def pick_from_many(self, options):
options = self.remove_return_actions(options)
# if there is only one options after reducing actions that take you back
if len(options) == 1: return options[0]
# create pddl_problem for current state
problem_path = self.services.problem_generator.generate_problem(
self.services.goal_tracking.uncompleted_goals[0],
self.services.perception.get_state())
self.plan = make_plan(self.services.pddl.domain_path, problem_path)
return self.next_step_in_plan()
def try_planner():
"""
try make a plan using the default planner.
:return: boolean, True if planner returned a plan
"""
plan = None
try:
plan = planner.make_plan(domain_path, problem_path)
except:
plan = None
return plan
def initialize(self, services):
self.services = services
self.actions = PythonValidActions(services.parser, services.perception)
self.perceiver = Perceiver(services.perception)
try:
filename = services.parser.problem_name + '.txt'
print filename
with open(filename, 'rb') as load_file:
self.q_dict = pickle.load(load_file)
self.task = self.execute_policy
self.start_state = self.services.perception.get_state()
self.sorted_keys = self.start_state.keys()
self.sorted_keys.sort()
except IOError:
self.steps = planner.make_plan(services.pddl.domain_path, services.pddl.problem_path)
self.planner = PlanDispatcher(services)
self.task = self.planner.next_action
def initialize(self, services):
global goals_size
self.services = services
is_deterministic = 1
for action in self.services.parser.task.actions:
if action.effects_probs is not None:
is_deterministic = 0
if is_deterministic == 1:
# for planning
self.steps = planner.make_plan(sys.argv[2], sys.argv[3])
else:
# for learning
for goal in self.services.goal_tracking.uncompleted_goals[0].parts:
goals.append(goal.args)
goals_size = goals_size + 1
for goal in self.services.goal_tracking.uncompleted_goals:
for part in goal.parts:
goals_parts.append(part.args)
def __init__(self, services):
super(PlanDispatcher, self).__init__()
self.steps = planner.make_plan(services.pddl.domain_path, services.pddl.problem_path)
def initialize(self,services): self.steps = planner.make_plan(services.pddl.domain_path, services.pddl.problem_path)
