def simple_from_durative_action(durative_actions, fluents):
from pddlstream.algorithms.algorithm import get_predicates
import pddl
simple_actions = {}
for action in durative_actions:
parameters = convert_parameters(action.parameters)
conditions = list(map(convert_condition, action.condition))
start_effects, end_effects = action.effects
over_effects = []
effects = list(
map(convert_effects, [start_effects, over_effects, end_effects]))
static_condition = pddl.Conjunction(
list({
part
for condition in conditions
for part in get_conjunctive_parts(condition.simplified())
if not isinstance(part, pddl.Truth)
and not (get_predicates(part) & fluents)
}))
# TODO: deal with case where there are fluents
actions = []
for i, (condition, effect) in enumerate(safe_zip(conditions, effects)):
# TODO: extract the durations by pretending they are action costs
actions.append(
pddl.Action(
SIMPLE_TEMPLATE.format(action.name, i), parameters,
len(parameters),
pddl.Conjunction([static_condition,
condition]).simplified(), effect, None))
#actions[-1].dump()
simple_actions[action] = actions
return simple_actions
def simple_from_durative_action(durative_actions, fluents):
import pddl
simple_actions = {}
for action in durative_actions:
parameters = convert_parameters(action.parameters)
conditions = list(map(convert_condition, action.condition))
start_effects, end_effects = action.effects
over_effects = []
effects = list(
map(convert_effects, [start_effects, over_effects, end_effects]))
static_condition = pddl.Conjunction(
list({
literal
for condition in conditions
for literal in get_conjunctive_parts(condition.simplified())
if literal.predicate not in fluents
}))
actions = []
for i, (condition, effect) in enumerate(safe_zip(conditions, effects)):
actions.append(
pddl.Action(
SIMPLE_TEMPLATE.format(action.name, i), parameters,
len(parameters),
pddl.Conjunction([static_condition,
condition]).simplified(), effect, None))
#actions[-1].dump()
simple_actions[action] = actions
return simple_actions
def get_stream_action(result, name, unit_cost, effect_scale=1):
#from pddl_parser.parsing_functions import parse_action
import pddl
parameters = []
preconditions = [
fd_from_fact(fact) for fact in result.instance.get_domain()
]
precondition = pddl.Conjunction(preconditions)
effects = [
pddl.Effect(parameters=[],
condition=pddl.Truth(),
literal=fd_from_fact(fact))
for fact in result.get_certified()
]
effort = 1 if unit_cost else result.instance.get_effort()
if effort == INF:
return None
fluent = pddl.PrimitiveNumericExpression(symbol=TOTAL_COST, args=[])
expression = pddl.NumericConstant(int_ceil(effect_scale *
effort)) # Integer
cost = pddl.Increase(fluent=fluent,
expression=expression) # Can also be None
return pddl.Action(name=name,
parameters=parameters,
num_external_parameters=len(parameters),
precondition=precondition,
effects=effects,
cost=cost)
def add_inequality_preconds(self, action, reachable_action_params):
if reachable_action_params is None or len(action.parameters) < 2:
return action
inequal_params = []
combs = itertools.combinations(range(len(action.parameters)), 2)
for pos1, pos2 in combs:
for params in reachable_action_params[action]:
if params[pos1] == params[pos2]:
break
else:
inequal_params.append((pos1, pos2))
if inequal_params:
precond_parts = [action.precondition]
for pos1, pos2 in inequal_params:
param1 = action.parameters[pos1].name
param2 = action.parameters[pos2].name
new_cond = pddl.NegatedAtom("=", (param1, param2))
precond_parts.append(new_cond)
precond = pddl.Conjunction(precond_parts).simplified()
