def pddl_from_instance(instance):
action = instance.action
args = [
instance.var_mapping[p.name]
for p in action.parameters[:action.num_external_parameters]
]
return Action(action.name, args)
def make_exact_skeleton(world, plan):
# TODO: spend more effort on samples that were previously discovered
# TODO: possibly reuse the kinematic solutions as seeds
#arg_from_id = {}
var_from_id = {}
count_from_prefix = {}
skeleton = []
for name, args in plan:
new_args = []
for idx, arg in enumerate(args):
#arg_from_id[id(arg)] = arg
if test_reusable(world, name, idx, arg):
new_args.append(arg)
else:
key = id(arg)
if key not in var_from_id:
if is_optimistic(arg):
var_from_id[key] = '?{}'.format(
arg[len(OPT_PREFIX):]) # WILD
else:
prefix = str(arg)[:2].lower() # 'w'
num = next(
count_from_prefix.setdefault(prefix, count()))
var_from_id[key] = '?{}{}'.format(prefix, num)
new_args.append(var_from_id[key])
skeleton.append(Action(name, new_args))
#print(skeleton[-1])
#for i, var in sorted(var_from_id.items(), key=lambda pair: pair[-1]):
# print(arg_from_id[i], var)
# TODO: could fall back on wild if this fails
# TODO: this fails for placing (due to carry_conf / rest_conf disagreement)
return skeleton
def transform_action_args(action, fn):
if isinstance(action, Action):
name, args = action
return Action(name, tuple(map(fn, args)))
elif isinstance(action, DurativeAction):
name, args, start, duration = action
return DurativeAction(name, tuple(map(fn, args)), start, duration)
elif isinstance(action, StreamAction):
name, inputs, outputs = action
return StreamAction(name, tuple(map(fn, inputs)),
tuple(map(fn, outputs)))
elif isinstance(action, Assignment):
args, = action
return Assignment(tuple(map(fn, args)))
raise NotImplementedError(action)
def make_wild_skeleton(world, plan):
# Can always constrain grasps and selected poses
# Could store previous values to suggest new ones
# Recover skeleton
# Save parameters that shouldn't change
# And keep their evaluations
# If all args the same
skeleton = []
for name, args in plan:
new_args = [
arg if test_reusable(world, name, index, arg) else WILD
for index, arg in enumerate(args)
]
skeleton.append(Action(name, new_args))
#print(len(skeleton), skeleton[-1])
return skeleton
def transform_action_args(action, fn):
if isinstance(action, Action):
name, args = action
return Action(name, tuple(map(fn, args)))
elif isinstance(action, DurativeAction):
action = temporal_from_sequential(action)
if action is None:
return None
name, args, start, duration = action
return DurativeAction(name, tuple(map(fn, args)), start, duration)
elif isinstance(action, StreamAction):
name, inputs, outputs = action
return StreamAction(name, tuple(map(fn, inputs)),
tuple(map(fn, outputs)))
elif isinstance(action, FunctionAction):
name, inputs = action
return FunctionAction(name, tuple(map(fn, inputs)))
elif isinstance(action, Assignment):
args, = action
return Assignment(tuple(map(fn, args)))
raise NotImplementedError(action)
def transform_action_args(action, fn):
if isinstance(action, Action):
name, args = action
return Action(name, tuple(map(fn, args)))
elif isinstance(action, DurativeAction):
name, args, start, duration = action
#name, index = name[:-2], int(name[-1])
#if index != 0: # TODO: what was this for?
# return None
return DurativeAction(name, tuple(map(fn, args)), start, duration)
elif isinstance(action, StreamAction):
name, inputs, outputs = action
return StreamAction(name, tuple(map(fn, inputs)),
tuple(map(fn, outputs)))
elif isinstance(action, FunctionAction):
name, inputs = action
return FunctionAction(name, tuple(map(fn, inputs)))
elif isinstance(action, Assignment):
args, = action
return Assignment(tuple(map(fn, args)))
raise NotImplementedError(action)
def parse_action(line):
entries = line.strip('( )').split(' ')
name = entries[0]
args = tuple(entries[1:])
return Action(name, args)
def transform_action_args(action, fn):
if isinstance(action, DurativeAction):
name, args, start, duration = action
return DurativeAction(name, tuple(map(fn, args)), start, duration)
name, args = action
return Action(name, tuple(map(fn, args)))