def ground(problem, agent, subjects, logic, exp_signs=None):
domain = problem.domain
actions = domain.actions.values()
predicates = domain.predicates.values()
constraints = problem.constraints
# Objects
objects = problem.objects
objects.update(domain.constants)
logging.debug('Objects:\n%s' % objects)
# Remove old type_map
if exp_signs:
objects = _update_exp_signs(exp_signs, objects)
# Create a map from types to objects
type_map = _create_type_map(objects)
logging.debug("Type to object map:\n%s" % type_map)
# Create type subtype map
subtype_map = _create_subtype(domain.types)
obj_signifs = {}
obj_means = {}
events = []
# Sign world model
if exp_signs:
signs = exp_signs
finish = exp_signs[[
key for key in exp_signs.keys() if "finish" in key
][0]]
finish_cm = finish.meanings.get(1)
for event in finish_cm.cause:
for connector in event.coincidences:
if not connector.in_sign == finish:
events.append(event)
I_sign = signs['I']
They_sign = signs['They']
obj_means[I_sign] = I_sign.meanings[1]
obj_signifs[I_sign] = I_sign.significances[1]
obj_means[They_sign] = They_sign.meanings[1]
obj_signifs[They_sign] = They_sign.significances[1]
else:
signs = {}
I_sign = Sign("I")
They_sign = Sign("They")
obj_means[I_sign] = I_sign.add_meaning()
obj_signifs[I_sign] = I_sign.add_significance()
signs[I_sign.name] = I_sign
obj_means[They_sign] = They_sign.add_meaning()
obj_signifs[They_sign] = They_sign.add_significance()
signs[They_sign.name] = They_sign
for obj in objects:
obj_sign = Sign(obj)
obj_signifs[obj] = obj_sign.add_significance()
obj_means[obj] = obj_sign.add_meaning()
signs[obj] = obj_sign
if obj_sign.name == agent:
connector = obj_signifs[obj].add_feature(obj_signifs[I_sign],
zero_out=True)
I_sign.add_out_significance(connector)
for tp, objects in type_map.items():
if exp_signs:
tp_sign = signs[tp.name]
else:
tp_sign = Sign(tp.name)
for obj in objects:
obj_signif = obj_signifs[obj]
tp_signif = tp_sign.add_significance()
connector = tp_signif.add_feature(obj_signif, zero_out=True)
signs[obj].add_out_significance(connector)
if not exp_signs:
signs[tp.name] = tp_sign
for sub in subjects:
if sub != agent:
if not They_sign in signs[sub].significances[1]:
connector = signs[sub].significances[1].add_feature(
obj_signifs[They_sign], zero_out=True)
They_sign.add_out_significance(connector)
if not exp_signs:
updated_predicates = _update_predicates(predicates, actions)
signify_predicates(predicates, updated_predicates, signs, subtype_map)
signify_actions(actions, constraints, signs, agent, events, obj_means)
signify_connection(signs)
start_situation, pms = _define_situation('*start*', problem.initial_state,
signs, events)
goal_situation, pms = _define_situation('*finish*', problem.goal, signs,
events)
if problem.name.startswith("blocks"):
list_signs = task_signs(problem)
_expand_situation_ma_blocks(goal_situation, signs, pms,
list_signs) # For task
elif problem.name.startswith("logistics"):
_expand_situation_ma_logistics(goal_situation, signs, pms)
return Task(problem.name, signs, constraints, start_situation,
goal_situation, logic, None, None, None)
def signify_connection(signs):
Send = Sign("Send")
send_signif = Send.add_significance()
Broadcast = Sign("Broadcast")
brdct_signif = Broadcast.add_significance()
connector = brdct_signif.add_feature(send_signif)
Send.add_out_significance(connector)
Approve = Sign("Approve")
approve_signif = Approve.add_significance()
connector = approve_signif.add_feature(send_signif)
Send.add_out_significance(connector)
signs[Send.name] = Send
signs[Broadcast.name] = Broadcast
signs[Approve.name] = Approve
They_sign = signs["They"]
agents = They_sign.spread_up_activity_obj("significance", 1)
agents_type = []
for agent in agents:
agents_type.append({
cm.sign
for cm in agent.sign.spread_up_activity_obj("significance", 1)
})
types = []
if agents_type:
types = [
t for t in reduce(lambda x, y: x & y, agents_type)
if t != signs["object"]
]
if types and len(agents):
type = types[0]
else:
type = signs["I"]
They_signif = They_sign.add_significance()
brdct_signif = Broadcast.add_significance()
