def parse_effect(alist):
tag = alist[0]
if tag == "and":
return [
ConjunctiveEffect(conjuncts) for conjuncts in cartesian_product(
*[parse_effect(eff) for eff in alist[1:]])
]
elif tag == "forall":
assert len(alist) == 3
parameters = pddl_types.parse_typed_list(alist[1])
effects = parse_effect(alist[2])
assert 1 == len(
effects
), "Error: Cannot embed non-determinism inside of a forall (for now)."
return [UniversalEffect(parameters, effect) for effect in effects]
elif tag == "when":
assert len(alist) == 3
condition = conditions.parse_condition(alist[1])
effects = parse_effect(alist[2])
return [ConditionalEffect(condition, effect) for effect in effects]
elif tag == "increase":
assert len(alist) == 3
assert alist[1] == ['total-cost']
assignment = f_expression.parse_assignment(alist)
return [CostEffect(assignment)]
elif tag == "oneof":
options = []
for eff in alist[1:]:
options.extend(parse_effect(eff))
return options
else:
return [SimpleEffect(conditions.parse_literal(alist))]
def __init__(self, time, init_fact): self.time = time self.fact = init_fact # nested list if self.fact[0] == 'not': self.type = 'NEGATED_BOOLEAN' self.value = False self.predicate = tuple(self.fact[1]) self.atom = conditions.Atom(self.fact[1][0], [conditions.parse_term(term) for term in self.fact[1][1:]]) elif self.fact[0] == '=': if f_expression.isFloat(self.fact[2]): self.type = 'NUMERICAL_FUNCTION' self.value = float(self.fact[2]) self.predicate = tuple(self.fact[1]) self.atom = f_expression.parse_assignment(fact) else: self.type = 'OBJECT_FUNCTION' self.value = self.fact[2] self.predicate = tuple(self.fact[1]) function = conditions.parse_term(self.fact[1]) terms = function.args terms.append(conditions.parse_term(self.fact[2])) atomname = conditions.function_predicate_name(function.name) self.atom = conditions.Atom(atomname, terms) else: self.type = 'BOOLEAN' self.value = True self.atom = conditions.Atom(self.fact[0], [conditions.parse_term(term) for term in self.fact[1:]]) self.predicate = tuple(self.fact)
def parse_cond_effect(alist, durative=False):
tag = alist[0]
if tag == "and":
return ConjunctiveEffect([parse_cond_effect(eff,durative) for eff in alist[1:]])
elif tag in ("scale-up", "scale-down", "increase", "decrease"):
return ConjunctiveEffect([f_expression.parse_assignment(alist,durative)])
elif tag == "assign":
symbol = alist[1]
if isinstance(symbol,list):
symbol = symbol[0]
if tasks.Task.FUNCTION_SYMBOLS.get(symbol,"object")=="number":
return ConjunctiveEffect([f_expression.parse_assignment(alist,durative)])
else:
return ConjunctiveEffect([ObjectFunctionAssignment(conditions.parse_term(alist[1]),conditions.parse_term(alist[2]))])
else:
return ConjunctiveEffect([conditions.parse_condition(alist)])
def parse_task(task_pddl):
iterator = iter(task_pddl)
assert iterator.next() == "define"
problem_line = iterator.next()
assert problem_line[0] == "problem" and len(problem_line) == 2
yield problem_line[1]
domain_line = iterator.next()
assert domain_line[0] == ":domain" and len(domain_line) == 2
yield domain_line[1]
objects_opt = iterator.next()
if objects_opt[0] == ":objects":
yield pddl_types.parse_typed_list(objects_opt[1:])
init = iterator.next()
else:
yield []
init = objects_opt
assert init[0] == ":init"
initial = []
for fact in init[1:]:
if fact[0] == "=":
try:
initial.append(f_expression.parse_assignment(fact))
except ValueError, e:
raise SystemExit("Error in initial state specification\n" +
"Reason: %s." % e)
else:
initial.append(conditions.Atom(fact[0], fact[1:]))
def parse_task(task_pddl):
iterator = iter(task_pddl)
assert iterator.next() == "define"
problem_line = iterator.next()
assert problem_line[0] == "problem" and len(problem_line) == 2
yield problem_line[1]
domain_line = iterator.next()
assert domain_line[0] == ":domain" and len(domain_line) == 2
yield domain_line[1]
objects_opt = iterator.next()
if objects_opt[0] == ":objects":
yield pddl_types.parse_typed_list(objects_opt[1:])
