[gripper] randomizable python implementation

gripper/gripper.py

@@ -0,0 +1,56 @@
+#!/usr/bin/env python
+
+import argparse
+import random
+
+parser = argparse.ArgumentParser()
+
+parser.add_argument("balls", type=int, help="the number of balls")
+parser.add_argument("--seed", "-s", type=int, help="random seed")
+parser.add_argument("--randomize", "-r", action="store_true", help="randomize the initial state and the goal if present")
+
+args = parser.parse_args()
+
+random.seed(args.seed)
+
+def init():
+    # static
+    facts = ["(room rooma)","(room roomb)", "(gripper left)", "(gripper right)"]
+    for i in range(args.balls):
+        facts.append(f"(ball ball{i})")
+
+    # fluents
+    facts.extend(["(free left)", "(free right)"])
+
+    if args.randomize:
+        for i in range(args.balls):
+            room = random.choice(["rooma","roomb"])
+            facts.append(f"(at ball{i} {room})")
+        room = random.choice(["rooma","roomb"])
+        facts.append(f"(at-robby {room})")
+    else:
+        for i in range(args.balls):
+            facts.append(f"(at ball{i} rooma)")
+        facts.append(f"(at-robby rooma)")
+
+    return " ".join(facts)
+
+
+def goal():
+    facts = []
+    if args.randomize:
+        for i in range(args.balls):
+            room = random.choice(["rooma","roomb"])
+            facts.append(f"(at ball{i} {room})")
+    else:
+        for i in range(args.balls):
+            facts.append(f"(at ball{i} roomb)")
+
+    return " ".join(facts)
+
+
+print("(define (problem gripper)")
+print(" (:domain gripper-strips)")
+print(" (:objects rooma roomb left right " + " ".join([f"ball{i}" for i in range(args.balls)]) + ")")
+print(" (:init " + init() + ")")
+print(" (:goal (and " + goal() + ")))")