return pddl.Action(
action.name, action.parameters, action.num_external_parameters,
precond, action.effects, action.cost)
else:
return action
def add_inequality_preconds(self, action, reachable_action_params):
if reachable_action_params is None or len(action.parameters) < 2:
return action
inequal_params = []
combs = itertools.combinations(range(len(action.parameters)), 2)
for pos1, pos2 in combs:
inequality = True
for params in reachable_action_params[action.name]:
if params[pos1] == params[pos2]:
inequality = False
break
if inequality:
inequal_params.append((pos1, pos2))
if inequal_params:
precond_parts = list(action.precondition.parts)
for pos1, pos2 in inequal_params:
param1 = action.parameters[pos1].name
param2 = action.parameters[pos2].name
new_cond = pddl.NegatedAtom("=", (param1, param2))
precond_parts.append(new_cond)
precond = action.precondition.change_parts(precond_parts)
return pddl.Action(action.name, action.parameters, precond,
action.effects, action.cost)
else:
return action
def __init__(self, task, reachable_action_params):
self.predicates_to_add_actions = defaultdict(set)
self.action_to_heavy_action = {}
for act in task.actions:
action = self.add_inequality_preconds(act, reachable_action_params)
too_heavy_effects = []
create_heavy_act = False
heavy_act = action
# FOND
for nondet_choice in action.effects:
too_heavy_nondet_choice = []
for eff in nondet_choice:
too_heavy_nondet_choice.append(eff)
if eff.parameters: # universal effect
create_heavy_act = True
too_heavy_nondet_choice.append(eff.copy())
if not eff.literal.negated:
predicate = eff.literal.predicate
self.predicates_to_add_actions[predicate].add(action)
too_heavy_effects.append(too_heavy_nondet_choice)
if create_heavy_act:
heavy_act = pddl.Action(action.name, action.parameters,
action.num_external_parameters,
action.precondition, too_heavy_effects,
action.observation, action.cost)
# heavy_act: duplicated universal effects and assigned unique names
# to all quantified variables (implicitly in constructor)
self.action_to_heavy_action[action] = heavy_act
def __init__(self, task, reachable_action_params):
# print("*'*'*'*DEBUG invariant_finder.BalanceChecker.__init__*'*'*'*")
self.predicates_to_add_actions = defaultdict(set)
self.action_to_heavy_action = {}
for act in task.actions:
action = self.add_inequality_preconds(act, reachable_action_params)
too_heavy_effects = []
create_heavy_act = False
heavy_act = action
for eff in action.effects:
too_heavy_effects.append(eff)
if eff.parameters: # universal effect
create_heavy_act = True
too_heavy_effects.append(eff.copy())
if isinstance(eff.peffect, pddl.Atom): #not eff.peffect.negated:
predicate = eff.peffect.predicate
self.predicates_to_add_actions[predicate].add(action)
if create_heavy_act:
heavy_act = pddl.Action(action.name, action.parameters,
action.num_external_parameters,
action.precondition, too_heavy_effects,
action.cost)
# heavy_act: duplicated universal effects and assigned unique names
# to all quantified variables (implicitly in constructor)
self.action_to_heavy_action[action] = heavy_act
def make_action(name, parameters, preconditions, effects, cost=None):
# Usually all parameters are external
return pddl.Action(name=name,
parameters=make_parameters(parameters),
num_external_parameters=len(parameters),
precondition=make_preconditions(preconditions),
effects=make_effects(effects),
cost=make_cost(cost))
def transform_exp_actions(actions, mutex_groups):
"""
Exponential transformation of actions with sdac
into actions with constant action costs.