connector = They_signif.add_feature(brdct_signif)
Broadcast.add_out_significance(connector)
type_signif = type.add_significance()
approve_signif = Approve.add_significance()
# They_signif = They_sign.add_significance()
connector = type_signif.add_feature(approve_signif)
Approve.add_out_significance(connector)
brdct_signif = Broadcast.add_significance()
executer = brdct_signif.add_execution(Broadcast.name.lower(), effect=True)
Send.add_out_significance(executer)
approve_signif = Approve.add_significance()
executer = approve_signif.add_execution(Approve.name.lower(), effect=True)
Send.add_out_significance(executer)
def ground(map_file, object_types, agent):
"""
:param
:return: Task
"""
# map recognition
region_map, cell_map, cell_location = map_recogn(map_file, object_types,
agent)
obj_signifs = {}
obj_means = {}
signs = {}
#I, They signs
I_sign = Sign("I")
They_sign = Sign("They")
obj_signifs[I_sign] = I_sign.add_significance()
signs[I_sign.name] = I_sign
obj_signifs[They_sign] = They_sign.add_significance()
signs[They_sign.name] = They_sign
# create sign map and matrix
Map_sign = Sign("Map")
obj_signifs[Map_sign] = Map_sign.add_significance()
signs[Map_sign.name] = Map_sign
# create regions signs and matrixes
Region_sign = Sign("Region")
region_signif = Region_sign.add_significance()
obj_signifs[Region_sign] = region_signif
signs[Region_sign.name] = Region_sign
regions = []
for role in ('?X', '?Y', '?Z'):
Region_signs = Sign('Region' + role)
regions.append(Region_signs)
role_signif = Region_signs.add_significance()
obj_signifs[Region_signs] = role_signif
signs[Region_signs.name] = Region_signs
connector = role_signif.add_feature(region_signif, zero_out=True)
Region_sign.add_out_significance(connector)
for region in region_map:
Regions_sign = Sign(region)
obj_signifs[Regions_sign] = Regions_sign.add_significance()
signs[Regions_sign.name] = Regions_sign
Region_signif = Region_sign.add_significance()
connector = Region_signif.add_feature(obj_signifs[Regions_sign],
zero_out=True)
Regions_sign.add_out_significance(connector)
# create cell signs and matrixes
Cell_sign = Sign("Cell")
obj_signifs[Cell_sign] = Cell_sign.add_significance()
signs[Cell_sign.name] = Cell_sign
Cellx_sign = Sign("Cell?X")
obj_signifs[Cellx_sign] = Cellx_sign.add_significance()
signs[Cellx_sign.name] = Cellx_sign
Celly_sign = Sign("Cell?Y")
obj_signifs[Celly_sign] = Celly_sign.add_significance()
signs[Celly_sign.name] = Celly_sign
Celly_signif = Celly_sign.add_significance()
con = Celly_signif.add_feature(obj_signifs[Cell_sign], zero_out=True)
Cell_sign.add_out_significance(con)
for cell, value in cell_map.items():
Cells_sign = Sign(cell)
obj_signifs[Cells_sign] = Cells_sign.add_significance()
signs[Cells_sign.name] = Cells_sign
Cell_signif = Cell_sign.add_significance()
connector = Cell_signif.add_feature(obj_signifs[Cells_sign],
zero_out=True)
Cells_sign.add_out_significance(connector)
if agent in value:
Cellx_signif = Cellx_sign.add_significance()
con = Cellx_signif.add_feature(obj_signifs[Cells_sign],
zero_out=True)
Cells_sign.add_out_significance(con)
# create objects signs
Object_sign = Sign('Object')
obj_signifs[Object_sign] = Object_sign.add_significance()
signs[Object_sign.name] = Object_sign
obj_signs = []
Block_sign = Sign('Block')
obj_signs.append(Block_sign)
Obstacle_sign = Sign('Obstacle')
obj_signs.append(Obstacle_sign)
Border_sign = Sign('Border')
obj_signs.append(Border_sign)
Nothing_sign = Sign('Nothing')
obj_signs.append(Nothing_sign)
Agent_sign = Sign('Agent')
obj_signs.append(Agent_sign)
Table_sign = Sign('Table')
obj_signs.append(Table_sign)
for s in obj_signs:
obj_signifs[s] = s.add_significance()
signs[s.name] = s
Object_sign_signif = Object_sign.add_significance()
connector = Object_sign_signif.add_feature(obj_signifs[s],
zero_out=True)
s.add_out_significance(connector)
dirs = []
Direction_sign = Sign('Direction')
dirs.append(Direction_sign)
obj_signifs[Direction_sign] = Direction_sign.add_significance()
signs[Direction_sign.name] = Direction_sign
