Example #1
0
  public void PlanRecipeTwoAgents(Domain domain, Recipe recipe) {
    System.out.println("Creating two-agent initial start state");
    State state = new State();
    Action mix = new MixAction(domain, recipe.topLevelIngredient);
    // Action bake = new BakeAction(domain);
    Action pour = new PourAction(domain, recipe.topLevelIngredient);
    Action move = new MoveAction(domain, recipe.topLevelIngredient);
    state.addObject(AgentFactory.getNewHumanAgentObjectInstance(domain, "human"));
    state.addObject(AgentFactory.getNewHumanAgentObjectInstance(domain, "robot"));
    state.addObject(MakeSpanFactory.getNewObjectInstance(domain, "makeSpan", 2));
    List<String> containers = Arrays.asList("mixing_bowl_1");
    state.addObject(SpaceFactory.getNewWorkingSpaceObjectInstance(domain, "shelf", null, null));
    state.addObject(
        SpaceFactory.getNewWorkingSpaceObjectInstance(
            domain, "counter_human", containers, "human"));
    state.addObject(
        SpaceFactory.getNewWorkingSpaceObjectInstance(
            domain, "counter_robot", containers, "robot"));

    for (String container : containers) {
      state.addObject(
          ContainerFactory.getNewMixingContainerObjectInstance(domain, container, null, "shelf"));
    }

    this.PlanIngredient(domain, state, recipe.topLevelIngredient);
  }
Example #2
0
  @Override
  public Domain generateDomain() {
    Domain domain = new SADomain();
    domain.addObjectClass(ContainerFactory.createObjectClass(domain));
    domain.addObjectClass(IngredientFactory.createSimpleIngredientObjectClass(domain));
    domain.addObjectClass(IngredientFactory.createComplexIngredientObjectClass(domain));
    domain.addObjectClass(SpaceFactory.createObjectClass(domain));
    domain.addObjectClass(AgentFactory.getObjectClass(domain));
    domain.addObjectClass(MakeSpanFactory.getObjectClass(domain));

    return domain;
  }