holding is defined as a basic total function (fluent). In a program given later, it is value is not defined for step 0 to 2. Not sure if this is a bug.
% holding is a total function. But it is not defined
% in steps 0 to 2. Is it a bug?
system description monkeyBanana
theory basic_motion
module moving
sort declarations
points, things :: universe
agents :: things
carriables :: things
elevations :: things
attributes
top: points
move :: actions
attributes
actor : agents
origin : points
dest : points
function declarations
statics
basic
symmetric_connectivity : booleans
transitive_connectivity : booleans
fluents
basic
% connnected(P1, P2) - true if P1 and P2 are connected
connected : points * points -> booleans
% loca_in(T) - the point where thing T is at
total loc_in : things -> points
axioms
dynamic causal laws
% move action causes its actor to be at its destination
occurs(X) causes loc_in(A) = D if
instance(X, move),
actor(X) = A,
dest(X) = D.
state constraints
connected(X, X).
connected(X, Y) if connected(Y, X),symmetric_connectivity.
-connected(X, Y) if -connected(Y, X),symmetric_connectivity.
connected(X, Z) if
connected(X, Y),connected(Y, Z),transitive_connectivity.
% NEW bug?
executability conditions
% move is not possible if its actor is not at its origin.
% NEW - what if the origin of actor unknown?
impossible occurs(X) if
instance(X, move),actor(X) = A,loc_in(A) != origin(X).
% instance(X, move), loc_in(actor(X)) != origin(X).
% move is not possible if its actor is at its dest.
impossible occurs(X) if
instance(X, move),actor(X) = A,loc_in(A) = dest(X).
% instance(X, move), loc_in(actor(X)) = dest(X).
% move is not possible if the location of its actor is not
% connected to its dest.
impossible occurs(X) if
instance(X, move),
actor(X) = A,
loc_in(A) = O,
dest(X) = D,
-connected(O, D).
module carrying_things depends on moving
sort declarations
carriables :: things
% carry <actor, origin, dest, carried_obj>
% actor carries carried_obj from origin to dest.
carry :: move
attributes
carried_object : carriables
% grasp <grasper, grasped_thing> - rasper grasps grasped_thing
grasp :: actions
attributes
grasper : agents
grasped_thing : things
% release <releaser, released_thing> -
% releaser releases released_thing
release :: actions
attributes
releaser : agents
released_thing : things
function declarations
fluents
basic
% holding(A, T) - agent A holds thing T.
total holding : agents * things -> booleans
defined
% is_held(T) - thign T is held (by some agent)
is_held : things -> booleans
% can_reach(A, T) - agent A can reach thing T
can_reach : agents * things -> booleans
axioms
dynamic causal laws
% grasp causes its grasper to hold its grasped_thing
occurs(A) causes holding(X,Y) if
instance(A,grasp), grasper(A) = X, grasped_thing(A) = Y.
% release causes its releaser not to hold its grasped_thing.
occurs(A) causes -holding(X,Y) if
instance(A,release), releaser(A) = X, released_thing(A) = Y.
state constraints
% If A holds T, then they have the same location.
loc_in(T) = P if holding(A,T), loc_in(A) = P.
loc_in(A) = P if holding(A,T), loc_in(T) = P.
% An agent can hold only one thing
-holding(X,Y2) if holding(X,Y1), Y1 != Y2.
% NEW on default values of carry:
% its origin is where the agent is
% general question - principles of where to
% "set" values of attributes structure or state constraits?
% there is a bug below: using fluent (loc_in/1) define attribute
% origin(C) = P if
% instance(C, carry),
% loc_in(actor(C)) = P.
function definitions
is_held(X) if holding(T,X).
% Agent M can reach O if they are in the same location
can_reach(M,O) if loc_in(M) = loc_in(O).
executability conditions
% grasp is not possible if its grasper already holds its grasped
impossible occurs(A) if instance(A,grasp), grasper(A) = X, grasped_thing(A) = Y, holding(X,Y).
