def sas_from_instantiated(instantiated_task):
import timers
import fact_groups
import options
import simplify
import variable_order
from translate import translate_task, unsolvable_sas_task, strips_to_sas_dictionary, \
build_implied_facts, build_mutex_key, solvable_sas_task
if not instantiated_task:
return unsolvable_sas_task("No relaxed solution")
task, atoms, actions, axioms, reachable_action_params, goal_list = instantiated_task
with timers.timing("Computing fact groups", block=True):
groups, mutex_groups, translation_key = fact_groups.compute_groups(
task, atoms, reachable_action_params)
with timers.timing("Building STRIPS to SAS dictionary"):
ranges, strips_to_sas = strips_to_sas_dictionary(
groups, assert_partial=options.use_partial_encoding)
with timers.timing("Building dictionary for full mutex groups"):
mutex_ranges, mutex_dict = strips_to_sas_dictionary(
mutex_groups, assert_partial=False)
if options.add_implied_preconditions:
with timers.timing("Building implied facts dictionary..."):
implied_facts = build_implied_facts(strips_to_sas, groups,
mutex_groups)
else:
implied_facts = {}
with timers.timing("Building mutex information", block=True):
mutex_key = build_mutex_key(strips_to_sas, mutex_groups)
with timers.timing("Translating task", block=True):
sas_task = translate_task(strips_to_sas, ranges, translation_key,
mutex_dict, mutex_ranges, mutex_key,
task.init, goal_list, actions, axioms,
task.use_min_cost_metric, implied_facts)
if options.filter_unreachable_facts:
with timers.timing("Detecting unreachable propositions", block=True):
try:
simplify.filter_unreachable_propositions(sas_task)
except simplify.Impossible:
return unsolvable_sas_task(
"Simplified to trivially false goal")
except simplify.TriviallySolvable:
return solvable_sas_task("Simplified to empty goal")
if options.reorder_variables or options.filter_unimportant_vars:
with timers.timing("Reordering and filtering variables", block=True):
variable_order.find_and_apply_variable_order(
sas_task, options.reorder_variables,
options.filter_unimportant_vars)
translate.dump_statistics(sas_task)
return sas_task
def translate_and_write_task(task, temp_dir):
#sas_task = pddl_to_sas(instantiate_task(task))
normalize.normalize(task)
sas_task = translate.pddl_to_sas(task)
#try:
# sas_task = translate.pddl_to_sas(task)
#except AssertionError:
# raise AssertionError('A function is not defined for some grounding of an action')
translate.dump_statistics(sas_task)
clear_dir(temp_dir)
with open(os.path.join(temp_dir, TRANSLATE_OUTPUT), "w") as output_file:
sas_task.output(output_file)
return sas_task