def main():
parser = argparse.ArgumentParser(
description='''The driver Script for the Explanation generation''',
epilog="Usage >> ./Explainer.py -m ../domain/fetchworld-tuck-m.pddl -n"
+ " ../domain/fetchworld-base-m.pddl -f ../domain/problem1.pddl ")
# Flags for the search
parser.add_argument(
'--approx',
action='store_true',
help="Enable use of approximation (currently only supported for ME).")
parser.add_argument(
'--heuristic',
action='store_true',
help="Enable use of heuristic (currently only supported for ME)")
parser.add_argument(
'--ground',
action='store_true',
help="Consider model difference in grounded domain model")
# Search option
parser.add_argument('-s',
'--search',
type=str,
help="Search to be use (ME, MCE or EE)")
# Arguments for the explanation
parser.add_argument('-m',
'--model',
type=str,
help="Domain file with real PDDL model of robot.",
required=True)
parser.add_argument('-n',
'--nmodel',
type=str,
help="Domain file with human model of the robot.",
required=True)
parser.add_argument('-t',
'--tmodel',
type=str,
help="Domain file template for the problem.",
required=True)
parser.add_argument('-p',
'--problem',
type=str,
help="Problem file for robot.",
required=True)
parser.add_argument('-q',
'--hproblem',
type=str,
help="Problem file for human.")
parser.add_argument('-r',
'--tproblem',
type=str,
help="Problem file template.",
required=True)
parser.add_argument('-f', '--plan_file', type=str, help="Plan file.")
parser.add_argument('-a', '--alpha', type=str, help="alpha value for EE")
if not sys.argv[1:] or '-h' in sys.argv[1:]:
print parser.print_help()
sys.exit(1)
args = parser.parse_args()
if args.search.lower() not in SEARCH_OPTIONS:
print "Unknown: Search option, please select ME, MCE or EE"
sys.exit(1)
import time
curr_time = time.time()
# define problem object and run the required search
pr_obj = Problem(args.model, args.nmodel, args.problem, args.tmodel,
args.ground, args.approx, args.heuristic, args.tproblem,
args.hproblem, args.plan_file, float(args.alpha))
if args.search.lower() == "me":
plan = pr_obj.MeSearch()
elif args.search.lower() == "mce":
if args.approx and args.heuristic:
print "MCE doesn't support heuristic or approx"
exit(1)
plan = pr_obj.MCESearch()
else:
plan = pr_obj.EESearch()
explanation = ''
for item in plan:
explanation += "Explanation >> {}\n".format(item)
print explanation.strip()
print "Explantion Size:", len(plan)
print "Total Time ", time.time() - curr_time
with open('exp.dat', 'w') as explanation_file:
explanation_file.write(explanation.strip())
def main():
parser = argparse.ArgumentParser(description='''The driver Script for the Explanation generation''',
epilog="Usage >> ./Explainer.py -m ../domain/fetchworld-tuck-m.pddl -n" +
" ../domain/fetchworld-base-m.pddl -f ../domain/problem1.pddl ")
# Flags for the search
parser.add_argument('--approx', action='store_true',
help="Enable use of approximation (currently only supported for ME).")
parser.add_argument('--heuristic', action='store_true',
help="Enable use of heuristic (currently only supported for ME)")
parser.add_argument('--ground', action='store_true',
help="Consider model difference in grounded domain model")
# Search option
parser.add_argument('-s', '--search', type=str, help="Search to be use (ME or MCE)")
# Arguments for the explanation
parser.add_argument('-m', '--model', type=str, help="Domain file with real PDDL model of robot.", required=True)
parser.add_argument('-n', '--nmodel', type=str, help="Domain file with human model of the robot.", required=True)
parser.add_argument('-t', '--tmodel', type=str, help="Domain file template for the problem.", required=True)
parser.add_argument('-p', '--problem', type=str, help="Problem file for robot.", required=True)
parser.add_argument('-q', '--hproblem', type=str, help="Problem file for human.")
parser.add_argument('-r', '--tproblem', type=str, help="Problem file template.", required=True)
parser.add_argument('-f', '--plan_file', type=str, help="Plan file.")
if not sys.argv[1:] or '-h' in sys.argv[1:]:
print parser.print_help()
sys.exit(1)
args = parser.parse_args()
if args.search.lower() not in SEARCH_OPTIONS:
print "Unknown: Search option, please select either ME or MCE"
sys.exit(1)
# define problem object and run the required search
pr_obj = Problem(args.model, args.nmodel, args.problem, args.tmodel,
args.ground, args.approx, args.heuristic,
args.tproblem, args.hproblem, args.plan_file)
if args.search.lower() == "me":
plan = pr_obj.MeSearch()
else:
if args.approx and args.heuristic:
print "MCE doesn't support heuristic or approx"
exit(1)
plan = pr_obj.MCESearch()
explanation = ''
for item in plan:
explanation += "Explanation >> {}\n".format(item)
print explanation.strip()
explanation_json = {'ADD':{},'DEL':{}}
for item in plan:
if "ADD-" in item:
act_name = item.split('-has-')[0].replace('ADD-','')
act_name_part = item.split('-has-')[1].split('-')[0]
pred_name = ''.join(item.split('-has-')[1].split('-')[1:])
if act_name not in explanation_json['ADD']:
explanation_json['ADD'][act_name] = {}
if act_name_part not in explanation_json['ADD'][act_name]:
explanation_json['ADD'][act_name][act_name_part] = []
explanation_json['ADD'][act_name][act_name_part].append(pred_name)
elif "DEL-" in item:
act_name = item.split('-has-')[0].replace('DEL-','')
act_name_part = item.split('-has-')[1].split('-')[0]
pred_name = ''.join(item.split('-has-')[1].split('-')[1:])
if act_name not in explanation_json['DEL']:
explanation_json['DEL'][act_name] = {}
if act_name_part not in explanation_json['DEL'][act_name]:
explanation_json['DEL'][act_name][act_name_part] = []
explanation_json['DEL'][act_name][act_name_part].append(pred_name)
with open('exp.dat', 'w') as explanation_file:
json.dump(explanation_json, explanation_file)
