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"psource(three_block_tower)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"**On(b, x):** The block **'b'** is on **'x'**. **'x'** can be a table or a block.\n",
"\n",
"**Block(x):** Declares **'x'** as a block.\n",
"\n",
"**Clear(x):** To tell that there is nothing on **'x'**.\n",
" \n",
" Let us now define an object of `three_block_tower` problem:"
]
},
{
"cell_type": "code",
"execution_count": 22,
"metadata": {},
"outputs": [],
"source": [
"three_block_tower = three_block_tower()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Now, before taking any actions, we will check `three_tower_block` if it has completed the goal it is required to do"
]
},
{
"cell_type": "code",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"False\n"
]
}
],
"source": [
"print(three_block_tower.goal_test())"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"As we can see, it hasn't completed the goal. Now, we define the sequence of actions that it should take in order to build a stack of three blocks. Then the `three_block_tower` acts on each of them.\n",
"\n",
"The actions available to us are the following: MoveToTable, Move\n",
"\n",
"**MoveToTable(b, x):** Move the box **'b'** which is on top of box **'x'** to the table.\n",
"\n",
"**Move(b, x, y):** Move box **'b'** from top of **'x'** to the top of **'y'**.\n"
]
},
{
"cell_type": "code",
"metadata": {},
"outputs": [],
"source": [
"solution = [expr(\"MoveToTable(C, A)\"),\n",
" expr(\"Move(B, Table, C)\"),\n",
" expr(\"Move(A, Table, B)\")]\n",
"\n",
"for action in solution:\n",
" three_block_tower.act(action)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"As the `three_block_tower` has taken all the steps it needed in order to achieve the goal, we can now check if it has acheived its goal"
]
},
{
"cell_type": "code",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"True\n"
]
}
],
"source": [
"print(three_block_tower.goal_test())"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"It has now successfully achieved its goal i.e, to build a stack of three blocks."
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},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Have Cake and Eat Cake Too"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"This problem involves the task of eating a cake with an initial condition of having a cake. First, let us take a look at `have_cake_and_eat_cake_too`"
]
},
{
"cell_type": "code",
"execution_count": 26,
"metadata": {},
"outputs": [
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"<h2></h2>\n",
"\n",
"<div class=\"highlight\"><pre><span></span><span class=\"k\">def</span> <span class=\"nf\">have_cake_and_eat_cake_too</span><span class=\"p\">():</span>\n",
" <span class=\"n\">init</span> <span class=\"o\">=</span> <span class=\"p\">[</span><span class=\"n\">expr</span><span class=\"p\">(</span><span class=\"s1\">'Have(Cake)'</span><span class=\"p\">)]</span>\n",
"\n",
" <span class=\"k\">def</span> <span class=\"nf\">goal_test</span><span class=\"p\">(</span><span class=\"n\">kb</span><span class=\"p\">):</span>\n",
" <span class=\"n\">required</span> <span class=\"o\">=</span> <span class=\"p\">[</span><span class=\"n\">expr</span><span class=\"p\">(</span><span class=\"s1\">'Have(Cake)'</span><span class=\"p\">),</span> <span class=\"n\">expr</span><span class=\"p\">(</span><span class=\"s1\">'Eaten(Cake)'</span><span class=\"p\">)]</span>\n",
" <span class=\"k\">return</span> <span class=\"nb\">all</span><span class=\"p\">(</span><span class=\"n\">kb</span><span class=\"o\">.</span><span class=\"n\">ask</span><span class=\"p\">(</span><span class=\"n\">q</span><span class=\"p\">)</span> <span class=\"ow\">is</span> <span class=\"ow\">not</span> <span class=\"bp\">False</span> <span class=\"k\">for</span> <span class=\"n\">q</span> <span class=\"ow\">in</span> <span class=\"n\">required</span><span class=\"p\">)</span>\n",
"\n",
" <span class=\"c1\"># Actions</span>\n",
"\n",
" <span class=\"c1\"># Eat cake</span>\n",
" <span class=\"n\">precond_pos</span> <span class=\"o\">=</span> <span class=\"p\">[</span><span class=\"n\">expr</span><span class=\"p\">(</span><span class=\"s1\">'Have(Cake)'</span><span class=\"p\">)]</span>\n",
" <span class=\"n\">precond_neg</span> <span class=\"o\">=</span> <span class=\"p\">[]</span>\n",
