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Added implementation of Three Block Tower #263

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Merged
merged 1 commit into from
Sep 22, 2016
Merged

Added implementation of Three Block Tower #263

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35 changes: 35 additions & 0 deletions planning.py
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Original file line number Diff line number Diff line change
Expand Up @@ -175,3 +175,38 @@ def goal_test(kb):
leave_overnight = Action(expr("LeaveOvernight"), [precond_pos, precond_neg], [effect_add, effect_rem])

return PDLL(init, [remove, put_on, leave_overnight], goal_test)

def three_block_tower():
init = [expr('On(A, Table)'),
expr('On(B, Table)'),
expr('On(C, A)'),
expr('Block(A)'),
expr('Block(B)'),
expr('Block(C)'),
expr('Clear(B)'),
expr('Clear(C)')]

def goal_test(kb):
required = [expr('On(A, B)'), expr('On(B, C)')]
for q in required:
if kb.ask(q) is False:
return False
return True

## Actions
# Move
precond_pos = [expr('On(b, x)'), expr('Clear(b)'), expr('Clear(y)'), expr('Block(b)'),
expr('Block(y)'), expr('b != x'), expr('b != y'), expr('x != y')]
precond_neg = []
effect_add = [expr('On(b, y)'), expr('Clear(x)')]
effect_rem = [expr('On(b, x)'), expr('Clear(y)')]
move = Action(expr('Move(b, x, y)'), [precond_pos, precond_neg], [effect_add, effect_rem])

# MoveToTable
precond_pos = [expr('On(b, x)'), expr('Clear(b)'), expr('Block(b)'), expr('b != x')]
precond_neg = []
effect_add = [expr('On(b, Table)'), expr('Clear(x)')]
effect_rem = [expr('On(b, x)')]
moveToTable = Action(expr('MoveToTable(b, x)'), [precond_pos, precond_neg], [effect_add, effect_rem])

return PDLL(init, [move, moveToTable], goal_test)