def _create_problem_file(self, raw_problem_fname, use_cache=True):
if (not use_cache) or (raw_problem_fname not in self._problem_files):
problem_fname = os.path.split(raw_problem_fname)[-1]
problem_fname = problem_fname.split('.pddl')[0]
problem_fname += '_{}_with_diffs_{}.pddl'.format(
self.domain_name, random.randint(0, 9999999))
problem_fname = os.path.join('/tmp', problem_fname)
# Parse raw problem
problem_parser = PDDLProblemParser(raw_problem_fname,
self.domain_name.lower(),
self._types, self._predicates,
self._actions)
new_initial_state = set(problem_parser.initial_state)
# Add actions
action_lits = set(
self._action_space.all_ground_literals(State(
new_initial_state, problem_parser.objects,
problem_parser.goal),
valid_only=False))
new_initial_state |= action_lits
# Add 'Different' pairs for each pair of objects
Different = Predicate('Different', 2)
for obj1 in problem_parser.objects:
for obj2 in problem_parser.objects:
if obj1 == obj2:
continue
# if obj1.var_type != obj2.var_type:
# continue
diff_lit = Different(obj1, obj2)
new_initial_state.add(diff_lit)
# Write out new temporary problem file
problem_parser.initial_state = frozenset(new_initial_state)
problem_parser.write(problem_fname)
# Add to cache
self._problem_files[raw_problem_fname] = problem_fname
return self._problem_files[raw_problem_fname]
def _create_problem_file(self, raw_problem_fname, use_cache=True):
if (not use_cache) or (raw_problem_fname not in self._problem_files):
problem_fname = os.path.split(raw_problem_fname)[-1]
problem_fname = problem_fname.split('.pddl')[0]
problem_fname += '_{}_with_diffs_{}.pddl'.format(
self.domain_name, random.randint(0, 9999999))
problem_fname = os.path.join('/tmp', problem_fname)
# Parse raw problem
action_names = [
] # purposely empty b/c we WANT action literals in there
problem_parser = PDDLProblemParser(raw_problem_fname,
self.domain_name.lower(),
self._types, self._predicates,
action_names)
# Add action literals (in case they're not already present in the initial state)
# which will be true when the original domain uses operators_as_actions
init_state = State(problem_parser.initial_state,
problem_parser.objects, None)
act_lits = self._action_space.all_ground_literals(init_state,
valid_only=False)
problem_parser.initial_state = frozenset(
act_lits | problem_parser.initial_state)
# Add 'Different' pairs for each pair of objects
Different = Predicate('Different', 2)
init_state = set(problem_parser.initial_state)
for obj1 in problem_parser.objects:
for obj2 in problem_parser.objects:
if obj1 == obj2:
continue
# if obj1.var_type != obj2.var_type:
# continue
diff_lit = Different(obj1, obj2)
init_state.add(diff_lit)
problem_parser.initial_state = frozenset(init_state)
# Also add 'different' pairs for goal if it's existential
if isinstance(problem_parser.goal, Exists):
diffs = []
for var1 in problem_parser.goal.variables:
for var2 in problem_parser.goal.variables:
if var1 == var2:
continue
diffs.append(Different(var1, var2))
problem_parser.goal = Exists(
problem_parser.goal.variables,
type(problem_parser.goal.body)(
problem_parser.goal.body.literals + diffs))
# If no objects, write a dummy one to make FF not crash.
if not problem_parser.objects:
problem_parser.objects.append("DUMMY")
# Write out new temporary problem file
problem_parser.write(problem_fname)
# Add to cache
self._problem_files[raw_problem_fname] = (problem_fname,
problem_parser.objects)
return self._problem_files[raw_problem_fname]