def parse_problem(problem, stream_info={}, constraints=None, unit_costs=False, unit_efforts=False):
# TODO: just return the problem if already written programmatically
#reset_globals() # Prevents use of satisfaction.py
domain_pddl, constant_map, stream_pddl, stream_map, init, goal = problem
domain = parse_domain(domain_pddl)
#domain = domain_pddl
if not isinstance(domain, Domain):
#assert isinstance(domain, str) # raw PDDL is returned
obj_from_constant = {name: Object(value, name=name)
for name, value in constant_map.items()}
streams = parse_stream_pddl(stream_pddl, stream_map, stream_info=stream_info,
unit_costs=unit_costs, unit_efforts=unit_efforts)
evaluations = evaluations_from_init(init)
goal_exp = obj_from_value_expression(goal)
return evaluations, goal_exp, domain, streams
if len(domain.types) != 1:
raise NotImplementedError('Types are not currently supported')
if unit_costs:
set_unit_costs(domain)
obj_from_constant = parse_constants(domain, constant_map)
streams = parse_stream_pddl(stream_pddl, stream_map, stream_info=stream_info,
unit_costs=unit_costs, unit_efforts=unit_efforts)
check_problem(domain, streams, obj_from_constant)
evaluations = evaluations_from_init(init)
goal_exp = obj_from_value_expression(goal)
#normalize_domain_goal(domain, goal_expression)
goal_exp = add_plan_constraints(constraints, domain, evaluations, goal_exp)
parse_goal(goal_exp, domain) # Just to check that it parses
# TODO: refactor the following?
compile_to_exogenous(evaluations, domain, streams)
enforce_simultaneous(domain, streams)
compile_fluent_streams(domain, streams)
return evaluations, goal_exp, domain, streams
def parse_problem(problem,
stream_info={},
constraints=None,
unit_costs=False,
unit_efforts=False):
# TODO: just return the problem if already written programmatically
#reset_globals() # Prevents use of satisfaction.py
domain_pddl, constant_map, stream_pddl, stream_map, init, goal = problem
domain = parse_domain(domain_pddl) # TODO: normalize here
#domain = domain_pddl
if len(domain.types) != 1:
raise NotImplementedError('Types are not currently supported')
if unit_costs:
set_unit_costs(domain)
if not has_costs(domain):
# TODO: set effort_weight to 1 if no costs
print(
'Warning! All actions have no cost. Recommend setting unit_costs=True'
)
obj_from_constant = parse_constants(
domain, constant_map) # Keep before parse_stream_pddl
streams = parse_stream_pddl(stream_pddl,
stream_map,
stream_info=stream_info,
unit_costs=unit_costs,
unit_efforts=unit_efforts)
check_problem(domain, streams, obj_from_constant)
evaluations = evaluations_from_init(init)
goal_exp = obj_from_value_expression(goal)
if isinstance(domain, SimplifiedDomain):
#assert isinstance(domain, str) # raw PDDL is returned
_ = {
name: Object(value, name=name)
for name, value in constant_map.items()
}
return evaluations, goal_exp, domain, streams
goal_exp = add_plan_constraints(constraints, domain, evaluations, goal_exp)
parse_goal(goal_exp, domain) # Just to check that it parses
normalize_domain_goal(domain,
goal_exp) # TODO: does not normalize goal_exp
compile_to_exogenous(evaluations, domain, streams)
return evaluations, goal_exp, domain, streams
def create_simplified_problem(problem,
use_actions=False,
use_streams=False,
new_goal=None):
# TODO: check whether goal is a conjunction
domain_pddl, constant_map, stream_pddl, stream_map, init, goal_parts = problem
if not use_streams:
stream_pddl = None
if new_goal is None:
new_goal = goal_parts
domain = parse_domain(
domain_pddl
) # TODO: Constant map value @base not mentioned in domain :constants
if not use_actions:
domain.actions[:] = [] # No actions
return PDDLProblem(domain, constant_map, stream_pddl, stream_map, init,
new_goal)