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some more edits.
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parent
04995c6990
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3 changed files with 181 additions and 5 deletions
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@ -38,7 +38,7 @@ public class RunDemo {
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}
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});
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planningProblemWarmUp();
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// planningProblemWarmUp();
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System.out.println("\nWARM UP DONE");
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} catch (Reader.ParsingException e) {
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e.printStackTrace();
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@ -53,7 +53,7 @@ public class RunDemo {
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System.out.println();
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List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_management_1.clj")));
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List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_management_6.clj")));
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GoalTrackingProblem goalTrackingProblem = goalTrackingProblemList.get(0);
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@ -65,14 +65,17 @@ public class RunDemo {
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long start = System.currentTimeMillis();
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Goal g1 = goalTrackingProblem.getGoalNamed("G1");
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Goal g2 = goalTrackingProblem.getGoalNamed("G2");
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Goal g2a = goalTrackingProblem.getGoalNamed("G2a");
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Goal g2b = goalTrackingProblem.getGoalNamed("G2b");
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Goal g3 = goalTrackingProblem.getGoalNamed("G3");
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Goal g4 = goalTrackingProblem.getGoalNamed("G4");
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tryAndAddGoal(g1, goalTracker);
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tryAndAddGoal(g2, goalTracker);
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tryAndAddGoal(g2a, goalTracker);
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tryAndAddGoal(g2b, goalTracker);
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tryAndAddGoal(g3, goalTracker);
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@ -79,7 +79,7 @@
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G4 {:priority 1.0
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:state [(in prisoner room2)
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(in self room2)]}
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G5 {:priority 3
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G5 {:priority 3.0
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:state [(interrogates commander prisoner)]}}
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173
src/main/resources/edu/rpi/rair/goal_management_6.clj
Normal file
173
src/main/resources/edu/rpi/rair/goal_management_6.clj
Normal file
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@ -0,0 +1,173 @@
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{:definitions
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{:name "demo 1"
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:background []
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:start [
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(person prisoner)
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(prisoner prisoner)
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(person commander)
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(commander commander)
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(robot guard)
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(robot guide)
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(not (= prisoner commander))
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(not (= prisoner guard))
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(not (= prisoner guide))
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(not (= commander guard))
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(not (= commander guide))
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(not (= guard guide))
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(room room1)
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(room room2)
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(room hallway)
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(not (= room1 room2))
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(not (= room1 hallway))
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(not (= room2 hallway))
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(in prisoner room1)
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(in commander room2)
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(in guard room1)
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(in guide hallway)
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(not (open (door room1)))
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(open (door room2))
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(open (door hallway))
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(forall (?robot ?prisoner ?commander)
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(implies (and (and (robot ?robot) (prisoner ?prisoner)) (commander ?commander))
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(can accompany ?robot ?prisoner ?commander)))
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(forall (?commander ?prisoner ?person)
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(implies (and (and (commander ?commander) (prisoner ?prisoner)) (person ?person))
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(can accompany ?commander ?prisoner ?person)))
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(forall (?robot ?commander ?person)
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(implies (and (and (and (robot ?robot) (commander ?commander)) (person ?person))
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(needs ?commander (interrogate ?person)))
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(can accompany ?robot ?commander ?person)))
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(forall (?room ?x ?y)
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(implies (and (in ?x ?room) (and (in ?y ?room) (not (= ?x ?y))))
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(sameroom ?x ?y)))
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(forall (?room2 ?x ?room1)
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(implies (and (not (= ?room1 ?room2)) (in ?x ?room1))
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(not (in ?x ?room2))))
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(forall (?room ?x ?y)
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(implies (and (sameroom ?x ?y) (in ?x ?room))
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(in ?y ?room)))
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(needs commander (interrogate prisoner))
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]
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:goal []
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:actions
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[
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(define-action move [?actor ?room1 ?room2]
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{:preconditions [(robot ?actor)
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(room ?room1)
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(room ?room2)
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(in ?actor ?room1)
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(open (door ?room1))
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(open (door ?room2))
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(not (= ?room1 ?room2))]
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:additions [(in ?actor ?room2)]
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:deletions [(in ?actor ?room1)]
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})
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(define-action keepDoorClosed [?actor ?room]
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{:preconditions [(robot ?actor)
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(room ?room)
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(in ?actor ?room)
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(not (open (door ?room)))]
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:additions []
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:deletions [(open (door ?room))]
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})
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(define-action accompany [?actor ?person1 ?person2 ?room1 ?room2]
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{:preconditions [(robot ?actor)
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(person ?person1)
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(person ?person2)
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(can accompany ?actor ?person1 ?person2)
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(room ?room1)
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(room ?room2)
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(in ?actor ?room1)
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(in ?person1 ?room1)
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(in ?person2 ?room2)
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(open (door ?room1))
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(open (door ?room2))
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(not (= ?actor ?person1))
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(not (= ?actor ?person2))
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(not (= ?person1 ?person2))
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(not (= ?room1 ?room2))]
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:additions [(accompanies ?person1 ?person2)
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(in ?actor ?room2)
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(in ?person1 ?room2)]
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:deletions [(in ?actor ?room1)
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(in ?person1 ?room1)]
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})
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(define-action accompany2 [?actor ?person1 ?person2 ?room]
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{:preconditions [(robot ?actor)
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(person ?person1)
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(person ?person2)
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(can accompany ?actor ?person1 ?person2)
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(room ?room)
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(in ?actor ?room)
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(in ?person1 ?room)
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(in ?person2 ?room)
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(not (= ?actor ?person1))
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(not (= ?actor ?person2))
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(not (= ?person1 ?person2))]
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:additions [(accompanies ?person1 ?person2)]
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:deletions []
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})
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(define-action openDoor [?actor ?room]
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{:preconditions [(robot ?actor)
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(room ?room)
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(in ?actor ?room)
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(not (open (door ?room)))]
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:additions [(open (door ?room))]
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:deletions [(not (open (door ?room)))]
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})
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(define-action stayInRoom [?actor ?room]
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{:preconditions [(in ?actor ?room)
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(room ?room)]
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:additions [(in ?actor ?room)]
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:deletions []
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})
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(define-action staySameRoom [?actor ?person]
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{:preconditions [(robot ?actor)
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(sameroom ?actor ?person)
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(person ?person)
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(in ?actor ?room)
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(in ?person ?room)
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(room ?room)]
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:additions [(sameroom ?actor ?person)]
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:deletions []
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})
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]
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}
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:goals {G1 {:priority 1.0
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:state [(not (open (door room1)))]}
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G2a {:priority 1.0
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:state [(in prisoner room1)]}
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G2b {:priority 1.0
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:state [(in guard room1)]}
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G3 {:priority 1.0
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:state [(sameroom guard prisoner)]}
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G4 {:priority 2.1
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:state [(accompanies prisoner commander)]}
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}
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}
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