def init_planner(self):
logger.info("adding atomic operators to pyhop")
self.init_state()
# note: can call declare_operators multiple times for current situation
hop.declare_operators(self.move_forward, self.turn_left,
self.turn_right, self.break_block)
hop.print_operators(hop.get_operators())
# for the main task
hop.declare_methods('get_resource', self.get_resource)
# for each sub-task of the main task
hop.declare_methods('find_route', self.find_route_to_resource)
hop.declare_methods('navigate', self.navigate_to_resource)
hop.declare_methods('acquire', self.acquire_resource)
hop.print_methods(hop.get_methods())
def init_planner(self):
logger.info("adding atomic operators to pyhop")
self.init_state()
# note: can call declare_operators multiple times for current situation
hop.declare_operators(
self.move_forward,
self.turn_left,
self.turn_right,
self.break_block,
self.search_placeholder,
)
# self.equip_agent)
hop.print_operators(hop.get_operators())
# for the main task
hop.declare_methods('get_resource', self.get_resource)
# for each sub-task of the main task
hop.declare_methods('search_for_gold', self.search_for_gold)
hop.declare_methods('move_closer', self.move_closer)
hop.declare_methods('acquire_gold', self.acquire_resource)
# hop.declare_methods('break_wall', self.break_wall)
hop.print_methods(hop.get_methods())
#x and y are locations, o is object and r is robot
def task1(state, r, o, x, y):
tasklist = [('look_cupboard', r), ('goto', r, '', x), ('open', r, x),
('look_table', r), ('goto', r, x, y)]
X1 = [('pick', r, o, y), ('goto', r, y, x), ('place', r, o, x),
('goto', r, x, y)]
for k in range(5):
for j in range(len(X1)):
tasklist.append(X1[j])
return tasklist
hop.declare_methods('task1', task1)
print('')
hop.print_methods(hop.get_methods())
state1 = hop.State('state1')
state1.loc = {'objects': 'table', 'robot': ''}
state1.objects = {'table': 5, 'cupboard': 0}
state1.gripperfree = True #gripper true referes to gripper free state
state1.cupboardisopen = False #cupboard is closed
state1.isTable = False
state1.isCupboard = False
print("""
********************************************************************************
Call hop.plan(state1,[('task1','robot','coke','cupboard','table')])
********************************************************************************
""")
"""
Blocks-world test data for Pyhop 1.1.
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
from pyhop import hop
import operators
import methods1
print('')
hop.print_operators(hop.get_operators())
print('')
hop.print_methods(hop.get_methods())
############# beginning of tests ################
print("""
****************************************
First, test pyhop on some of the operators and smaller tasks
****************************************
""")
print("- Define state1: a on b, b on tale, c on table")
"""
A state is a collection of all of the state variables and their values. Every
state variable in the domain should have a value.
"""