init = iterator.next()
else:
yield []
init = objects_opt
assert init[0] == ":init"
initial = []
for fact in init[1:]:
if fact[0] == "=":
try:
initial.append(f_expression.parse_assignment(fact))
except ValueError, e:
raise SystemExit("Error in initial state specification\n" +
"Reason: %s." % e)
else:
initial.append(conditions.Atom(fact[0], fact[1:]))
def parse_cond_effect(alist, durative=False):
tag = alist[0]
if tag == "and":
return ConjunctiveEffect([parse_cond_effect(eff, durative) for eff in alist[1:]])
elif tag in ("scale-up", "scale-down", "increase", "decrease"):
return ConjunctiveEffect([f_expression.parse_assignment(alist, durative)])
elif tag == "assign":
symbol = alist[1]
if isinstance(symbol, list):
symbol = symbol[0]
if tasks.Task.FUNCTION_SYMBOLS.get(symbol, "object") == "number":
return ConjunctiveEffect([f_expression.parse_assignment(alist, durative)])
else:
return ConjunctiveEffect(
[ObjectFunctionAssignment(conditions.parse_term(alist[1]), conditions.parse_term(alist[2]))])
else:
return ConjunctiveEffect([conditions.parse_condition(alist)])
def parse_task(task_pddl):
iterator = iter(task_pddl)
assert iterator.next() == "define"
problem_line = iterator.next()
assert problem_line[0] == "problem" and len(problem_line) == 2
yield problem_line[1]
domain_line = iterator.next()
assert domain_line[0] == ":domain" and len(domain_line) == 2
yield domain_line[1]
objects_opt = iterator.next()
if objects_opt[0] == ":objects":
yield pddl_types.parse_typed_list(objects_opt[1:])
init = iterator.next()
else:
yield []
init = objects_opt
assert init[0] == ":init"
initial = []
for fact in init[1:]:
if fact[0] == "=":
if conditions.is_function_comparison(fact): # numeric function
initial.append(f_expression.parse_assignment(fact))
else: # object function
function = conditions.parse_term(fact[1])
terms = function.args
terms.append(conditions.parse_term(fact[2]))
atomname = conditions.function_predicate_name(function.name)
initial.append(conditions.Atom(atomname, terms))
else:
initial.append(
conditions.Atom(
fact[0],
[conditions.parse_term(term) for term in fact[1:]]))
yield initial
goal = iterator.next()
assert goal[0] == ":goal" and len(goal) == 2
yield conditions.parse_condition(goal[1])
metric_defined = False
for entry in iterator:
if entry[0] == ":metric":
metric_defined = True
# if entry[2][0] in ["total-time", "total-cost"] :
metric = (entry[1], entry[2])
yield metric
if not metric_defined:
metric = ()
yield metric
def parse_init_fact(fact):
if fact[0] == "=":
if conditions.is_function_comparison(fact): # numeric function
return f_expression.parse_assignment(fact)
else: # object function
function = conditions.parse_term(fact[1])
terms = function.args
terms.append(conditions.parse_term(fact[2]))
atomname = conditions.function_predicate_name(function.name)
return conditions.Atom(atomname, terms)
else:
return conditions.Atom(fact[0], [conditions.parse_term(term) for term in fact[1:]])
def parse_task(task_pddl):
iterator = iter(task_pddl)
assert iterator.next() == "define"
problem_line = iterator.next()
assert problem_line[0] == "problem" and len(problem_line) == 2
yield problem_line[1]
domain_line = iterator.next()
assert domain_line[0] == ":domain" and len(domain_line) == 2
yield domain_line[1]
objects_opt = iterator.next()
if objects_opt[0] == ":objects":
yield pddl_types.parse_typed_list(objects_opt[1:])
init = iterator.next()
else:
yield []
init = objects_opt
assert init[0] == ":init"
initial = []
for fact in init[1:]:
if fact[0] == "=":
if conditions.is_function_comparison(fact): # numeric function
initial.append(f_expression.parse_assignment(fact))
else: # object function
function = conditions.parse_term(fact[1])
terms = function.args
terms.append(conditions.parse_term(fact[2]))
atomname = conditions.function_predicate_name(function.name)
initial.append(conditions.Atom(atomname, terms))
else:
