def expand_group(group, task, reachable_facts):
result = []
for fact in group:
try:
pos = list(fact.args).index("?X")
except ValueError:
result.append(fact)
else:
# NOTE: This could be optimized by only trying objects of the correct
# type, or by using a unifier which directly generates the
# applicable objects. It is not worth optimizing this at this stage,
# though.
for obj in task.objects + [pddl.ObjectTerm("undefined")]:
newargs = list(fact.args)
newargs[pos] = pddl.ObjectTerm(obj.name)
atom = pddl.Atom(fact.predicate, newargs)
if atom in reachable_facts:
result.append(atom)
return result
def translate_typed_object(prog, obj, type_dict):
supertypes = type_dict[obj.type].supertype_names
for type_name in [obj.type] + supertypes:
prog.add_fact(pddl.Atom(type_name, [pddl.ObjectTerm(obj.name)]))