"""
mutex_dict = dict()
for group in mutex_groups:
for elem in group:
mutex_dict[elem] = group
del_actions = []
new_actions = actions
add_actions = []
for action in new_actions:
if isinstance(action.cost, pddl_parser.CostNode):
del_actions.append(action)
if not is_usefull(action):
continue
at_list = []
consistent_actions = []
used_dict = dict()
for atom in action.cost.get_atoms_set():
if atom not in mutex_dict:
at_list.append(
[atom,
pddl.NegatedAtom(atom.predicate, atom.args)])
elif len(mutex_dict[atom]) == 1:
at_list.append(
[atom,
pddl.NegatedAtom(atom.predicate, atom.args)])
elif str(mutex_dict[atom]) not in used_dict:
at_list.append(mutex_dict[atom])
used_dict[str(mutex_dict[atom])] = True
for combi in itertools.product(*at_list):
pre = []
pre.extend(action.precondition)
pre.extend(combi)
if not is_consistent(combi, action.precondition, mutex_dict):
continue
if isinstance(action, pddl.Action):
action_copy = pddl.Action(action.name, action.parameters,
action.num_external_parameters,
pre, action.effects,
str(action.cost.get_cost(combi)))
else:
action_copy = pddl.PropositionalAction(
action.name, pre, [], str(action.cost.get_cost(combi)))
action_copy.add_effects.extend(action.add_effects)
action_copy.del_effects.extend(action.del_effects)
consistent_actions.append(action_copy)
add_actions.extend(consistent_actions)
for a in del_actions:
new_actions.remove(a)
new_actions.extend(add_actions)
return new_actions
def get_necessary_axioms(conditions, axioms, negative_from_name):
if not conditions or not axioms:
return {}
axioms_from_name = get_derived_predicates(axioms)
atom_queue = []
processed_atoms = set()
def add_literals(literals):
for lit in literals:
atom = lit.positive()
if atom not in processed_atoms:
atom_queue.append(
atom) # Previously was lit.positive() for some reason?
processed_atoms.add(atom)
import pddl
add_literals(conditions)
axiom_from_action = {}
partial_instantiations = set()
while atom_queue:
literal = atom_queue.pop()
for axiom in axioms_from_name[literal.predicate]:
derived_parameters = axiom.parameters[:axiom.
num_external_parameters]
var_mapping = {
p.name: a
for p, a in zip(derived_parameters, literal.args)
if not is_parameter(a)
}
key = (axiom, frozenset(var_mapping.items()))
if key in partial_instantiations:
continue
partial_instantiations.add(key)
parts = [
l.rename_variables(var_mapping)
for l in get_literals(axiom.condition)
if l.predicate not in negative_from_name
] # Assumes a conjunction?
# new_condition = axiom.condition.uniquify_variables(None, var_mapping)
effect_args = [
var_mapping.get(a.name, a.name) for a in derived_parameters
]
effect = pddl.Effect([], pddl.Truth(),
pddl.conditions.Atom(axiom.name, effect_args))
free_parameters = [
p for p in axiom.parameters if p.name not in var_mapping
]
new_action = pddl.Action(axiom.name, free_parameters,
len(free_parameters),
pddl.Conjunction(parts), [effect], None)
# Creating actions so I can partially instantiate (impossible with axioms)
axiom_from_action[new_action] = (axiom, var_mapping)
add_literals(parts)
return axiom_from_action
def get_necessary_axioms(instance, axioms, negative_from_name):
import pddl
axioms_from_name = get_derived_predicates(axioms)
atom_queue = []
processed_atoms = set()
def add_literals(literals):
for literal in literals:
atom = literal.positive()
if atom not in processed_atoms:
atom_queue.append(literal.positive())
processed_atoms.add(atom)
add_literals(instance.precondition)
for (cond, _) in (instance.add_effects + instance.del_effects):
add_literals(cond)
axiom_from_action = {}
partial_instantiations = set()
while atom_queue:
literal = atom_queue.pop()
for axiom in axioms_from_name[literal.predicate]:
derived_parameters = axiom.parameters[:axiom.
num_external_parameters]
var_mapping = {
p.name: a
for p, a in zip(derived_parameters, literal.args)
if a[0] != '?'
