def check_one_program(helper,
script,
precond,
graph_dict,
w_graph_list,
modify_graph=True,
place_other_objects=True,
id_mapping={},
**info):
helper.initialize(graph_dict)
script, precond = modify_objects_unity2script(helper, script, precond)
if modify_graph:
## add missing object from scripts (id from 1000) and set them to default setting
## id mapping can specify the objects that already specify in the graphs
helper.set_to_default_state(graph_dict,
None,
id_checker=lambda v: True)
id_mapping, first_room, room_mapping = helper.add_missing_object_from_script(
script, precond, graph_dict, id_mapping)
info = {'room_mapping': room_mapping}
objects_id_in_script = [v for v in id_mapping.values()]
helper.set_to_default_state(
graph_dict,
first_room,
id_checker=lambda v: v in objects_id_in_script)
## place the random objects (id from 2000)
if place_other_objects:
max_node_to_place = max_nodes - len(graph_dict["nodes"])
n = random.randint(max_node_to_place - 20, max_node_to_place)
helper.add_random_objs_graph_dict(graph_dict, n=max(n, 0))
helper.set_to_default_state(graph_dict,
None,
id_checker=lambda v: v >= 2000)
helper.random_change_object_state(
id_mapping,
graph_dict,
id_checker=lambda v: v not in objects_id_in_script)
## set relation and state from precondition
helper.check_binary(graph_dict,
id_checker=lambda v: True,
verbose=False)
random_objects_id = helper.random_objects_id
helper.prepare_from_precondition(precond, id_mapping, graph_dict)
helper.open_all_doors(graph_dict)
helper.ensure_light_on(
graph_dict, id_checker=lambda v: v not in objects_id_in_script)
helper.check_binary(graph_dict,
id_checker=lambda v: v >= random_objects_id,
verbose=False)
helper.check_binary(graph_dict,
id_checker=lambda v: True,
verbose=True)
assert len(graph_dict["nodes"]) <= max_nodes
elif len(id_mapping) != 0:
# Assume that object mapping specify all the objects in the scripts
helper.modify_script_with_specified_id(script, id_mapping, **info)
graph = EnvironmentGraph(graph_dict)
name_equivalence = utils.load_name_equivalence()
executor = ScriptExecutor(graph, name_equivalence)
executable, final_state, graph_state_list = executor.execute(
script, w_graph_list=w_graph_list)
if executable:
message = 'Script is executable'
else:
message = 'Script is not executable, since {}'.format(
executor.info.get_error_string())
return message, executable, final_state, graph_state_list, id_mapping, info, script
def load_graph(file_name):
with open(file_name) as f:
data = json.load(f)
return EnvironmentGraph(data)
def example_5():
properties_data = utils.load_properties_data()
object_states = utils.load_object_states()
object_placing = utils.load_object_placing()
graph_dict = {
'nodes': [
{
"id": 1,
'class_name': "kitchen",
"category": "Rooms",
"properties": [],
"states": []
},
{
"id": 2,
'class_name': "bedroom",
"category": "Rooms",
"properties": [],
"states": []
},
{
"id": 3,
'class_name': "home_office",
"category": "Rooms",
"properties": [],
"states": []
},
{
"id": 4,
'class_name': "bathroom",
"category": "Rooms",
"properties": [],
"states": []
},
{
"id": 5,
'class_name': "character",
"category": "",
"properties": [],
"states": []
},
{
"id": 6,
'class_name': "door",
"category": "",
"properties": ["CAN_OPEN"],
"states": ["OPEN"]
},
{
"id": 7,
'class_name': "door",
"category": "",
"properties": ["CAN_OPEN"],
"states": ["OPEN"]
},
{
"id": 8,
'class_name': "door",
"category": "",
"properties": ["CAN_OPEN"],
"states": ["OPEN"]
},
],
'edges': [
{
"from_id": 5,
"to_id": 2,
"relation_type": "INSIDE"
},
{
"from_id": 6,
"to_id": 1,
"relation_type": "BETWEEN"
},
{
"from_id": 6,
"to_id": 2,
"relation_type": "BETWEEN"
},
{
"from_id": 7,
"to_id": 1,
"relation_type": "BETWEEN"
},
{
"from_id": 7,
"to_id": 3,
"relation_type": "BETWEEN"
},
{
"from_id": 8,
"to_id": 3,
"relation_type": "BETWEEN"
},
{
"from_id": 8,
"to_id": 4,
"relation_type": "BETWEEN"
},
]
}
helper = utils.graph_dict_helper(properties_data,
object_placing,
object_states,
max_nodes=15)
helper.initialize(graph_dict)
print()
print('Example 5')
print('---------')
script = read_script('example_scripts/example_script_4.txt')
with open('example_scripts/example_precond_script_4.json', 'r') as f:
precond = json.load(f)
id_mapping = {}
id_mapping, first_room, room_mapping = helper.add_missing_object_from_script(
script, precond, graph_dict, id_mapping)
print(id_mapping)
# add random objects
graph = EnvironmentGraph(graph_dict)
name_equivalence = utils.load_name_equivalence()
executor = ScriptExecutor(graph, name_equivalence)
state = executor.execute(script)
if state is None:
print('Script is not executable, since {}'.format(
executor.info.get_error_string()))
else:
print('Script is executable')