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);
}
@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;
}