% grasp is not possible if its grasper cannot reach its grasped
impossible occurs(A) if
instance(A,grasp), grasper(A) = X,
grasped_thing(A) = Y, -can_reach(X,Y).
% release is not possible if its releaser does not hold its grasped
impossible occurs(A) if
instance(A,release), releaser(A) = X,
released_thing(A) = Y, -holding(X,Y).
% move is not possible if its actor is held.
impossible occurs(X) if
instance(X,move), actor(X) = A, is_held(A).
% carry is not possible if its actor does not hold its carried
impossible occurs(X) if
instance(X,carry), actor(X) = A,
carried_object(X) = C, -holding(A,C).
%module main depends on moving
module main depends on carrying_things
sort declarations
floor_points, ceiling_points, movable_points :: points
climb :: move
attributes
elevation : elevations
constant declarations
monkey : agents
box : elevations
% top = top(box)
% top(elevations): movable_points
box, banana : carriables
function declarations
statics
basic
% under(P, T) - point P is under thing T
under : floor_points * things -> booleans
axioms
function definitions
% monkey can reach the banana if it is on top of the box
% which under the banana
can_reach(monkey, banana) if
loc_in(box) = P, under(P,banana),loc_in(monkey) = top(box).
state constraints
% top(E) is the destination of climbing an elevation E
% NEW ??
%dest(A) = C if instance(A, climb), elevation(A) = E, C = top(E).
% top(E) is the destination of climbing an elevation E
dest(A) = C if elevation(A) = E, C = top(E).
% The location of the box is connected to the top of the box
connected(T,P) if
loc_in(box) = P, T= top(box), instance(P, floor_points).
% top of box is not connected to
% any points other than the box's location.
%-connected(top(box),P) if
% loc_in(box) != P, instance(P,floor_points).
% workaround of the above
-connected(TE,P) if
loc_in(box) != P, instance(P,floor_points), TE = top(box).
% any two points on floor are connected
connected(P1,P2) if
instance(P1,floor_points), instance(P2, floor_points).
% any ceiling point is not connected to any other point
-connected(P1, P2) if
instance(P1, ceiling_points),
instance(P2,points), P1 != P2.
executability conditions
structure monkey_and_banana
instances
under_banana, initial_monkey, initial_box in floor_points
initial_banana in ceiling_points
box in elevations
% top = top(box)
top = t(box)
t(X) in movable_points where instance(X, elevations)
move(P) in move where instance(P, points)
actor = monkey
dest = P
carry(box, P) in carry where instance(P, floor_points)
actor = monkey
carried_object = box
dest = P
grasp(C) in grasp where instance(C, carriables)
grasper = monkey
grasped_thing = C
release(C) in release where instance(C, carriables)
releaser = monkey
released_thing = C
climb(box) in climb
actor = monkey
elevation = box
dest = t(box)
value of statics
under(under_banana, banana).
symmetric_connectivity.
-transitive_connectivity.
temporal projection
max steps 7
history
observed(loc_in(box), initial_box, 0).
observed(loc_in(monkey), initial_monkey, 0).
%% Plan 1:
% happened(move(initial_box), 0).
% happened(grasp(box), 1).
% happened(carry(box, under_banana), 2).
% happened(release(box), 3).
% happened(climb(box), 4).
% happened(grasp(banana), 5).
%% Plan 2:
happened( carry(box,under_banana) , 2 ) .
happened( move(t(box)) , 3 ) .
happened( move(initial_box) , 1 ) .
happened( grasp(banana) , 4 ) .
happened( release(box) , 3 ) .
happened( grasp(box) , 2 ) .
% display (usable only in SPARC program to control answer sets display)
% observed.
% happened.
% loc_in.
% loc_in.
% move_origin.
% can_reach.
% -can_reach.
% #floor_points.
% under.
% elevations_top.
% holding.
% occurs.
holding is defined as a basic total function (fluent). In a program given later, it is value is not defined for step 0 to 2. Not sure if this is a bug.
The full program: