def task_from_domain_problem(domain, problem, add_identical=True):
# TODO: prune evaluation that aren't needed in actions
#domain_name, domain_requirements, types, type_dict, constants, \
# predicates, predicate_dict, functions, actions, axioms = domain
task_name, task_domain_name, task_requirements, objects, init, goal, use_metric, problem_pddl = problem
assert domain.name == task_domain_name
requirements = pddl.Requirements(
sorted(
set(domain.requirements.requirements +
task_requirements.requirements)))
objects = domain.constants + objects
check_for_duplicates(
[o.name for o in objects],
errmsg="error: duplicate object %r",
finalmsg="please check :constants and :objects definitions")
init.extend(pddl.Atom(EQ, (obj.name, obj.name)) for obj in objects)
if add_identical:
init.extend(get_identical_atoms(objects))
#print('{} objects and {} atoms'.format(len(objects), len(init)))
task = pddl.Task(domain.name, task_name, requirements, domain.types,
objects, domain.predicates, domain.functions, init, goal,
domain.actions, domain.axioms, use_metric)
normalize.normalize(task)
# task.add_axiom
return task
def task_from_domain_problem(domain, problem):
# TODO: prune evaluation that aren't needed in actions
#domain_name, domain_requirements, types, type_dict, constants, \
# predicates, predicate_dict, functions, actions, axioms = domain
task_name, task_domain_name, task_requirements, objects, init, goal, use_metric, problem_pddl = problem
assert domain.name == task_domain_name
requirements = pddl.Requirements(
sorted(
set(domain.requirements.requirements +
task_requirements.requirements)))
objects = domain.constants + objects
check_for_duplicates(
[o.name for o in objects],
errmsg="error: duplicate object %r",
finalmsg="please check :constants and :objects definitions")
init.extend(pddl.Atom(EQ, (obj.name, obj.name)) for obj in objects)
# TODO: optimistically evaluate (not (= ?o1 ?o2))
for fd_obj in objects:
obj = obj_from_pddl(fd_obj.name)
if obj.is_unique():
init.append(pddl.Atom(IDENTICAL, (fd_obj.name, fd_obj.name)))
else:
assert obj.is_shared()
task = pddl.Task(domain.name, task_name, requirements, domain.types,
objects, domain.predicates, domain.functions, init, goal,
domain.actions, domain.axioms, use_metric)
normalize.normalize(task)
# task.add_axiom
return task
def task_from_domain_problem(domain, problem):
# TODO: prune eval
domain_name, domain_requirements, types, type_dict, constants, \
predicates, predicate_dict, functions, actions, axioms = domain
task_name, task_domain_name, task_requirements, objects, init, goal, use_metric = problem
assert domain_name == task_domain_name
requirements = pddl.Requirements(sorted(set(domain_requirements.requirements +
task_requirements.requirements)))
objects = constants + objects
check_for_duplicates([o.name for o in objects],
errmsg="error: duplicate object %r",
finalmsg="please check :constants and :objects definitions")
init.extend(pddl.Atom(EQ, (obj.name, obj.name)) for obj in objects)
task = pddl.Task(domain_name, task_name, requirements, types, objects,
predicates, functions, init, goal, actions, axioms, use_metric)
normalize.normalize(task)
return task