}
key = (axiom, frozenset(var_mapping.items()))
if key in partial_instantiations:
continue
partial_instantiations.add(key)
parts = []
for literal in get_literals(axiom.condition):
if literal.predicate in negative_from_name:
continue
parts.append(literal.rename_variables(var_mapping))
# new_condition = axiom.condition.uniquify_variables(None, var_mapping)
effect_args = [
var_mapping.get(a.name, a.name) for a in derived_parameters
]
effect = pddl.Effect([], pddl.Truth(),
pddl.conditions.Atom(axiom.name, effect_args))
free_parameters = [
p for p in axiom.parameters if p.name not in var_mapping
]
new_action = pddl.Action(axiom.name, free_parameters, 0,
pddl.Conjunction(parts), [effect], None)
# Creating actions so I can partially instantiate (impossible with axioms)
axiom_from_action[new_action] = (axiom, var_mapping)
add_literals(parts)
return axiom_from_action
def parse_action(alist, type_dict, predicate_dict):
if DEBUG: print("parsing action %s" % [alist])
iterator = iter(alist)
action_tag = next(iterator)
assert action_tag == ":action", "Expected ':action' got '%s'" % action_tag
name = next(iterator)
parameters_tag_opt = next(iterator)
if parameters_tag_opt == ":parameters":
parameters = parse_typed_list(next(iterator), only_variables=True)
precondition_tag_opt = next(iterator)
else:
parameters = []
precondition_tag_opt = parameters_tag_opt
if precondition_tag_opt == ":precondition":
precondition_list = next(iterator)
if not precondition_list:
# Note that :precondition () is allowed in PDDL.
precondition = pddl.Conjunction([])
else:
precondition = parse_condition(precondition_list, type_dict,
predicate_dict)
precondition = precondition.simplified()
effect_tag = next(iterator)
else:
precondition = pddl.Conjunction([])
effect_tag = precondition_tag_opt
assert effect_tag == ":effect"
effect_list = next(iterator)
eff = []
if effect_list:
try:
cost = parse_effects(effect_list, eff, type_dict, predicate_dict)
if cost is None and eff:
if DEBUG:
print(
"adding artificial effect (increase total-cost 1) to %s"
% name)
cost = pddl.NumericEffect(
parse_assignment(['increase', 'total-cost', 1])
) # artificially add a numeric effect that increases the total cost by one
add_effect(cost, eff)
assert (isinstance(cost, pddl.NumericEffect)
), "instance of cost is %s " % cost.__class__
except ValueError as e:
raise SystemExit("Error in Action %s\nReason: %s." % (name, e))
for rest in iterator:
assert False, rest
if eff:
return pddl.Action(name, parameters, len(parameters), precondition,
eff, cost)
else:
return None
def parse_action(alist, type_dict, predicate_dict):
iterator = iter(alist)
action_tag = next(iterator)
assert action_tag == ":action"
name = next(iterator)
parameters_tag_opt = next(iterator)
if parameters_tag_opt == ":parameters":
parameters = parse_typed_list(next(iterator), only_variables=True)
precondition_tag_opt = next(iterator)
else:
parameters = []
precondition_tag_opt = parameters_tag_opt
parameters_dict = dict((p.name, p) for p in parameters)
if precondition_tag_opt == ":precondition":
precondition_list = next(iterator)
if not precondition_list:
# Note that :precondition () is allowed in PDDL.
precondition = pddl.Conjunction([])
else:
precondition = parse_condition(precondition_list, type_dict,
predicate_dict)
precondition = precondition.simplified()
effect_tag = next(iterator)
else:
precondition = pddl.Conjunction([])
effect_tag = precondition_tag_opt
assert effect_tag == ":effect"
effect_list = next(iterator)
eff = []
if effect_list:
try:
cost = parse_effects(effect_list, eff, type_dict, predicate_dict)
except ValueError as e:
raise SystemExit("Error in Action %s\nReason: %s." % (name, e))
for rest in iterator:
# Parse cost function
if rest == ":cost":
outer_op = None
cost_list = next(iterator)
cost = cost_node.CostNode("")
cost = cost.parse_cost(cost_list, outer_op, predicate_dict,
parameters_dict, cost)
break
for rest in iterator:
assert False, rest
if eff:
return pddl.Action(name, parameters, len(parameters), precondition,
eff, cost)
else:
return None
def parse_action(alist, type_dict, predicate_dict):
iterator = iter(alist)
action_tag = next(iterator)
assert action_tag == ":action" or action_tag == ':action'
name = next(iterator)
parameters_tag_opt = next(iterator)
if parameters_tag_opt == ":parameters":
parameters = parse_typed_list(next(iterator), only_variables=True)
precondition_tag_opt = next(iterator)
else:
parameters = []
precondition_tag_opt = parameters_tag_opt
if precondition_tag_opt == ":precondition":
precondition_list = next(iterator)
if not precondition_list:
