123 lines
2.2 KiB
Python
123 lines
2.2 KiB
Python
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#
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# Module: blocksworld
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#
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# Based on the imported "strips" module, the "blocksworld" module
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# defines a set of predicates and operators for representing
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# the "Blocks World" planning domain.
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#
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# (c) Luis Seabra Lopes
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# Inteligência Artificial & Introducao a Inteligencia Artificial, 2019-2020
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#
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import time
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from strips import *
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# Blocks world predicates
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class Floor(Predicate):
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def __init__(self,block):
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self.args = [block]
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class On(Predicate):
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def __init__(self,b1,b2):
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self.args = [b1,b2]
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class Free(Predicate):
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def __init__(self,block):
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self.args = [block]
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class Holds(Predicate):
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def __init__(self,block):
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self.args = [block]
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class HandFree(Predicate):
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def __init__(self):
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self.args = []
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# Blocks world operators
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X='X'
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Y='Y'
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Z='Z'
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class Stack(Operator):
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args = [X,Y]
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pc = [Holds(X),Free(Y)]
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neg = [Holds(X),Free(Y)]
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pos = [On(X,Y),HandFree(),Free(X)]
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class Unstack(Operator):
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args = [X,Y]
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pc = [On(X,Y),HandFree(),Free(X)]
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neg = [On(X,Y),HandFree(),Free(X)]
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pos = [Holds(X),Free(Y)]
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class Putdown(Operator):
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args = [X]
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pc = [Holds(X)]
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neg = [Holds(X)]
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pos = [Floor(X),HandFree(),Free(X)]
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class Pickup(Operator):
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args = [X]
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pc = [Floor(X),HandFree(),Free(X)]
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neg = [Floor(X),HandFree(),Free(X)]
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pos = [Holds(X)]
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a='a'
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b='b'
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c='c'
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d='d'
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e='e'
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initial_state = [ Floor(a), Floor(b), Floor(d), Holds(e), On(c,d),
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Free(a), Free(b), Free(c) ]
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# _
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# / \
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# | (e)
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# |
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# | |c|
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# _|___|a|____|b|_____|d|_
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#
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goal_state = [ Floor(c), On(d,c), On(e,d), On(a,e), Floor(b) ]
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# _
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# / \
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# | ( ) |a|
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# | |e|
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# | |d|
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# _|__________|b|___|c|___
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#
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print('Substitute:',On(X,Y).substitute({ X : a, Y : b, Z : c}))
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print('Instanciate:',Stack.instanciate([a,b]))
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bwdomain = STRIPS()
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print('Actions:',bwdomain.actions(initial_state))
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"""
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# uncomment to test
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inittime = time.time()
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p = SearchProblem(bwdomain,initial_state,goal_state)
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t = SearchTree(p)
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t.search()
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print(t.plan)
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print('time=',time.time()-inittime)
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print(len(t.open_nodes),' nodes')
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"""
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