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;
}
public State PlanIngredient(Domain domain, State startingState, IngredientRecipe ingredient) {
State currentState = new State(startingState);
List<IngredientRecipe> contents = ingredient.getContents();
for (IngredientRecipe subIngredient : contents) {
if (!subIngredient.isSimple()) {
System.out.println("Planning ingredient " + subIngredient.getName());
currentState = this.PlanIngredient(domain, currentState, subIngredient);
}
}
ObjectClass simpleIngredientClass = domain.getObjectClass(IngredientFactory.ClassNameSimple);
ObjectClass containerClass = domain.getObjectClass(ContainerFactory.ClassName);
ObjectInstance shelfSpace = currentState.getObject("shelf");
List<ObjectInstance> ingredientInstances =
IngredientFactory.getSimpleIngredients(simpleIngredientClass, ingredient);
List<ObjectInstance> containerInstances =
Recipe.getContainers(containerClass, ingredientInstances, shelfSpace.getName());
for (ObjectInstance ingredientInstance : ingredientInstances) {
if (currentState.getObject(ingredientInstance.getName()) == null) {
currentState.addObject(ingredientInstance);
}
}
for (ObjectInstance containerInstance : containerInstances) {
if (currentState.getObject(containerInstance.getName()) == null) {
ContainerFactory.changeContainerSpace(containerInstance, shelfSpace.getName());
currentState.addObject(containerInstance);
}
}
final PropositionalFunction isSuccess = new RecipeFinished("success", domain, ingredient);
PropositionalFunction isFailure = new RecipeBotched("botched", domain, ingredient);
// RewardFunction recipeRewardFunction = new RecipeRewardFunction(brownies);
// RewardFunction recipeRewardFunction = new RecipeRewardFunction();
RewardFunction humanRewardFunction = new RecipeAgentSpecificMakeSpanRewardFunction("human");
RewardFunction robotRewardFunction = new RecipeAgentSpecificMakeSpanRewardFunction("robot");
TerminalFunction recipeTerminalFunction = new RecipeTerminalFunction(isSuccess, isFailure);
StateHashFactory hashFactory = new NameDependentStateHashFactory();
StateConditionTest goalCondition =
new StateConditionTest() {
@Override
public boolean satisfies(State s) {
return isSuccess.somePFGroundingIsTrue(s);
}
};
// final int numSteps = Recipe.getNumberSteps(ingredient);
Heuristic heuristic =
new Heuristic() {
@Override
public double h(State state) {
return 0;
// List<ObjectInstance> objects =
// state.getObjectsOfTrueClass(Recipe.ComplexIngredient.className);
// double max = 0;
// for (ObjectInstance object : objects)
// {
// max = Math.max(max, this.getSubIngredients(state, object));
// }
// return numSteps - max;
}
/*
public int getSubIngredients(State state, ObjectInstance object)
{
int count = 0;
count += IngredientFactory.isBakedIngredient(object) ? 1 : 0;
count += IngredientFactory.isMixedIngredient(object) ? 1 : 0;
count += IngredientFactory.isMeltedIngredient(object) ? 1 : 0;
if (IngredientFactory.isSimple(object))
{
return count;
}
Set<String> contents = IngredientFactory.getContentsForIngredient(object);
for (String str: contents)
{
count += this.getSubIngredients(state, state.getObject(str));
}
return count;
}*/
};
boolean finished = false;
State endState = startingState;
List<GroundedAction> fullActions = new ArrayList<GroundedAction>();
List<Double> fullReward = new ArrayList<Double>();
boolean currentAgent = false;
while (!finished) {
currentAgent = !currentAgent;
RewardFunction recipeRewardFunction =
(currentAgent) ? humanRewardFunction : robotRewardFunction;
AStar aStar = new AStar(domain, recipeRewardFunction, goalCondition, hashFactory, heuristic);
aStar.planFromState(currentState);
Policy policy = new DDPlannerPolicy(aStar);
EpisodeAnalysis episodeAnalysis =
policy.evaluateBehavior(currentState, recipeRewardFunction, recipeTerminalFunction);
System.out.println("Taking action " + episodeAnalysis.actionSequence.get(0).action.getName());
fullActions.add(episodeAnalysis.actionSequence.get(0));
fullReward.add(episodeAnalysis.rewardSequence.get(0));
currentState = episodeAnalysis.stateSequence.get(1);
endState = episodeAnalysis.getState(episodeAnalysis.stateSequence.size() - 1);
List<ObjectInstance> finalObjects =
new ArrayList<ObjectInstance>(
endState.getObjectsOfTrueClass(IngredientFactory.ClassNameComplex));
List<ObjectInstance> containerObjects =
new ArrayList<ObjectInstance>(endState.getObjectsOfTrueClass(ContainerFactory.ClassName));
ObjectInstance namedIngredient = null;
for (ObjectInstance obj : finalObjects) {
if (Recipe.isSuccess(endState, ingredient, obj)) {
namedIngredient =
DualAgentIndependentPlan.getNewNamedComplexIngredient(obj, ingredient.getName());
String container = IngredientFactory.getContainer(obj);
DualAgentIndependentPlan.switchContainersIngredients(
containerObjects, obj, namedIngredient);
ObjectInstance containerInstance = endState.getObject(container);
ContainerFactory.removeContents(containerInstance);
ContainerFactory.addIngredient(containerInstance, ingredient.getName());
endState.removeObject(obj);
endState.addObject(namedIngredient);
// return endState;
}
}
if (episodeAnalysis.actionSequence.size() <= 1) {
System.out.println("Action sequence size: " + episodeAnalysis.actionSequence.size());
finished = true;
}
for (int i = 0; i < fullActions.size(); ++i) {
GroundedAction action = fullActions.get(i);
double reward = fullReward.get(i);
System.out.print("Cost: " + reward + " " + action.action.getName() + " ");
for (int j = 0; j < action.params.length; ++j) {
System.out.print(action.params[j] + " ");
}
System.out.print("\n");
}
}
return endState;
}