# Note that :precondition () is allowed in PDDL.
precondition = pddl.Conjunction([])
else:
precondition = parse_condition(precondition_list, type_dict,
predicate_dict)
precondition = precondition.simplified()
effect_tag = next(iterator)
else:
precondition = pddl.Conjunction([])
effect_tag = precondition_tag_opt
assert effect_tag == ":effect"
effect_list = next(iterator)
eff = []
if effect_list:
try:
cost = parse_effects(effect_list, eff, type_dict, predicate_dict)
except ValueError as e:
raise SystemExit("Error in Action %s\nReason: %s." % (name, e))
next(iterator) == ":duration"
duration = next(iterator)
if len(duration[2]) == 1:
duration = pddl.NumericConstant(int(duration[2]))
else:
duration = pddl.f_expression.PrimitiveNumericExpression(
duration[2][0], duration[2][1:])
for rest in iterator:
assert False, rest
if eff:
return pddl.Action(name, parameters, len(parameters), precondition,
eff, cost, duration)
else:
return None
def parse_action(alist, type_dict, predicate_dict):
iterator = iter(alist)
action_tag = next(iterator)
assert action_tag == ":action"
name = next(iterator)
parameters_tag_opt = next(iterator)
if parameters_tag_opt == ":parameters":
parameters = parse_typed_list(next(iterator),
only_variables=True)
precondition_tag_opt = next(iterator)
else:
parameters = []
precondition_tag_opt = parameters_tag_opt
if precondition_tag_opt == ":precondition":
precondition_list = next(iterator)
if not precondition_list:
# Note that :precondition () is allowed in PDDL.
precondition = pddl.Conjunction([])
else:
precondition = parse_condition(
precondition_list, type_dict, predicate_dict)
precondition = precondition.simplified()
effect_tag = next(iterator)
else:
precondition = pddl.Conjunction([])
effect_tag = precondition_tag_opt
assert effect_tag == ":effect"
effect_list = next(iterator)
eff = []
if effect_list:
try:
cost = parse_effects(
effect_list, eff, type_dict, predicate_dict)
except ValueError as e:
raise SystemExit("Error in Action %s\nReason: %s." % (name, e))
for rest in iterator:
assert False, rest
# if eff:
# return pddl.Action(name, parameters, len(parameters),
# precondition, eff, cost)
# else:
# return None
return pddl.Action(name, parameters, len(parameters),
precondition, eff, None)
def get_stream_actions(results,
unique_binding=False,
unit_efforts=True,
effort_scale=1):
#from pddl_parser.parsing_functions import parse_action
import pddl
stream_result_from_name = {}
stream_actions = []
for i, result in enumerate(results):
#if not isinstance(stream_result, StreamResult):
if type(result) == FunctionResult:
continue
effort = get_instance_effort(result.instance, unit_efforts)
if effort == INF:
continue
# TODO: state constraints
# TODO: selectively negate axioms
result_name = '{}-{}'.format(result.external.name, i)
#result_name = '{}_{}_{}'.format(result.external.name, # No spaces & parens
# ','.join(map(pddl_from_object, result.instance.input_objects)),
# ','.join(map(pddl_from_object, result.output_objects)))
assert result_name not in stream_result_from_name
stream_result_from_name[result_name] = result
preconditions = list(result.instance.get_domain())
effects = list(result.get_certified())
#if ORDER_OUTPUT:
# enforce_output_order(result, preconditions, effects)
if unique_binding:
enforce_single_binding(result, preconditions, effects)
if is_optimizer_result(
result): # These effects don't seem to be pruned
effects.append(
substitute_expression(result.external.stream_fact,
result.get_mapping()))
parameters = [] # Usually all parameters are external
stream_actions.append(
pddl.Action(name=result_name,
parameters=parameters,
num_external_parameters=len(parameters),
precondition=make_preconditions(preconditions),
effects=make_effects(effects),
cost=make_cost(effort_scale *
effort))) # Can also be None
return stream_actions, stream_result_from_name
def visit_action_stmt(self, node):
"""Visits a PDDL action statement."""