" <span class=\"n\">effect_add</span> <span class=\"o\">=</span> <span class=\"p\">[</span><span class=\"n\">expr</span><span class=\"p\">(</span><span class=\"s1\">'Eaten(Cake)'</span><span class=\"p\">)]</span>\n",
" <span class=\"n\">effect_rem</span> <span class=\"o\">=</span> <span class=\"p\">[</span><span class=\"n\">expr</span><span class=\"p\">(</span><span class=\"s1\">'Have(Cake)'</span><span class=\"p\">)]</span>\n",
" <span class=\"n\">eat_cake</span> <span class=\"o\">=</span> <span class=\"n\">Action</span><span class=\"p\">(</span><span class=\"n\">expr</span><span class=\"p\">(</span><span class=\"s1\">'Eat(Cake)'</span><span class=\"p\">),</span> <span class=\"p\">[</span><span class=\"n\">precond_pos</span><span class=\"p\">,</span> <span class=\"n\">precond_neg</span><span class=\"p\">],</span> <span class=\"p\">[</span><span class=\"n\">effect_add</span><span class=\"p\">,</span> <span class=\"n\">effect_rem</span><span class=\"p\">])</span>\n",
"\n",
" <span class=\"c1\"># Bake Cake</span>\n",
" <span class=\"n\">precond_pos</span> <span class=\"o\">=</span> <span class=\"p\">[]</span>\n",
" <span class=\"n\">precond_neg</span> <span class=\"o\">=</span> <span class=\"p\">[</span><span class=\"n\">expr</span><span class=\"p\">(</span><span class=\"s1\">'Have(Cake)'</span><span class=\"p\">)]</span>\n",
" <span class=\"n\">effect_add</span> <span class=\"o\">=</span> <span class=\"p\">[</span><span class=\"n\">expr</span><span class=\"p\">(</span><span class=\"s1\">'Have(Cake)'</span><span class=\"p\">)]</span>\n",
" <span class=\"n\">effect_rem</span> <span class=\"o\">=</span> <span class=\"p\">[]</span>\n",
" <span class=\"n\">bake_cake</span> <span class=\"o\">=</span> <span class=\"n\">Action</span><span class=\"p\">(</span><span class=\"n\">expr</span><span class=\"p\">(</span><span class=\"s1\">'Bake(Cake)'</span><span class=\"p\">),</span> <span class=\"p\">[</span><span class=\"n\">precond_pos</span><span class=\"p\">,</span> <span class=\"n\">precond_neg</span><span class=\"p\">],</span> <span class=\"p\">[</span><span class=\"n\">effect_add</span><span class=\"p\">,</span> <span class=\"n\">effect_rem</span><span class=\"p\">])</span>\n",
"\n",
" <span class=\"k\">return</span> <span class=\"n\">PDDL</span><span class=\"p\">(</span><span class=\"n\">init</span><span class=\"p\">,</span> <span class=\"p\">[</span><span class=\"n\">eat_cake</span><span class=\"p\">,</span> <span class=\"n\">bake_cake</span><span class=\"p\">],</span> <span class=\"n\">goal_test</span><span class=\"p\">)</span>\n",
"</pre></div>\n",
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"source": [
"psource(have_cake_and_eat_cake_too)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"**Have(x):** Declares that we have **' x '**."
]
},
{
"cell_type": "code",
"execution_count": 27,
"metadata": {},
"outputs": [],
"source": [
"have_cake_and_eat_cake_too = have_cake_and_eat_cake_too()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"First let us check wether the goal state (have cake and eat cake) is reached or not."
]
},
{
"cell_type": "code",
"execution_count": 28,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"False\n"
]
}
],
"source": [
"print(have_cake_and_eat_cake_too.goal_test())"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"As the goal state is not reached we will make some actions and we will let `have_cake_and_eat_cake_too` act on them. To eat the cake we need to bake it. Let us look at the actions that we can do.\n",
"\n",
"**Bake(x):** To bake **' x '**.\n",
"\n",
"**Eat(x):** To eat **' x '**."
]
},
{
"cell_type": "code",
"execution_count": 29,
"metadata": {},
"outputs": [],
"source": [
"solution = [expr(\"Bake(cake)\"),\n",
" expr(\"Eat(cake)\")]\n",
"\n",
"for action in solution:\n",
" have_cake_and_eat_cake_too.act(action)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Now we have made actions to bake the cake and eat the cake. The goal state is **having and eating the cake**. Let us check if it is reached or not."
]
},
{
"cell_type": "code",
"execution_count": 30,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"True\n"
]
}
],
"source": [
"print(have_cake_and_eat_cake_too.goal_test())"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"It has now successfully achieved its goal i.e, to have and eat the cake."
]
}
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