def add_inequality_preconds(self, action, reachable_action_params):
if reachable_action_params is None or len(action.parameters) < 2:
return action
new_cond_parts = []
combs = itertools.combinations(range(len(action.parameters)), 2)
for pos1, pos2 in combs:
for params in reachable_action_params[action.name]:
if params[pos1] == params[pos2]:
break
else:
param1 = pddl.Variable(action.parameters[pos1].name)
param2 = pddl.Variable(action.parameters[pos2].name)
new_cond = pddl.NegatedAtom("=", (param1, param2))
new_cond_parts.append(new_cond)
if new_cond_parts:
new_cond = list(action.condition)
for time in (0, 2): # add inequalities to start and end condition
cond_parts = list(action.condition[time].parts)
if isinstance(action.condition[time], pddl.Literal):
cond_parts = [action.condition[time]]
cond_parts.extend(new_cond_parts)
cond = pddl.Conjunction(cond_parts)
new_cond[time] = cond
return pddl.DurativeAction(action.name, action.parameters,
action.grounding_call, action.duration,
new_cond, action.effects)
else:
return action
def __init__(self, task, reachable_action_params, safe=True):
self.predicates_to_add_actions = defaultdict(set)
self.action_name_to_heavy_action = {}
for action in task.durative_actions:
if safe:
action = self.add_inequality_preconds(action,
reachable_action_params)
too_heavy_effects = [[], []]
create_heavy_act = False
for time in xrange(2):
for eff in action.effects[time]:
if isinstance(eff.peffect, pddl.Atom):
predicate = eff.peffect.predicate
self.predicates_to_add_actions[predicate].add(action)
if safe:
too_heavy_effects[time].append(eff)
if eff.parameters: # universal effect
create_heavy_act = True
too_heavy_effects[time].append(eff.copy())
if safe:
if create_heavy_act:
heavy_act = pddl.DurativeAction(
action.name, action.parameters, action.grounding_call,
action.duration, action.condition, too_heavy_effects)
# heavy_act: duplicated universal effects and assigned unique
# names to all quantified variables (implicitly in constructor)
self.action_name_to_heavy_action[action.name] = heavy_act
else:
self.action_name_to_heavy_action[action.name] = action