signature = list()
# Visit all parameters and create signature.
for v in node.parameters:
v.accept(self)
signatureTuple = self.get_in(v)
signature.append(signatureTuple)
# Visit the precondition statement.
node.precond.accept(self)
precond = self.get_in(node.precond)
# Visit the effect statement.
node.effect.accept(self)
effect = self.get_in(node.effect)
# Create new PDDL action and store in node.
self.set_in(node, pddl.Action(node.name, signature, precond, effect))
def compile_to_exogenous_actions(evaluations, domain, streams):
import pddl
# TODO: automatically derive fluents
# TODO: version of this that operates on fluents of length one?
# TODO: better instantiation when have full parameters
# TODO: conversion from stream cost to real cost units?
# TODO: any predicates derived would need to be replaced as well
fluent_predicates = get_fluents(domain)
certified_predicates = {
get_prefix(a)
for s in streams for a in s.certified
}
future_map = {p: 'f-{}'.format(p) for p in certified_predicates}
augment_evaluations(evaluations, future_map)
rename_future = lambda a: rename_atom(a, future_map)
for stream in list(streams):
if not isinstance(stream, Stream):
raise NotImplementedError(stream)
# TODO: could also just have conditions asserting that one of the fluent conditions fails
streams.append(
create_static_stream(stream, evaluations, fluent_predicates,
rename_future))
stream_atom = streams[-1].certified[0]
parameters = [
pddl.TypedObject(p, OBJECT) for p in get_args(stream_atom)
]
# TODO: add to predicates as well?
domain.predicate_dict[get_prefix(stream_atom)] = pddl.Predicate(
get_prefix(stream_atom), parameters)
preconditions = [stream_atom] + list(stream.domain)
effort = 1 # TODO: use stream info
#effort = 1 if unit_cost else result.instance.get_effort()
#if effort == INF:
# continue
domain.actions.append(
pddl.Action(name='call-{}'.format(stream.name),
parameters=parameters,
num_external_parameters=len(parameters),
precondition=make_preconditions(preconditions),
effects=make_effects(stream.certified),
cost=make_cost(effort)))
stream.certified = tuple(
set(stream.certified) | set(map(rename_future, stream.certified)))
def compile_to_exogenous_actions(evaluations, domain, streams):
import pddl
# TODO: automatically derive fluents
# TODO: version of this that operates on fluents of length one?
# TODO: better instantiation when have full parameters
# TODO: conversion from stream cost to real cost units?
# TODO: any predicates derived would need to be replaced as well
fluent_predicates = get_fluents(domain)
domain_predicates = {get_prefix(a) for s in streams for a in s.domain}
if not (domain_predicates & fluent_predicates):
return
certified_predicates = {get_prefix(a) for s in streams for a in s.certified}
future_map = {p: 'f-{}'.format(p) for p in certified_predicates}
augment_evaluations(evaluations, future_map)
rename_future = lambda a: rename_atom(a, future_map)
for stream in list(streams):
if not isinstance(stream, Stream):
raise NotImplementedError(stream)
# TODO: could also just have conditions asserting that one of the fluent conditions fails
streams.append(create_static_stream(stream, evaluations, fluent_predicates, rename_future))
stream_atom = streams[-1].certified[0]
parameters = [pddl.TypedObject(p, 'object') for p in get_args(stream_atom)]
