def test(state):
# TODO: action parameters don't depend on the state
# TODO: counter for how many times the action has been remapped
if not hasattr(action_instance.action, 'attachments'):
return True
for literal, stream in action_instance.action.attachments.items():
param_from_inp = remap_certified(literal, stream)
input_objects = tuple(
obj_from_pddl(action_instance.var_mapping[param_from_inp[inp]])
for inp in stream.inputs)
stream_instance = get_fluent_instance(
stream, input_objects, state) # Output automatically cached
results = stream_instance.first_results(num=1)
#results = stream_instance.all_results()
failure = not results
if literal.negated != failure:
return False
#args = action_instance.name.strip('()').split(' ')
#idx_from_param = {p.name: i for i, p in enumerate(action_instance.action.parameters)}
param_from_out = remap_certified(literal, stream)
result = results[0] # Arbitrary
out_from_obj = invert_dict(result.get_mapping())
for obj in result.output_objects:
param = param_from_out[out_from_obj[obj]]
action_instance.var_mapping[param] = obj.pddl
# idx = idx_from_param[param]
# args[1+idx] = obj.pddl
#action_instance.name = '({})'.format(' '.join(args))
return True
def test(state):
if state in fd_action_from_state:
return True
#new_instance = action_instance
new_instance = copy.deepcopy(action_instance)
if not hasattr(action_instance.action, 'attachments'):
fd_action_from_state[state] = new_instance
return True
for literal, stream in new_instance.action.attachments.items():
param_from_inp = remap_certified(literal, stream)
input_objects = tuple(
obj_from_pddl(new_instance.var_mapping[param_from_inp[inp]])
for inp in stream.inputs)
stream_instance = get_fluent_instance(
stream, input_objects, state) # Output automatically cached
results = stream_instance.first_results(num=1)
#results = stream_instance.all_results()
failure = not results
if literal.negated != failure:
return False
#args = action_instance.name.strip('()').split(' ')
#idx_from_param = {p.name: i for i, p in enumerate(action_instance.action.parameters)}
param_from_out = remap_certified(literal, stream)
result = results[0] # Arbitrary
out_from_obj = invert_dict(result.mapping)
for obj in result.output_objects:
param = param_from_out[out_from_obj[obj]]
new_instance.var_mapping[param] = obj.pddl
# idx = idx_from_param[param]
# args[1+idx] = obj.pddl
#action_instance.name = '({})'.format(' '.join(args))
fd_action_from_state[state] = new_instance
return True