def __init__(self):
self.failure_reason = ""
self.verbose = 0
# Helper methods
def is_within_bounds(location1, min_bounds, max_bounds):
for i in range(len(location1)):
if location1[i] < min_bounds[i] or location1[i] > max_bounds[i]:
return False
return True
# Operators (primitive tasks)
def move_arm(state, to_):
arm_min_bounds = state.min_bounds["xyz"]
arm_max_bounds = state.max_bounds["xyz"]
if to_ == "target_object" or to_ == "container":
xyz = state.xyz[to_]
if not is_within_bounds(xyz, arm_min_bounds, arm_max_bounds):
self.failure_reason = "can't move arm to {}: {} outside of bounds: {} {}"\
.format(to_, xyz, arm_min_bounds, arm_max_bounds)
return False
return state
return state
def move_arm_above(state, to_):
return move_arm(state, to_)
def close_hand(state):
gripper_min_bounds = state.min_bounds["object_side_length"]
gripper_max_bounds = state.max_bounds["object_side_length"]
distance = state.size['object_side_length']
if distance < gripper_min_bounds or distance > gripper_max_bounds:
self.failure_reason = "can't close hand to distance {}".format(
distance)
print(self.failure_reason)
return False
return state
def open_hand(state):
gripper_min_bounds = state.min_bounds["object_side_length"]
gripper_max_bounds = state.max_bounds["object_side_length"]
distance = state.size['object_side_length']
if distance < gripper_min_bounds or distance > gripper_max_bounds:
self.failure_reason = "can't open hand to distance {}".format(
distance)
return False
return state
def initialize(state, actor):
if actor == "arm":
state.initialized["arm"] = True
return state
self.failure_reason = "{} can't initialize".format(actor)
return False
pyhop.declare_operators(initialize, move_arm, move_arm_above,
close_hand, open_hand)
if self.verbose > 0:
pyhop.print_operators()
# Methods (compound tasks)
def put_grabbed(state, actor, actee, from_, to_):
if actor == "arm":
if state.grabbed["target_object"]:
return [('move_arm_above', to_), ('open_hand', )]
return False
def full_transfer(state, actor, actee, from_, to_):
if actor == "arm":
return [('initialize', actor), ('open_hand', ),
('move_arm_above', 'target_object'),
('move_arm', 'target_object'), ('close_hand', ),
('move_arm_above', 'target_object'),
('move_arm_above', to_), ('open_hand', )]
return False
def transfer(state, actor, actee, from_, to_):
if actor == "arm":
if state.initialized["arm"]:
return [('move_arm_above', 'target_object'),
('move_arm', 'target_object'), ('close_hand', ),
('move_arm_above', 'target_object'),
('move_arm_above', to_), ('open_hand', )]
return False
pyhop.declare_methods('transfer_target_object_to_container',
full_transfer, put_grabbed, transfer)
'''cleancups = 0
while cleancups <= state.NUMBER_OF_DIRTY_TEACUPS:
cup = 'teacup'+str(random.randint(1, state.TOTAL_NUMBER_OF_TEACUPS))
if(state2.itemstate[cup]['cleanstate'] == Itemstate.unknown):
state2.itemstate[cup]['cleanstate'] = Itemstate.clean
cleancups = cleancups + 1'''
state.currentcup = ''
return state
print(
'''Running: pyhop.pyhop(teaathome.setupRobotArm(test1()),[('taskmaketea','robot','teabag', 1)],verbose=2)'''
)
print('')
teaathome.setupTeaAtHome()
pyhop.print_operators()
print('')
pyhop.print_methods()
print('')
pyhop.pyhop(teaathome.setupRobotArm(test1()),
[('taskmaketea', 'robot', 'teabag', 1)],
verbose=2)
sys.stdout.close()
sys.stdout = sys.__stdout__
print('Result log file: logs/test1.log')
"""
The "travel from home to the park" example from my lectures.
Author: Dana Nau <*****@*****.**>, November 15, 2012
This file should work correctly in both Python 2.7 and Python 3.2.
"""
from __future__ import print_function
import pyhop
import simple_travel_operators
print('')
pyhop.print_operators()
import simple_travel_methods
print('')
pyhop.print_methods()
state1 = pyhop.State('state1')
state1.loc = {'me':'home'}
state1.cash = {'me':20}
# To get multidimensional tables in Python,
# you have to use nested lists
# (or in this case, nested dictionaries)
state1.dist = {'home':{'park':8}}
print("""
****************************************
Call pyhop.pyhop(state1,[('travel','me','home','park')])
with different levels of verbosity
****************************************