# TODO: add to predicates as well?
domain.predicate_dict[get_prefix(stream_atom)] = pddl.Predicate(get_prefix(stream_atom), parameters)
precondition = pddl.Conjunction(tuple(map(fd_from_fact, (stream_atom,) + tuple(stream.domain))))
effects = [pddl.Effect(parameters=[], condition=pddl.Truth(),
literal=fd_from_fact(fact)) for fact in stream.certified]
effort = 1 # TODO: use stream info
#effort = 1 if unit_cost else result.instance.get_effort()
#if effort == INF:
# continue
fluent = pddl.PrimitiveNumericExpression(symbol=TOTAL_COST, args=[])
expression = pddl.NumericConstant(int_ceil(effort)) # Integer
cost = pddl.Increase(fluent=fluent, expression=expression) # Can also be None
domain.actions.append(pddl.Action(name='call-{}'.format(stream.name),
parameters=parameters,
num_external_parameters=len(parameters),
precondition=precondition, effects=effects, cost=cost))
stream.certified = tuple(set(stream.certified) |
set(map(rename_future, stream.certified)))
def simplify_actions(opt_evaluations, action_plan, task, actions, unit_costs):
# TODO: add ordering constraints to simplify the optimization
import pddl
import instantiate
fluent_facts = MockSet()
init_facts = set()
type_to_objects = instantiate.get_objects_by_type(task.objects, task.types)
results_from_head = get_results_from_head(opt_evaluations)
action_from_name = {}
function_plan = set()
for i, (name, args) in enumerate(action_plan):
action = find_unique(lambda a: a.name == name, actions)
assert (len(action.parameters) == len(args))
# parameters = action.parameters[:action.num_external_parameters]
var_mapping = {p.name: a for p, a in zip(action.parameters, args)}
new_name = '{}-{}'.format(name, i)
new_parameters = action.parameters[len(args):]
new_preconditions = []
action.precondition.instantiate(var_mapping, init_facts, fluent_facts, new_preconditions)
new_effects = []
for eff in action.effects:
eff.instantiate(var_mapping, init_facts, fluent_facts, type_to_objects, new_effects)
new_effects = [pddl.Effect([], pddl.Conjunction(conditions), effect)
for conditions, effect in new_effects]
cost = pddl.Increase(fluent=pddl.PrimitiveNumericExpression(symbol=TOTAL_COST, args=[]),
expression=pddl.NumericConstant(1))
# cost = None
task.actions.append(pddl.Action(new_name, new_parameters, len(new_parameters),
pddl.Conjunction(new_preconditions), new_effects, cost))
action_from_name[new_name] = (name, map(obj_from_pddl, args))
if not unit_costs:
function_result = extract_function_results(results_from_head, action, args)
if function_result is not None:
function_plan.add(function_result)
return action_from_name, list(function_plan)
def sequential_stream_plan(evaluations, goal_expression, domain, stream_results, negated, unit_costs=True, **kwargs):
if negated:
raise NotImplementedError()
# TODO: compute preimage and make that the goal instead
opt_evaluations = evaluations_from_stream_plan(evaluations, stream_results)
opt_task = task_from_domain_problem(domain, get_problem(opt_evaluations, goal_expression, domain, unit_costs))
action_plan, action_cost = solve_from_task(opt_task, **kwargs)
if action_plan is None:
return None, action_cost
import instantiate
fluent_facts = MockSet()
init_facts = set()
task = task_from_domain_problem(domain, get_problem(evaluations, goal_expression, domain, unit_costs))
type_to_objects = instantiate.get_objects_by_type(task.objects, task.types)
task.actions, stream_result_from_name = get_stream_actions(stream_results)
results_from_head = get_results_from_head(opt_evaluations)
# TODO: add ordering constraints to simplify the optimization
import pddl
action_from_name = {}
function_plan = set()