Direction_start = Sign('Dir-start')
dirs.append(Direction_start)
Dir_signif = Direction_start.add_significance()
obj_signifs[Direction_start] = Dir_signif
signs[Direction_start.name] = Direction_start
connector = Dir_signif.add_feature(obj_signifs[Direction_sign],
zero_out=True)
Direction_sign.add_out_significance(connector)
Direction_finish = Sign('Dir-finish')
dirs.append(Direction_finish)
Dir_signif = Direction_finish.add_significance()
obj_signifs[Direction_finish] = Dir_signif
signs[Direction_finish.name] = Direction_finish
connector = Dir_signif.add_feature(obj_signifs[Direction_sign],
zero_out=True)
Direction_sign.add_out_significance(connector)
directions = [
'Above', 'Below', 'Left', 'Right', 'Above-left', 'Above-right',
'Below-left', 'Below-right'
]
for dir in directions:
dir_sign = Sign(dir)
dir_signif = dir_sign.add_significance()
obj_signifs[dir_sign] = dir_signif
signs[dir_sign.name] = dir_sign
Direction_signif = Direction_sign.add_significance()
connector = Direction_signif.add_feature(dir_signif, zero_out=True)
dir_sign.add_out_significance(connector)
distance = []
# locate objects: include
Include_sign = Sign('Include')
distance.append(Include_sign)
signs[Include_sign.name] = Include_sign
obj_signifs[Include_sign] = Include_sign.add_significance()
for obj in obj_signs:
Include_signif = Include_sign.add_significance()
connector = Include_signif.add_feature(obj_signifs[Region_sign],
effect=False,
zero_out=True)
Region_sign.add_out_significance(connector)
connector = Include_signif.add_feature(obj_signifs[obj],
effect=True,
zero_out=True)
obj.add_out_significance(connector)
#TODO test random cell generation place
for region, cells in cell_location.items():
region_sign = signs[region]
for cell in cells:
Include_signif = Include_sign.add_significance()
connector = Include_signif.add_feature(obj_signifs[region_sign],
effect=False,
zero_out=True)
region_sign.add_out_significance(connector)
cell_sign = signs[cell]
connector = Include_signif.add_feature(obj_signifs[cell_sign],
effect=True,
zero_out=True)
cell_sign.add_out_significance(connector)
#include cellX cellY
Include_X_signif = Include_sign.add_significance()
connector = Include_X_signif.add_feature(obj_signifs[Region_sign],
effect=False,
zero_out=True)
Region_sign.add_out_significance(connector)
connector = Include_X_signif.add_feature(obj_signifs[Cellx_sign],
effect=True,
zero_out=True)
Cellx_sign.add_out_significance(connector)
Include_Y_signif = Include_sign.add_significance()
connector = Include_Y_signif.add_feature(obj_signifs[Region_sign],
effect=False,
zero_out=True)
Region_sign.add_out_significance(connector)
connector = Include_Y_signif.add_feature(obj_signifs[Celly_sign],
effect=True,
zero_out=True)
Celly_sign.add_out_significance(connector)
# locate objects: contain
ag_cell = []
Contain_sign = Sign('Contain')
contain_signif = Contain_sign.add_significance()
obj_signifs[Contain_sign] = contain_signif
for cell, objs in cell_map.items():
cell_sign = signs[cell]
if len(objs) > 1 and 0 in objs:
for obj in objs:
if obj != 0:
contain_signif = Contain_sign.add_significance()
connector = contain_signif.add_feature(
obj_signifs[cell_sign], effect=False, zero_out=True)
cell_sign.add_out_significance(connector)
if obj in signs:
obj_sign = signs[obj]
else:
obj_sign = Sign(obj)
if 'agent' in obj:
ag_cell.append(cell)
signs[obj_sign.name] = obj_sign
obj_signifs[obj_sign] = obj_sign.add_significance()
obj_role = obj.title()[:-1]
role_names = [s.name for s in obj_signs]
if obj_role in role_names:
obj_role_sign = signs[obj_role]
orss = obj_role_sign.add_significance()
con = orss.add_feature(obj_signifs[obj_sign],
zero_out=True)
obj_sign.add_out_significance(con)
connector = contain_signif.add_feature(
obj_signifs[obj_sign], effect=True, zero_out=True)
obj_sign.add_out_significance(connector)
else:
contain_signif = Contain_sign.add_significance()
connector = contain_signif.add_feature(obj_signifs[cell_sign],
effect=False,
zero_out=True)
cell_sign.add_out_significance(connector)
connector = contain_signif.add_feature(obj_signifs[Nothing_sign],