initial.append(conditions.Atom(fact[0], [conditions.parse_term(term) for term in fact[1:]]))
yield initial
goal = iterator.next()
assert goal[0] == ":goal" and len(goal) == 2
yield conditions.parse_condition(goal[1])
for entry in iterator:
if entry[0] == ":metric" and entry[1]=="minimize":
if entry[2][0] in ["total-time", "total-cost"] :
continue
assert False, entry
def parse_task(task_pddl):
iterator = iter(task_pddl)
assert iterator.next() == "define"
problem_line = iterator.next()
assert problem_line[0] == "problem" and len(problem_line) == 2
yield problem_line[1]
domain_line = iterator.next()
assert domain_line[0] == ":domain" and len(domain_line) == 2
yield domain_line[1]
objects_opt = iterator.next()
if objects_opt[0] == ":objects":
yield pddl_types.parse_typed_list(objects_opt[1:])
init = iterator.next()
else:
yield []
init = objects_opt
assert init[0] == ":init"
initial = []
for fact in init[1:]:
if fact[0] == "=":
initial.append(f_expression.parse_assignment(fact))
else:
initial.append(conditions.Atom(fact[0], fact[1:]))
yield initial
goal = iterator.next()
assert goal[0] == ":goal" and len(goal) == 2
yield conditions.parse_condition(goal[1])
use_metric = False
for entry in iterator:
if entry[0] == ":metric":
if entry[1]=="minimize" and entry[2][0] == "total-cost":
use_metric = True
else:
assert False, "Unknown metric."
yield use_metric
for entry in iterator:
assert False, entry
def parse_effect(alist):
tag = alist[0]
if tag == "and":
return ConjunctiveEffect([parse_effect(eff) for eff in alist[1:]])
elif tag == "forall":
assert len(alist) == 3
parameters = pddl_types.parse_typed_list(alist[1])
effect = parse_effect(alist[2])
return UniversalEffect(parameters, effect)
elif tag == "when":
assert len(alist) == 3
condition = conditions.parse_condition(alist[1])
effect = parse_effect(alist[2])
return ConditionalEffect(condition, effect)
elif tag == "increase":
assert len(alist) == 3
assert alist[1] == ['total-cost']
assignment = f_expression.parse_assignment(alist)
return CostEffect(assignment)
else:
return SimpleEffect(conditions.parse_literal(alist))
def parse_effect(alist):
tag = alist[0]
if tag == "and":
return ConjunctiveEffect([parse_effect(eff) for eff in alist[1:]])
elif tag == "forall":
assert len(alist) == 3
parameters = pddl_types.parse_typed_list(alist[1])
effect = parse_effect(alist[2])
return UniversalEffect(parameters, effect)
elif tag == "when":
assert len(alist) == 3
condition = conditions.parse_condition(alist[1])
effect = parse_effect(alist[2])
return ConditionalEffect(condition, effect)
elif tag == "increase":
assert len(alist) == 3
assert alist[1] == ['total-cost']
assignment = f_expression.parse_assignment(alist)
return CostEffect(assignment)
else:
return SimpleEffect(conditions.parse_literal(alist))
def parse_task(task_pddl):
iterator = iter(task_pddl)
assert iterator.next() == "define"
problem_line = iterator.next()
assert problem_line[0] == "problem" and len(problem_line) == 2
yield problem_line[1]
domain_line = iterator.next()
assert domain_line[0] == ":domain" and len(domain_line) == 2
yield domain_line[1]
module_opt = iterator.next()
if module_opt[0] == ":moduleoptions":
yield [modules.ModuleInit.parse(mi) for mi in module_opt[1:]]
module_exit_opt = iterator.next()
else:
yield []
module_exit_opt = module_opt
if module_exit_opt[0] == ":moduleexitoptions":
yield [modules.ModuleExit.parse(mi) for mi in module_exit_opt[1:]]
objects_opt = iterator.next()
else:
yield []
objects_opt = module_exit_opt
if objects_opt[0] == ":objects":
yield pddl_types.parse_typed_list(objects_opt[1:])
init = iterator.next()
else:
yield []
init = objects_opt
assert init[0] == ":init"
initial = []
for fact in init[1:]:
if fact[0] == "=":
if conditions.is_function_comparison(fact): # numeric function
initial.append(f_expression.parse_assignment(fact))
else: # object function
function = conditions.parse_term(fact[1])
terms = function.args
terms.append(conditions.parse_term(fact[2]))
