def from_action(action, args):
result = []
cond = visitors.visit(action.precondition, visitors.collect_conditions, [])
conditions = [state.Fact.from_literal(c) for c in cond if pddl.utils.get_function(c) != pddl.builtin.equals ]
costs = action.get_total_cost()
costs = costs.value if costs is not None else 1
for eff in visitors.visit(action.effect, visitors.collect_effects, []):
e = state.Fact.from_literal(eff)
result.append(UnaryOp(action, args, conditions, e, costs))
return result
def get_goals(prob):
cond = visitors.visit(prob.goal, visitors.collect_conditions, [])
init = state.State.from_problem(prob)
for c in cond:
f = state.Fact.from_literal(c)
if f not in init:
yield f
def compute_action_preconds(self):
self.precond_lookup = {}
for a in self.domain.actions:
self.precond_lookup[a] = {}
cond = visitors.visit(a.precondition, visitors.collect_conditions, [])
for c in cond:
if (pddl.utils.get_function(c) == pddl.builtin.equals):
continue
f, args, _, _, val = state.StateVariable.svar_args_from_literal(c)
mapping = []
for arg in chain(args, [val]):
if isinstance(arg, pddl.ConstantTerm):
mapping.append(arg.object)
else:
mapping.append(a.args.index(arg.object))
self.precond_lookup[a][f] = mapping
def goals_from_action(cls, context, action):
result = []
effects = visitors.visit(action.effect, visitors.collect_effects, [])
# logger2.debug("\033[92m action: %s\033[0m", map(str, effects))
# print "\033[92m action: ", map(str, action), "\033[0m"
args = set()
for e in effects:
args |= set(e.visit(visitors.collect_free_vars))
# print "goals from action: ", map(str, args)
arg_partitions = []
used_args = []
for a in action.args:
if a in args:
p = partitions.Partition.get_initial_partition(a.type, context.refs).expand_unique()
arg_partitions.append(p.children[0])
# print "children: ", p.children[0].text()
# print "arg_partition: ", map(str, arg_partitions)
used_args.append(a)
goal = cls(context, action, effects, arg_partitions, used_args, initial=True)
return [goal]
def get_inst_func(action, reachable, init, static):
from pddllib.pddl.functions import FunctionTerm, FunctionVariableTerm, VariableTerm
from pddllib.pddl import builtin
def args_visitor(term, results):
if isinstance(term, FunctionTerm):
return sum(results, [])
return [term]
cond_by_arg = defaultdict(set)
free_args = {}
def subcond_visitor(cond, result):
for arg in cond.free():
cond_by_arg[arg].add(cond)
if isinstance(cond, conditions.LiteralCondition):
free_args[cond] = cond.free()
condition = action.precondition
visitors.visit(condition, subcond_visitor)
prev_mapping = {}
checked = set()
def inst_func(mapping, args):
next_candidates = []
if checked:
for k,v in prev_mapping.iteritems():
if mapping.get(k, None) != v:
checked.difference_update(cond_by_arg[k])
prev_mapping.update(mapping)
def instantianteAndCheck(cond, combinations, func):
for c in combinations:
with cond.instantiate(dict(zip(cond.args, c)), init.problem):
result = func()
yield result
#print [a.name for a in mapping.iterkeys()]
forced = []
def check(cond):
def is_instantiated_function(term):
return type(term) == FunctionTerm or (type(term) == FunctionVariableTerm and term.is_instantiated())
if not cond or cond in checked:
return True
if isinstance(cond, conditions.LiteralCondition):
if cond.predicate == builtin.equals and is_instantiated_function(cond.args[0]) and isinstance(cond.args[1], VariableTerm):
v = cond.args[-1]
if all(a.is_instantiated() for a in cond.args[0].args if isinstance(a, VariableTerm)) and isinstance(v, VariableTerm) and not v.is_instantiated():
f = pddl.utils.get_function(cond)
if f in static:
# propagate only static relations
svar = state.StateVariable.from_literal(cond, init)
forced.append((v.object, init[svar], cond))
if all(a.is_instantiated() for a in free_args[cond]):
if (pddl.utils.get_function(cond) == pddl.builtin.equals):
#logger2.debug("c1: %s", cond.args[0].get_instance())
#logger2.debug("c2: %s", cond.args[1].get_instance())
if (cond.args[0].get_instance() == cond.args[1].get_instance()) ^ cond.negated:
#logger2.debug(str(cond))
# print cond.pddl_str(), "passed"
checked.add(cond)
return True
# print cond.pddl_str(), "failed", cond.args[0], cond.args[1]
return False
#FIXME: this will break nested functions
fact = state.Fact.from_literal(cond, init)
#FIXME: does not support axioms at this point
# exst = init.get_extended_state([fact.svar])
# print "checking ",fact
if isinstance(fact.svar.function, pddl.Predicate) and fact.value == pddl.FALSE:
#FIXME: handle negative preconditions that are true in the initial state
pass
elif fact not in reachable:
# print "not in reachable"
return False
checked.add(cond)
# logger2.debug("called: %s", fact)
return True
else:
next_candidates.append([a for a in free_args[cond] if not a.is_instantiated()])
elif isinstance(cond, conditions.Conjunction):
results = [check(c) for c in cond.parts]
#logger2.debug(map(str, cond.parts))
#logger2.debug(map(str, results))
if any(c == False for c in results):
return False
if all(c == True for c in results):
checked.add(cond)
return True
