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----------------------Tasks-----------------------
0: gatheranddeliver(a1)
---------------------Planning---------------------
gatheranddeliver_m_readytoserve(a1)
deliver_food_m_deliver_food_ready(a1 souplite)
goto_m_goto_already_there(a1 deliveryloc)
pickup(a1 souplite deliveryloc)
goto_m_goto_already_there(a1 deliveryloc)
serve(a1 souplite deliveryloc)
Time: 7.963180541992188e-05s
-----------------------Plan-----------------------
0: pickup(a1 souplite deliveryloc)
1: serve(a1 souplite deliveryloc)
Total time: 0.0027313232421875s
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readme.md
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<article id="grip-content" class="markdown-body entry-content container-lg">
<div class="markdown-heading"><h1 class="heading-element">TP02 - Cooking simulation</h1><a id="user-content-tp02---cooking-simulation" class="anchor" aria-label="Permalink: TP02 - Cooking simulation" href="#tp02---cooking-simulation"><span aria-hidden="true" class="octicon octicon-link"></span></a></div>
<div class="markdown-heading"><h1 class="heading-element">Classical planning application in an "Overcook" style game.</h1><a id="user-content-classical-planning-application-in-an-overcook-style-game" class="anchor" aria-label="Permalink: Classical planning application in an &quot;Overcook&quot; style game." href="#classical-planning-application-in-an-overcook-style-game"><span aria-hidden="true" class="octicon octicon-link"></span></a></div>
<p><a target="_blank" rel="noopener noreferrer" href="http://localhost:6419/cookingSim.png"><img src="readme_fichiers/cookingSim.png" alt="cookingSim.png" title="PDDL" style="max-width: 100%;"></a></p>
<div class="markdown-heading"><h2 class="heading-element">Domain</h2><a id="user-content-domain" class="anchor" aria-label="Permalink: Domain" href="#domain"><span aria-hidden="true" class="octicon octicon-link"></span></a></div>
<p>Planner will decide which actions the agent will achieve to cook
onion soups. Goal is to deliver as much as onion soups to the customers
waiting.</p>
<p>Actions are already defined for the agent:</p>
<ul>
<li>move (from one location to another one)</li>
<li>pickup (an ingredient)</li>
<li>drop (an ingredient)</li>
<li>pickup-stack (an ingredient from a stack of ingredients)</li>
<li>drop-stack (an ingredient on a stack)</li>
<li>chop (a specific ingredient: onions)</li>
<li>cook (a specific recipie: onion soup)</li>
<li>serve (an ingredient that is ready to be served)</li>
</ul>
<p>Additional actions are provided, mainly for debug purpose:</p>
<ul>
<li>get_position (of an agent)</li>
<li>checkLoc (of an ingredient)</li>
<li>stop</li>
<li>idle</li>
<li>checkCarry (what ingredient my agent is carrying?)</li>
</ul>
<p>Partially filled file is provided (file: cooking_domain.hddl).</p>
<div class="markdown-heading"><h2 class="heading-element">Problem</h2><a id="user-content-problem" class="anchor" aria-label="Permalink: Problem" href="#problem"><span aria-hidden="true" class="octicon octicon-link"></span></a></div>
<p>To begin with, we will consider only one agent a1.</p>
<p>A world is already set (file: cooking_problem.hddl). Predicates are specifying objects caracteristics.</p>
<p>Locations are connected between them to simplify agent movement in
the world (e.g. the center of the map is connected to the cooking
place: "connected centerloc cookLoc").</p>
<p>Eventually, some soup recipies are provided: a lite (with only 1
chopped onion), esay one, and a standard one (with 3 chopped onions).</p>
<div class="markdown-heading"><h2 class="heading-element">Set-up project environment</h2><a id="user-content-set-up-project-environment" class="anchor" aria-label="Permalink: Set-up project environment" href="#set-up-project-environment"><span aria-hidden="true" class="octicon octicon-link"></span></a></div>
<ul>
<li class="task-list-item"><input type="checkbox" class="task-list-item-checkbox" checked="checked" disabled="disabled"> if you ahve completed TP01, repository should be up to date, else</li>
</ul>
<pre><code>mkdir -p git &amp;&amp; cd git
git clone https://gitlab.isae-supaero.fr/saclab/ssa/intro-htn.git
cd intro-htn
HTN_PATH=$(pwd)
</code></pre>
<div class="markdown-heading"><h3 class="heading-element">On SI computers</h3><a id="user-content-on-si-computers" class="anchor" aria-label="Permalink: On SI computers" href="#on-si-computers"><span aria-hidden="true" class="octicon octicon-link"></span></a></div>
<ul>
<li class="task-list-item"><input type="checkbox" class="task-list-item-checkbox" disabled="disabled"> if needed re-load SI environment</li>
<li class="task-list-item"><input type="checkbox" class="task-list-item-checkbox" disabled="disabled"> check that the planner is working</li>
</ul>
<pre><code>cd $HTN_PATH
module load julia/1.9.3
module load anaconda3/2024
source loadEnv.bash
cd TP02/
plan cooking_domain.hddl cooking_problem.hddl debug &gt; plan.txt
</code></pre>
<div class="markdown-heading"><h2 class="heading-element">check the simulator</h2><a id="user-content-check-the-simulator" class="anchor" aria-label="Permalink: check the simulator" href="#check-the-simulator"><span aria-hidden="true" class="octicon octicon-link"></span></a></div>
<ul>
<li class="task-list-item"><input type="checkbox" class="task-list-item-checkbox" disabled="disabled"> check that the simulator is working</li>
</ul>
<pre><code>cd OvercookedVisu
make
cd ..