atomname = conditions.function_predicate_name(function.name)
initial.append(conditions.Atom(atomname, terms))
else:
initial.append(
conditions.Atom(
fact[0],
[conditions.parse_term(term) for term in fact[1:]]))
yield initial
goal = iterator.next()
assert goal[0] == ":goal" and len(goal) == 2
yield conditions.parse_condition(goal[1])
for entry in iterator:
if entry[0] == ":metric" and entry[1] == "minimize":
if entry[2][0] in ["total-time", "total-cost"]:
continue
assert False, "Can only minimize total-time or total-cost, got: " + str(
entry)
def parse_task(task_pddl):
iterator = iter(task_pddl)
define_tag = next(iterator)
assert define_tag == "define"
problem_line = next(iterator)
assert problem_line[0] == "problem" and len(problem_line) == 2
yield problem_line[1]
domain_line = next(iterator)
assert domain_line[0] == ":domain" and len(domain_line) == 2
yield domain_line[1]
requirements_opt = next(iterator)
if requirements_opt[0] == ":requirements":
requirements = requirements_opt[1:]
objects_opt = next(iterator)
else:
requirements = []
objects_opt = requirements_opt
yield Requirements(requirements)
if objects_opt[0] == ":objects":
yield pddl_types.parse_typed_list(objects_opt[1:])
init = next(iterator)
else:
yield []
init = objects_opt
assert init[0] == ":init"
initial = []
initial_true = set()
initial_false = set()
initial_assignments = dict()
for fact in init[1:]:
if fact[0] == "=":
try:
assignment = f_expression.parse_assignment(fact)
except ValueError as e:
raise SystemExit("Error in initial state specification\n" +
"Reason: %s." % e)
if not isinstance(assignment.expression,
f_expression.NumericConstant):
raise SystemExit("Illegal assignment in initial state " +
"specification:\n%s" % assignment)
if assignment.fluent in initial_assignments:
prev = initial_assignments[assignment.fluent]
if assignment.expression == prev.expression:
print("Warning: %s is specified twice" % assignment,
"in initial state specification")
else:
raise SystemExit("Error in initial state specification\n" +
"Reason: conflicting assignment for " +
"%s." % assignment.fluent)
else:
initial_assignments[assignment.fluent] = assignment
initial.append(assignment)
elif fact[0] == "not":
atom = conditions.Atom(fact[1][0], fact[1][1:])
check_atom_consistency(atom, initial_false, initial_true, False)
initial_false.add(atom)
else:
atom = conditions.Atom(fact[0], fact[1:])
check_atom_consistency(atom, initial_true, initial_false)
initial_true.add(atom)
initial.extend(initial_true)
yield initial
goal = next(iterator)
assert goal[0] == ":goal" and len(goal) == 2
yield conditions.parse_condition(goal[1])
use_metric = False
for entry in iterator:
if entry[0] == ":metric":
if entry[1] == "minimize" and entry[2][0] == "total-cost":
use_metric = True
else:
assert False, "Unknown metric."
yield use_metric
for entry in iterator:
assert False, entry
def parse_task(task_pddl):
iterator = iter(task_pddl)
assert iterator.next() == "define"
problem_line = iterator.next()
assert problem_line[0] == "problem" and len(problem_line) == 2
yield problem_line[1]
domain_line = iterator.next()
assert domain_line[0] == ":domain" and len(domain_line) == 2
yield domain_line[1]
objects_opt = iterator.next()
if objects_opt[0] == ":objects":
yield pddl_types.parse_typed_list(objects_opt[1:])
init = iterator.next()
else:
yield []
init = objects_opt
assert init[0] == ":init"
oneofs = []
initial = []
ors = []
belief_state = [set()]
skip_loop = False
for fact in init[1:]:
if fact[0] == "=":
initial.append(f_expression.parse_assignment(fact))
elif fact[0] == "oneof":
oneofs.append(conditions.parse_condition(fact))
elif fact[0] == "or":
ors.append(conditions.parse_condition(fact))
else:
initial.append(conditions.Atom(fact[0], fact[1:]))
if ors != []:
for oneof in oneofs:
tmp_state = []
oneof.dump()
for i in range(0,len(oneof.parts)):
for j in range(0,len(belief_state)):
state_set = belief_state[j]
tmp_state_set = set()
