def add_object(self, obj):
assert isinstance(obj, Constant)
#assert obj.type in self.type_to_objects
self.add_type(obj.type)
if obj in self.type_to_objects[obj.type]:
return False
self.new_problem = True
self.name_to_object[obj.name] = obj
self.type_to_objects[obj.type].add(obj)
if obj in self.object_to_type:
raise RuntimeError('Cannot share objects across types: %s vs %s' %
(obj.type, self.object_to_type[obj]))
assert obj not in self.object_to_type #
self.object_to_type[obj] = obj.type
if self.use_ground and not isinstance(obj, AbstractConstant):
self.add_initial_atom(Concrete(obj))
if self.make_stream_instances and obj.type in self.cond_params:
for cs, param in self.cond_params[obj.type]:
con_values = [
self.predicate_to_atoms[cond.predicate]
for cond in cs.conditions
]
param_values = [
self.type_to_objects.get(other.type, [])
if param != other else [obj] for other in cs.free_params
]
for param_map in parameter_product(cs.conditions, con_values,
cs.free_params,
param_values):
combo = tuple(param_map[p] for p in cs.inputs)
if combo not in cs.streams: # Happens when an object is used twice
self.add_stream(cs, combo)
if self.make_action_instances and obj.type in self.act_params:
for act, param in self.act_params[obj.type]:
con_values = [
self.predicate_to_atoms[cond.predicate]
for cond in self.act_stream_conditions[act]
]
param_values = [
self.type_to_objects.get(other.type, [])
if param != other else [obj]
for other in self.act_free_params[act]
]
for param_map in parameter_product(
self.act_stream_conditions[act], con_values,
self.act_free_params[act], param_values):
instance = act.instantiate(
tuple(param_map[p] for p in act.parameters))
if instance not in self.action_instances:
self.action_instances.add(instance)
self.new_instances.append(instance)
return True
def add_initial_atom(self, atom):
if atom in self.initial_atoms:
return False
self.new_problem = True
self.add_atom(atom)
self.initial_atoms.add(atom)
if self.is_stream(atom):
self.stream_atoms.add(atom)
self.predicate_to_atoms[atom.predicate].add(atom)
# NOTE - this can be thought of as just the smart instantiate where you limit the values of one thing
if self.make_stream_instances and atom.predicate in self.cond_conditions:
for cs, con in self.cond_conditions[atom.predicate]:
con_values = [
self.predicate_to_atoms[other.predicate]
if other != con else [atom] for other in cs.conditions
]
param_values = [
self.type_to_objects.get(other.type, [])
for other in cs.free_params
]
for param_map in parameter_product(cs.conditions, con_values,
cs.free_params,
param_values):
combo = tuple(param_map[p] for p in cs.inputs)
if combo not in cs.streams: # Happens when an object is used twice
self.add_stream(cs, combo)
if self.make_action_instances and atom.predicate in self.act_conditions:
for act, con in self.act_conditions[atom.predicate]:
con_values = [
self.predicate_to_atoms[other.predicate]
if other != con else [atom]
for other in self.act_stream_conditions[act]
]
param_values = [
self.type_to_objects.get(other.type, [])
for other in self.act_free_params[act]
]
for param_map in parameter_product(
self.act_stream_conditions[act], con_values,
self.act_free_params[act], param_values):
instance = act.instantiate(
tuple(param_map[p] for p in act.parameters))
if instance not in self.action_instances:
self.action_instances.add(instance)
self.new_instances.append(instance)
return True
def state_fluent_bindings(state, action, universe):
assert isinstance(action, STRIPSAction)
fluents = filter(lambda c: isinstance(c, Atom) and universe.is_fluent(c), action.conditions)
initial_atoms = defaultdict(list)
for atom in state:
initial_atoms[atom.predicate].append(atom)
fluent_values = [initial_atoms[f.predicate] for f in fluents]
return parameter_product(fluents, fluent_values, [], {})
def get_vertex_keys(vertex, lifted, universe): # TODO - similar to
assert isinstance(lifted, STRIPS) and not lifted.neg_conditions(
) # NOTE - only positive conditions for now
fluents = filter(universe.is_fluent,
lifted.conditions) # TODO - include derived
predicates = defaultdict(list)
for fluent in vertex.fluents:
predicates[fluent.predicate].append(fluent)
condition_values = [predicates[c.predicate] for c in fluents]
for param_map in parameter_product(fluents, condition_values, [], []):
instantiated = tuple(
condition.instantiate(param_map) for condition in fluents)
yield lifted, instantiated
def recover_bindings(cs, values):
predicate_map = defaultdict(list)
for eff in values:
if isinstance(eff, Atom):
predicate_map[eff.predicate].append(eff)
effect_values = [predicate_map[eff.predicate] for eff in cs.effects]
type_map = defaultdict(list)
for obj in values: # TODO - do I want to consider predicate values?
if isinstance(obj, Object):
type_map[obj.type].append(obj)
type_values = [type_map[param.type] for param in cs.free_outputs]
for grounding in parameter_product(cs.effects, effect_values,
cs.free_outputs,
type_values): # TODO - initialize?
yield [grounding[param] for param in cs.outputs]
def add_temporary_atom(self, atom):
key = get_key(atom)
self.add_atom(atom)
self.temporary_atoms.add(atom)
self.predicate_to_temp_atoms[key].add(atom)
for act, con in self.sa_conditions.get(key, []):
con_values = [
self.predicate_to_temp_atoms[get_key(other)]
if other != con else [atom] for other in act.conditions
]
for param_map in parameter_product(act.conditions, con_values, [],
{}):
instance = act.instantiate(
tuple(param_map[p] for p in act.parameters))
if instance not in self.stream_action_instances and instance not in self.temp_blocked and instance not in self.perm_blocked:
self.stream_action_instances.add(instance)
self.new_stream_actions.append(instance)
def useful_at_state_for_action_old(action, state_fluents, universe):
assert isinstance(action, STRIPSAction)
fluents = filter(lambda c: isinstance(c, Atom) and universe.is_fluent(c), action.conditions)
initial_atoms = defaultdict(list)
for f in state_fluents:
initial_atoms[f.predicate].append(f)
fluent_values = [initial_atoms[f.predicate] for f in fluents]
#if any(len(values) == 0 for values in fluent_values): return set(), set() # Comes out implicitly through parameter_product
useful_atoms = set()
for binding in parameter_product(fluents, fluent_values, [], {}):
if not any(isinstance(con, Not) and con.instantiate(binding) in state_fluents
for con in action.conditions): # Prunes some negative effects. # TODO - prune more by keeping track of them
useful_atoms |= {con.instantiate(binding) for con in action.conditions if universe.is_stream(con)}
bound_params = {arg for atom in useful_atoms for arg in atom.args if isinstance(arg, Parameter)} # NOTE - only consider 'free parameters'
fluent_params = {a for con in fluents for a in con.args}
useful_types = {a.type for a in action.parameters if a not in fluent_params and a not in bound_params}
return useful_atoms, useful_types