for i, (name, args) in enumerate(action_plan):
action = find_unique(lambda a: a.name == name, domain.actions)
assert(len(action.parameters) == len(args))
#parameters = action.parameters[:action.num_external_parameters]
var_mapping = {p.name: a for p, a in zip(action.parameters, args)}
new_name = '{}-{}'.format(name, i)
new_parameters = action.parameters[len(args):]
new_preconditions = []
action.precondition.instantiate(var_mapping, init_facts, fluent_facts, new_preconditions)
new_effects = []
for eff in action.effects:
eff.instantiate(var_mapping, init_facts, fluent_facts, type_to_objects, new_effects)
new_effects = [pddl.Effect([], pddl.Conjunction(conditions), effect)
for conditions, effect in new_effects]
cost = pddl.Increase(fluent=pddl.PrimitiveNumericExpression(symbol=TOTAL_COST, args=[]),
expression=pddl.NumericConstant(1))
#cost = None
task.actions.append(pddl.Action(new_name, new_parameters, 0,
pddl.Conjunction(new_preconditions), new_effects, cost))
action_from_name[new_name] = (name, map(obj_from_pddl, args))
if not unit_costs:
function_plan.update(extract_function_results(results_from_head, action, args))
planner = kwargs.get('planner', 'ff-astar')
combined_plan, _ = solve_from_task(task, planner=planner, **kwargs)
if combined_plan is None:
return None, obj_from_pddl_plan(action_plan), INF
stream_plan = []
action_plan = []
for name, args in combined_plan:
if name in stream_result_from_name:
stream_plan.append(stream_result_from_name[name])
else:
action_plan.append(action_from_name[name])
stream_plan += list(function_plan)
combined_plan = stream_plan + action_plan
return combined_plan, action_cost
def parse_action(alist, type_dict, predicate_dict):
iterator = iter(alist)
action_tag = next(iterator)
assert action_tag == ":action"
name = next(iterator)
parameters_tag_opt = next(iterator)
if parameters_tag_opt == ":parameters":
parameters = parse_typed_list(next(iterator), only_variables=True)
precondition_tag_opt = next(iterator)
else:
parameters = []
precondition_tag_opt = parameters_tag_opt
if precondition_tag_opt == ":precondition":
precondition_list = next(iterator)
if not precondition_list:
# Note that :precondition () is allowed in PDDL.
precondition = pddl.Conjunction([])
else:
precondition = parse_condition(precondition_list, type_dict,
predicate_dict)
precondition = precondition.simplified()
effect_tag = next(iterator)
else:
precondition = pddl.Conjunction([])
effect_tag = precondition_tag_opt
assert effect_tag == ":effect"
effect_list = next(iterator)
eff = []
if effect_list:
try:
cost_eff_pairs = parse_effects(effect_list, eff, type_dict,
predicate_dict)
if 1 == len(cost_eff_pairs):
cost_eff_pairs = [(cost_eff_pairs[0][0], cost_eff_pairs[0][1],
'')]
else:
# Convert floats to fractions to output
# TODO : Benchmark this fraction conversion
all_fractions = []
# summed = fractions.Fraction(0)
for cep in cost_eff_pairs:
all_fractions.append(
fractions.Fraction(cep[2]).limit_denominator())
# summed += all_fractions[-1]
# assert(summed == fractions.Fraction(1))
lcm = functools.reduce(
lambda a, b: (a * b) / fractions.gcd(a, b),
[f.denominator for f in all_fractions], 1)
# Use the fractions and lcm to build the weights
cost_eff_pairs = [(cost_eff_pairs[i][0], cost_eff_pairs[i][1],
"_DETDUP_%d_WEIGHT_%d_%d" %
(i, all_fractions[i].numerator *
(lcm / all_fractions[i].denominator), lcm))
for i in range(len(cost_eff_pairs))]
except ValueError as e:
raise SystemExit("Error in Action %s\nReason: %s." % (name, e))
for rest in iterator:
assert False, rest
return [
pddl.Action(name + suffix, parameters, len(parameters), precondition,
eff, cost) for (cost, eff, suffix) in cost_eff_pairs
]