for x in state_set:
tmp_state_set.add(x)
tmp_state_set.add(oneof.parts[i])
tmp_state.append(tmp_state_set)
for i in range(0,len(belief_state)):
belief_state.pop()
'''print "belief after cartesian product"'''
for x in tmp_state:
'''print "state"
for atom in x:
print atom'''
belief_state.append(x)
index_to_remove = []
for i in range(0,len(belief_state)):
remove = False
tmp_state_set = belief_state[i]
'''print "checking state"
for atom in tmp_state_set:
print atom'''
for orclause in ors:
'''print "using or"
orclause.dump()'''
skip = False
for k in range(0,len(orclause.parts)):
if isinstance(orclause.parts[k], conditions.Atom):
skip = True
break
if skip == True:
continue
else:
remove = True
for k in range(0,len(orclause.parts)):
if orclause.parts[k].negate() not in tmp_state_set:
remove = False
break
if remove == True:
if tmp_state_set in belief_state:
'''print "remove state"
for atom in tmp_state_set:
print atom
print "because"
orclause.dump()'''
index_to_remove.insert(0,i)
break
if remove == False:
for oneof in oneofs:
skip = False
for part in oneof.parts:
if part in tmp_state_set:
for other_part in oneof.parts:
if other_part != part and other_part in tmp_state_set:
skip = True
if tmp_state_set in belief_state:
index_to_remove.insert(0,i)
break
if skip == True:
break
if skip == True:
break
if skip == True:
break
for i in range(0, len(index_to_remove)):
belief_state.pop(index_to_remove[i])
print "size of belief state"
print len(belief_state)
print "we are here"
'''print "belief after removing invalid state"
for x in belief_state:
print "state"
for atom in x:
print atom'''
index_to_remove = []
for i in range(0,len(belief_state)):
tmp_state_set = belief_state[i]
for orclause in ors:
remove = False
stop = False
for k in range(0,len(orclause.parts)):
if isinstance(orclause.parts[k], conditions.Atom):
print orclause.parts[k]
if orclause.parts[k] in tmp_state_set:
stop = True
break
elif isinstance(orclause.parts[k], conditions.NegatedAtom):
if orclause.parts[k].negate() not in tmp_state_set:
stop = True
break
if stop == False:
remove = True
if remove == True:
if tmp_state_set in belief_state:
index_to_remove.insert(0,i)
'''print "remove state"
for atom in tmp_state_set:
print atom
print "because"
orclause.dump()'''
break
for i in range(0, len(index_to_remove)):
belief_state.pop(index_to_remove[i])
print "size of belief state"
print len(belief_state)
'''for tmp_state_set in belief_state:
print "state"
for atom in tmp_state_set:
print atom'''
if len(belief_state) > 0:
state_set = belief_state[0]
for atom in state_set:
initial.append(atom)
'''oneofsize = 1
for oneof in oneofs:
oneofsize = oneofsize * len(oneof.parts)
belief_state = {}
exclude_list = []
for n in range(0,oneofsize):
for i in range(0,len(oneofs)):
bucketsize = 1
for j in range(i+1,len(oneofs)):
bucketsize = bucketsize * len(oneofs[j].parts)
index_i = (n / bucketsize) % len(oneofs[i].parts)
oneof_valuename = oneofs[i].print_atom(index_i)
oneof_valuename_str = str(oneof_valuename)
skip_loop = false
for var_no, var_key in enumerate(translation_key):
for value, value_name in enumerate(var_key):
if oneof_valuename_str.find(value_name) != -1:
if var_no in belief_state:
if belief_state[var_no] = value:
print >> belief_file, "var%d \n" % var_no,
print >> belief_file, "%d \n" % value,
print >> belief_file, "END_BELIEF"'''
else:
for oneof in oneofs:
atoms = set()
atoms = oneof.get_atoms()
for atom in atoms:
atom.dump(),
initial.append(atom)
yield initial
yield oneofs
yield ors
yield belief_state
goal = iterator.next()
assert goal[0] == ":goal" and len(goal) == 2
yield conditions.parse_condition(goal[1])
originalgoal = conditions.parse_condition(goal[1])
yield originalgoal
use_metric = False
for entry in iterator:
if entry[0] == ":metric":
if entry[1]=="minimize" and entry[2][0] == "total-cost":
use_metric = True
else:
assert False, "Unknown metric."
yield use_metric
for entry in iterator:
assert False, entry