elif isinstance(cond, conditions.Disjunction):
results = [check(c) for c in cond.parts]
if any(c == True for c in results):
checked.add(cond)
return True
if all(c == False for c in results):
return False
elif isinstance(cond, conditions.QuantifiedCondition):
combinations = product(*map(lambda a: list(init.problem.get_all_objects(a.type)), cond.args))
results = list(instantianteAndCheck(cond, combinations, lambda: check(cond.condition)))
if isinstance(cond, conditions.Conjunction):
if any(c == False for c in results):
return False
if all(c == True for c in results):
checked.add(cond)
return True
elif isinstance(cond, conditions.ExistentialCondition):
if any(c == True for c in results):
checked.add(cond)
return True
if all(c == False for c in results):
return False
else:
assert False
return None
result = check(condition)
# if (action.name == "approach"):
# logger2.debug("%s, %s", map(str, condition.parts), result)
if result == True:
checked.add(condition)
# print action.name, "accept:", [a.get_instance().name for a in args]
return True, None
elif result == False:
# print action.name, "reject:", [a.get_instance().name for a in args]
return None, None
if forced:
svar, val, lit = forced[0]
checked.add(lit)
# print "Forced %s = %s" % (str(svar), val.name)
return (svar, val)
if next_candidates:
next_candidates = sorted(next_candidates, key=lambda l: len(l))
# print "Next:", next_candidates[0][0]
return next_candidates[0][0], None
# print self, [a.get_instance().name for a in args]
return True, None
return inst_func
def compute_reachable(self):
logger2.debug("Compute Reachable")
static_functions = set(chain(self.domain.functions, self.domain.predicates))
for a in self.domain.actions:
for eff in visitors.visit(a.effect, visitors.collect_effects, []):
static_functions.discard(pddl.utils.get_function(eff))
triggered_actions = {a : set() for a in self.domain.actions}
def trigger_action(f):
for a in self.domain.actions:
if f.svar.function not in self.precond_lookup[a]:
continue
mapping = self.precond_lookup[a][f.svar.function]
fargs = f.all_args()
mismatch = False
objects = [None]*len(a.args)
for fa, m in zip(fargs, mapping):
if isinstance(m, pddl.TypedObject):
if fa != m:
mismatch = True
break
else:
objects[m] = fa
if not mismatch:
triggered_actions[a].add(tuple(objects))
prev_triggered = None
def get_triggers(action):
if prev_triggered is None:
return [(None,)*len(action.args)]
return prev_triggered[action]
self.props = {}
self.ops = []
reached_actions = set()
reachable = set(self.init.iterfacts())
for f in reachable:
self.props[f] = Proposition(f, [])
changed = True
t0 = time.time()
while changed:
# logger2.debug("reachable: %s", map(str, reachable))
t1 = time.time()
changed = False
for action in self.domain.actions:
# logger2.debug(action.name)
inst_func = get_inst_func(action, reachable, self.init, static_functions)
for trigger in get_triggers(action):
all_args = [list(self.problem.get_all_objects(a.type)) if ta is None else [ta] for a, ta in zip(action.args, trigger)]
# logger2.debug("- %s, %s, %s", action.name, map(lambda x: map(str,x), all_args), map(str, action.args))
for m in action.smart_instantiate(inst_func, action.args, all_args, self.problem):
args = tuple(m[a] for a in action.args)
key = (action.name, args)
# if action.name == "approach":
# logger2.debug("%s, %s, %d", key[0], map(str, key[1]), key not in reached_actions)
# for x, y in reached_actions:
# logger2.debug("-- %s, %s", x, map(str, y))
if key not in reached_actions:
reached_actions.add(key)
# if action.name == "approach":
# logger2.debug("%s, %s", action.name, map(str, args))
# logger2.debug(map(str, UnaryOp.from_action(action, args)))
for op in UnaryOp.from_action(action, args):
self.ops.append(op)
# logger2.debug("check: %s, %s", action.name, op.effect)
if op.effect not in reachable:
# logger2.debug("add: %s, %s", action.name, op.effect)
# print "**", op.effect
changed = True
# trigger_action(op.effect)
reachable.add(op.effect)
self.props[op.effect] = Proposition(op.effect, [])
op.effect = self.props[op.effect]
for c in op.conditions:
if c not in self.props:
assert isinstance(c.svar.function, pddl.Predicate) and c.value == pddl.FALSE
self.props[c] = Proposition(c, [])
self.props[c].children.append(op)
# prev_triggered = triggered_actions
# triggered_actions = {a : set() for a in self.domain.actions}
logger.debug("iteration: %f", (time.time()-t1))
logger2.debug("exploration: %f", (time.time()-t0))
logger2.debug("num reachable: %f", (len(reachable) - len(self.init)))
self.facts = list(self.props.itervalues())
self.reachable = reachable
def calculate_reachability(self):
for a in self.problem.domain.actions:
for eff in visitors.visit(a.effect, visitors.collect_effects, []):
self.mutable_functions.add(pddl.utils.get_function(eff))
def __init__(self, context, action, effects, args, used_arguments, initial=False):
ActionGoal.__init__(self, context, action, effects, args, used_arguments, initial)
self.preconditions = visitors.visit(action.precondition, visitors.collect_conditions, [])
