predicate == 'on-table':
f.write("(on-table" + blkgoals.pos[args[0]] + ")\n")
else:
raise Exception("No task corresponds to predicate " + predicate)
f.write(" ))))")
f.close()
def pyhop_tasks_from_goals(goals, pyhopState):
alltasks = []
blkgoals = pyhop.Goal("goals")
blkgoals.pos = {}
for goal in goals:
#extract predicate
if 'predicate' in goal.kwargs:
predicate = str(goal.kwargs['predicate'])
elif 'Predicate' in goal.kwargs:
predicate = str(goal.kwargs['Predicate'])
elif goal.args:
predicate = str(goal.args[0])
else:
raise ValueError("Goal " + str(goal) +
" does not translate to a valid pyhop task")
args = [str(arg) for arg in goal.args]
if args[0] == predicate:
args.pop(0)
if predicate == "on":
blkgoals.pos[args[0]] = args[1]
elif predicate == 'on-table':
blkgoals.pos[args[0]] = 'table'
elif predicate == "onfire" and 'negate' in goal and goal[
'negate'] == True:
alltasks.append(("put_out", args[0]))
elif predicate == "free" and 'negate' in goal and goal[
'negate'] == True:
alltasks.append(("catch_arsonist", args[0]))
else:
raise Exception("No task corresponds to predicate " + predicate)
if blkgoals.pos:
alltasks.append(("move_blocks", blkgoals))
return alltasks
def pyhop_tasks_from_goals(goals,pyhopState):
alltasks = []
beacongoals = pyhop.Goal("goals")
beacongoals.activated = {}
perimeter_goal_locs = []
agent_at_goal_locs = []
for goal in goals:
#extract predicate
if 'predicate' in goal.kwargs:
predicate = str(goal.kwargs['predicate'])
elif 'Predicate' in goal.kwargs:
predicate = str(goal.kwargs['Predicate'])
elif goal.args:
predicate = str(goal.args[0])
else:
raise ValueError("Goal " + str(goal) + " does not translate to a valid pyhop task")
args = [str(arg) for arg in goal.args]
if args[0] == predicate:
args.pop(0)
if predicate == "activated":
loc = pyhopState.beaconlocs[str(args[0])]
perimeter_goal_locs.append(loc)
if predicate == "agent-at":
agent_dest = convert(args[1])
agent_at_goal_locs.append(agent_dest)
# important, only one goal for all activated beacons
if perimeter_goal_locs:
alltasks.append(("make_perimeter",pyhopState.agents.keys()[0],perimeter_goal_locs))
if agent_at_goal_locs:
alltasks.append(("navigate",pyhopState.agents.keys()[0],agent_at_goal_locs))
return alltasks
def jshop_tasks_from_goals(goals, pyhopState):
thisDir = os.path.dirname(os.path.realpath(__file__))
MIDCA_ROOT = thisDir + "/../"
STATE_FILE = MIDCA_ROOT + "jshop_domains/logistics/problems.shp"
f = open(STATE_FILE, 'a')
alltasks = []
blkgoals = pyhop.Goal("goals")
blkgoals.pos = {}
f.write(" ((achieve-goals (list\n")
for goal in goals:
#extract predicate
if 'predicate' in goal.kwargs:
predicate = str(goal.kwargs['predicate'])
elif 'Predicate' in goal.kwargs:
predicate = str(goal.kwargs['Predicate'])
elif goal.args:
predicate = str(goal.args[0])
else:
raise ValueError("Goal " + str(goal) +
" does not translate to a valid pyhop task")
args = [str(arg) for arg in goal.args]
if args[0] == predicate:
args.pop(0)
if predicate == "obj-at":
f.write("(obj-at " + args[0] + " " + args[1] + ")\n")
else:
raise Exception("No task corresponds to predicate " + predicate)
f.write(" ))))")
f.close()
def pyhop_tasks_from_goals_restaurant(goals):
alltasks = []
ordergoals = pyhop.Goal("goals")
ordergoals = copy.deepcopy(goals)
if ordergoals:
alltasks.append(("achieve_goals", ordergoals))
return alltasks
