def p_typed_variables_lst(p):
'''typed_variables_lst : variables_lst HYPHEN type typed_variables_lst
| variables_lst HYPHEN type'''
if len(p) == 4:
p[0] = [Term.variable(name, p[3]) for name in p[1]]
elif len(p) == 5:
p[0] = [Term.variable(name, p[3]) for name in p[1]] + p[4]
def p_variables_lst(p):
'''variables_lst : variable variables_lst
| variable'''
if len(p) == 2:
p[0] = [Term.variable(p[1])]
elif len(p) == 3:
p[0] = [Term.variable(p[1])] + p[2]
def add_to_domain(domain):
############################################
# Let's now create TYPES AND PREDICATES
############################################
domain.add_type('boxes')
domain.add_pred('open', [('?x', 'boxes'), ('?z', 'block')])
domain.del_pred('handempty', 0)
# print(repr(domain.operators[3]))
############################################
# Let's now create an OPERATOR
############################################
# print(domain.operators[3].precond)
params = [Term.variable('?x', type='blocks'), Term.variable('?y', type='blocks')]
precond=[]
precond.append(Literal(Predicate('=', [Term.variable('?x'), Term.variable('?y')]), False))
precond.append(Literal(Predicate('on', [Term.variable('?x'), Term.variable('?y')]), True))
precond.append(Literal(Predicate('clear', [Term.variable('?x')]), True))
precond.append(Literal(Predicate('handempty', []), True))
# print(domain.operators[3].effects)
effect=[]
effect.append((1.0, Literal(Predicate('holding', [Term.variable('?x')]), True)))
effect.append((1.0, Literal(Predicate('clear', [Term.variable('?y')]), True)))
effect.append((1.0, Literal(Predicate('clear', [Term.variable('?x')]), False)))
effect.append((1.0, Literal(Predicate('handempty', []), False)))
effect.append((1.0, Literal(Predicate('on', [Term.variable('?x'), Term.variable('?y')]), False)))
# print(repr(effect))
domain.add_action('pick-up-b', params, precond, effect)