effect=True,
zero_out=True)
Nothing_sign.add_out_significance(connector)
# closely
Closely_sign = Sign('Closely')
distance.append(Closely_sign)
signs[Closely_sign.name] = Closely_sign
Closely_signif = Closely_sign.add_significance()
obj_signifs[Closely_sign] = Closely_signif
# locate cells: closely
Closely_cells_signif = Closely_sign.add_significance()
connector = Closely_cells_signif.add_feature(obj_signifs[Cellx_sign])
Cellx_sign.add_out_significance(connector)
connector = Closely_cells_signif.add_feature(obj_signifs[Celly_sign])
Celly_sign.add_out_significance(connector)
# locate regions: closely
combinations = list(itertools.combinations(regions, 2))
closely_regions = []
for combination in combinations:
Closely_signif = Closely_sign.add_significance()
closely_regions.append(Closely_signif)
connector = Closely_signif.add_feature(obj_signifs[combination[0]])
combination[0].add_out_significance(connector)
connector = Closely_signif.add_feature(obj_signifs[combination[1]])
combination[1].add_out_significance(connector)
# locate cell and regions: closely
closely_regcells = []
for reg in regions:
Closely_signif = Closely_sign.add_significance()
closely_regcells.append(Closely_signif)
connector = Closely_signif.add_feature(obj_signifs[Cellx_sign])
Cellx_sign.add_out_significance(connector)
connector = Closely_signif.add_feature(obj_signifs[reg])
reg.add_out_significance(connector)
for reg in regions:
Closely_signif = Closely_sign.add_significance()
closely_regcells.append(Closely_signif)
connector = Closely_signif.add_feature(obj_signifs[Celly_sign])
Celly_sign.add_out_significance(connector)
connector = Closely_signif.add_feature(obj_signifs[reg])
reg.add_out_significance(connector)
# nearly
Nearly_sign = Sign('Nearly')
distance.append(Nearly_sign)
signs[Nearly_sign.name] = Nearly_sign
Nearly_signif = Nearly_sign.add_significance()
obj_signifs[Nearly_sign] = Nearly_signif
# locate cell and regions: nearly
cell_y_reg = [
cm for cm in closely_regcells if Celly_sign in cm.get_signs()
]
for cm in cell_y_reg:
Nearly_signif = Nearly_sign.add_significance()
con = Nearly_signif.add_feature(Closely_cells_signif)
Closely_sign.add_out_significance(con)
conn = Nearly_signif.add_feature(cm)
Closely_sign.add_out_significance(conn)
# locate regions: nearly
Nearly_signif_reg = Nearly_sign.add_significance()
Region_X_sign = signs['Region?X']
Region_Y_sign = signs['Region?Y']
Region_Z_sign = signs['Region?Z']
closely_XZ = [
cm for cm in closely_regions
if Region_X_sign in cm.get_signs() and Region_Z_sign in cm.get_signs()
][0]
closely_ZY = [
cm for cm in closely_regions
if Region_Z_sign in cm.get_signs() and Region_Y_sign in cm.get_signs()
][0]
con = Nearly_signif_reg.add_feature(closely_XZ)
Closely_sign.add_out_significance(con)
conn = Nearly_signif_reg.add_feature(closely_ZY)
Closely_sign.add_out_significance(conn)
# faraway
Faraway_sign = Sign('Faraway')
distance.append(Faraway_sign)
signs[Faraway_sign.name] = Faraway_sign
obj_signifs[Faraway_sign] = Faraway_sign.add_significance()
Faraway_signif = Faraway_sign.add_significance()
con = Faraway_signif.add_feature(Nearly_signif_reg)
Nearly_sign.add_out_significance(con)
conn = Faraway_signif.add_feature(Include_X_signif)
Nearly_sign.add_out_significance(conn)
# distance
Distance_sign = Sign('Distance')
signs[Distance_sign.name] = Distance_sign
Distance_signif = Distance_sign.add_significance()
obj_signifs[Distance_sign] = Distance_signif
for dist in distance:
Distance_signif = Distance_sign.add_significance()
connector = Distance_signif.add_feature(obj_signifs[dist])
dist.add_out_significance(connector)
# location
Location_sign = Sign('Location')
signs[Location_sign.name] = Location_sign
obj_signifs[Location_sign] = Location_sign.add_significance()
for dir in dirs:
Location_signif = Location_sign.add_significance()
conn = Location_signif.add_feature(obj_signifs[Distance_sign],
effect=False)
Distance_sign.add_out_significance(conn)
con = Location_signif.add_feature(obj_signifs[dir], effect=True)
dir.add_out_significance(con)