./OvercookedVisu/overcooked ../plan.txt
</code></pre>
<div class="markdown-heading"><h2 class="heading-element">Repository Overview</h2><a id="user-content-repository-overview" class="anchor" aria-label="Permalink: Repository Overview" href="#repository-overview"><span aria-hidden="true" class="octicon octicon-link"></span></a></div>
<pre><code>plan cooking_domain.hddl cooking_problem.hddl
</code></pre>
<p>open 2 files:</p>
<ul>
<li>
<p>cooking_domain.hddl (the panning domain)</p>
</li>
<li>
<p>cooking_problem.hddl (the planning problem)</p>
</li>
<li>
<p>[x] an example of problem is provided - serving one soup to your customers</p>
</li>
<li>
<p>[ ] check that you can generate the plan and load it into the simulator</p>
</li>
</ul>
<pre><code>plan cooking_domain.hddl cooking_problem.hddl debug &gt; plan.txt
./OvercookedVisu/overcooked plan.txt
</code></pre>
<ul>
<li>
<p>[ ] now, comment 1 line and uncomment 1 line to make the agent start
"far away" from the delivery location and check that planning process
will fail.</p>
</li>
<li>
<p>[ ] an example of domain is provided - your goal is to complete abstract tasks :</p>
<ul>
<li>DO NOT change elementary actions</li>
<li>DO NOT change predicates or types</li>
<li>you can create as many tasks (and associated methods) as you wish to provide 3 onion soups to you customers.</li>
<li>check execution line per line... HDDL is not the more ergonomic way to debug... use recursivity with care.</li>
</ul>
</li>
</ul>
<div class="markdown-heading"><h2 class="heading-element">recommendations</h2><a id="user-content-recommendations" class="anchor" aria-label="Permalink: recommendations" href="#recommendations"><span aria-hidden="true" class="octicon octicon-link"></span></a></div>
<ul>
<li>Start to implement move_to / goto tasks</li>
<li>use (yes) method to validate your current behavior</li>
<li>(if necessary, remove tasks and preconditions for testing purposes...)</li>
<li>proceed step by step, line per line, varaible per variable...</li>
</ul>
<div class="markdown-heading"><h2 class="heading-element">problem resolution suggestion</h2><a id="user-content-problem-resolution-suggestion" class="anchor" aria-label="Permalink: problem resolution suggestion" href="#problem-resolution-suggestion"><span aria-hidden="true" class="octicon octicon-link"></span></a></div>
<ul>
<li>when movement it's ok, test if you are able to deliver a "soupLite"
located at the "cookLoc" location (comment / uncomment problem file)</li>
<li>try to cook a "soupLite" recipie and deliver it (comment / uncomment problem file)</li>
<li>try to chop 1 onion, cook the chopped onion into a soupLite and deliver it</li>
<li>eventually, cook a 3 onion soup and serve it.</li>
</ul>
<div class="markdown-heading"><h2 class="heading-element">Open question:</h2><a id="user-content-open-question" class="anchor" aria-label="Permalink: Open question:" href="#open-question"><span aria-hidden="true" class="octicon octicon-link"></span></a></div>
<p>Find a way to provide as many onion as possible in the "stockloc" to do an infinite number of soups.</p>
</article>
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