def create_pr(self, file_object_or_name, parent_pr, resume_from):
self.pddlToOpt = settings.pddlToOpt(self.env)
self.pr = PlanRefinement(self.env, self.pddlToOpt)
if type(file_object_or_name) is str:
file_obj = open(file_object_or_name)
else:
file_obj = file_object_or_name
functions = self._parse(file_obj)
for lineno, instruction in enumerate(functions):
action_name = instruction["name"] + "(" + ", ".join(instruction['args']) + ")"
if lineno < resume_from:
raise Exception("Should never happen because resumeFrom = 0!")
# print "Adding Static: {}".format(action_name)
# self.pr.add_action(parent_pr.action_list[lineno].make_static_copy())
# self.pr.add_parent_action(lineno, parent_pr.action_list[lineno])
self.pr.add_action(*(lineno, instruction['method']) + tuple(instruction['args']))
else:
print "Adding: {}".format(action_name)
# instruction['method'](*(lineno,) + tuple(instruction['args']))
self.pr.add_action(*(lineno, instruction['method']) + tuple(instruction['args']))
return self.pr
class PRCreator(object):
def __init__(self, env):
self.env = env
self.putdown_mode = "PDP"
def create_pr(self, file_object_or_name, parent_pr, resume_from):
self.pddlToOpt = settings.pddlToOpt(self.env)
self.pr = PlanRefinement(self.env, self.pddlToOpt)
if type(file_object_or_name) is str:
file_obj = open(file_object_or_name)
else:
file_obj = file_object_or_name
functions = self._parse(file_obj)
for lineno, instruction in enumerate(functions):
action_name = instruction["name"] + "(" + ", ".join(instruction['args']) + ")"
if lineno < resume_from:
raise Exception("Should never happen because resumeFrom = 0!")
# print "Adding Static: {}".format(action_name)
# self.pr.add_action(parent_pr.action_list[lineno].make_static_copy())
# self.pr.add_parent_action(lineno, parent_pr.action_list[lineno])
self.pr.add_action(*(lineno, instruction['method']) + tuple(instruction['args']))
else:
print "Adding: {}".format(action_name)
# instruction['method'](*(lineno,) + tuple(instruction['args']))
self.pr.add_action(*(lineno, instruction['method']) + tuple(instruction['args']))
return self.pr
def _uniqueify_symbols_in_line(self, stripped_line):
stripped_line += " " # to make replacing easier
matches = re.findall("GP_([A-Z0-9]*)", stripped_line)
if matches:
for obj in matches:
curr_count = self.pr.gp_counters.setdefault(obj, 0)
stripped_line = stripped_line.replace("GP_%s "%(obj), "GP_%s_%d "%(obj, curr_count))
matches = re.findall("GRASP_([A-Z0-9]*)", stripped_line)
if matches:
for obj in matches:
curr_count = self.pr.grasp_counters.setdefault(obj, 0)
stripped_line = stripped_line.replace("GRASP_%s "%(obj), "GRASP_%s_%d "%(obj, curr_count))
matches = re.findall("%s_(\w*)"%self.putdown_mode, stripped_line)
if matches:
for obj in matches:
curr_count = self.pr.pdp_counters.setdefault(obj, 0)
stripped_line = stripped_line.replace("%s_%s "%(self.putdown_mode, obj), "%s_%s_%d "%(self.putdown_mode, obj, curr_count))
stripped_line = stripped_line[:-1]
match = re.search("PICK \w* \w* GP_([A-Z0-9]*)", stripped_line)
if match:
gp = match.groups()[0]
self.pr.gp_counters[gp] = self.pr.gp_counters.setdefault(gp, 0) + 1
match = re.search("PLACE \w* \w* PDP_([A-Z0-9]*_[A-Z0-9]*)\w* GRASP_([A-Z0-9]*)", stripped_line)
if match:
pdp, grasp = match.groups()
self.pr.pdp_counters[pdp] = self.pr.pdp_counters.setdefault(pdp, 0) + 1
self.pr.grasp_counters[grasp] = self.pr.grasp_counters.setdefault(grasp, 0) + 1
# moveto start pose correction
match = re.search("MOVE\w* (\w+_\d+) \w+", stripped_line)
if match:
pose = match.groups()[0]
correction = max(int(pose.split("_")[-1]) - 1, 0)
new_pose = pose[:pose.rfind("_")] + "_" + str(correction)
stripped_line = stripped_line.replace(pose, new_pose)
return stripped_line
def _parse(self, file_obj):
functions = []
for l in file_obj:
function = {}
stripped_line = l.strip(" \t\n")
if stripped_line.startswith('#'):
continue
if len(stripped_line) < 2:
continue
stripped_line = self._uniqueify_symbols_in_line(stripped_line)
tokens_list = stripped_line.split(" ")[1:] # skip instruction number
parsed_fn_name = tokens_list[0].lower()
# if 'move' in parsed_fn_name:
# splitted = parsed_fn_name.split("_")
# if len(splitted) == 4:
# parsed_fn_name = "_".join([splitted[0], splitted[3]])
# else:
# parsed_fn_name = "moveto"
# fn_name = "_add_action_" + parsed_fn_name
# method = getattr(self, fn_name, None)
fn_name = parsed_fn_name
method = getattr(self.pddlToOpt, fn_name, None)
if method is None:
raise TypeError("No method called %s" % (parsed_fn_name))
function['name'] = parsed_fn_name
function['method'] = method
function['args'] = []
num_args = len(inspect.getargspec(method).args[1:]) # remove self
default_args = inspect.getargspec(method).defaults
if default_args is not None:
num_args -= len(default_args) # remove default args
num_variables = len(tokens_list[1:]) # remove function name
# num_variables += 1 # also passing in lineno
num_variables += 4 # also passing in lineno, pr, env, robot
if num_args > num_variables:
raise TypeError("Wrong arguments for %s, expected %d, got %d" % (
fn_name, num_args, num_variables))
args = (t.strip("\n")
for t in tokens_list[1:] if len(t) > 0)
for arg in args:
#grasping location ignored!
if arg.startswith("gp_"):
pass
function['args'].append(arg.lower())
functions.append(function)
return functions
