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Copy pathknowledge_models.py
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213 lines (186 loc) · 11 KB
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from typing import Tuple
class PDDLKnowledgeUtils(object):
@staticmethod
def get_ordered_param_list(params: list, param_order: dict, obj_types: dict) -> Tuple[list, dict]:
param_list = []
param_count = 0
updated_obj_types = dict(obj_types)
while param_count < len(params):
for param in params:
param_name = param_order[param_count][0]
param_type = param_order[param_count][1]
if param.name == param_name:
param_list.append(param.value)
param_count += 1
if param_type not in updated_obj_types:
updated_obj_types[param_type] = []
if param.value not in updated_obj_types[param_type]:
updated_obj_types[param_type].append(param.value)
break
return param_list, updated_obj_types
class PDDLPredicateLibrary(object):
@staticmethod
def get_assertion_param_list(predicate_name: str, predicate_params: list, obj_types: dict) -> Tuple[list, dict]:
ordered_param_list, updated_obj_types = getattr(PDDLPredicateLibrary, predicate_name)(predicate_params, obj_types)
return ordered_param_list, updated_obj_types
@staticmethod
def empty_gripper(params: list, obj_types: dict) -> Tuple[list, dict]:
param_order = {0: ('bot', 'robot')}
return PDDLKnowledgeUtils.get_ordered_param_list(params, param_order, obj_types)
@staticmethod
def holding(params: list, obj_types: dict) -> Tuple[list, dict]:
param_order = {0: 'bot', 1: 'load'}
return PDDLKnowledgeUtils.get_ordered_param_list(params, param_order, obj_types)
@staticmethod
def requested(params: list, obj_types: dict) -> Tuple[list, dict]:
param_order = {0: ('bot', 'robot'), 1: ('elevator', 'elevator')}
return PDDLKnowledgeUtils.get_ordered_param_list(params, param_order, obj_types)
@staticmethod
def arrived(params: list, obj_types: dict) -> Tuple[list, dict]:
param_order = {0: ('elevator', 'elevator')}
return PDDLKnowledgeUtils.get_ordered_param_list(params, param_order, obj_types)
@staticmethod
def elevator_at(params: list, obj_types: dict) -> Tuple[list, dict]:
param_order = {0: ('elevator', 'elevator'), 1: ('loc', 'location')}
return PDDLKnowledgeUtils.get_ordered_param_list(params, param_order, obj_types)
class PDDLFluentLibrary(object):
@staticmethod
def get_assertion_param_list(fluent_name: str, fluent_params: list,
fluent_value: str, obj_types: dict) -> Tuple[list, dict]:
ordered_param_list, obj_types = getattr(PDDLFluentLibrary, fluent_name)(fluent_params,
obj_types,
fluent_value)
return ordered_param_list, obj_types
@staticmethod
def robot_at(params: list, obj_types: dict, fluent_value: str) -> Tuple[list, dict]:
param_order = {0: ('bot', 'robot')}
ordered_param_list, updated_obj_types = PDDLKnowledgeUtils.get_ordered_param_list(params,
param_order,
obj_types)
if 'location' in updated_obj_types:
if fluent_value not in updated_obj_types['location']:
updated_obj_types['location'].append(fluent_value)
else:
updated_obj_types['location'] = [fluent_value]
return ordered_param_list, updated_obj_types
@staticmethod
def robot_in(params: list, obj_types: dict, fluent_value: str) -> Tuple[list, dict]:
param_order = {0: ('bot', 'robot')}
ordered_param_list, updated_obj_types = PDDLKnowledgeUtils.get_ordered_param_list(params,
param_order,
obj_types)
if 'elevator' in updated_obj_types:
if fluent_value not in updated_obj_types['elevator']:
updated_obj_types['elevator'].append(fluent_value)
else:
updated_obj_types['elevator'] = [fluent_value]
return ordered_param_list, updated_obj_types
@staticmethod
def load_at(params: list, obj_types: dict, fluent_value: str) -> Tuple[list, dict]:
param_order = {0: ('load', 'load')}
ordered_param_list, updated_obj_types = PDDLKnowledgeUtils.get_ordered_param_list(params,
param_order,
obj_types)
if 'location' in updated_obj_types:
if fluent_value not in updated_obj_types['location']:
updated_obj_types['location'].append(fluent_value)
else:
updated_obj_types['location'] = [fluent_value]
return ordered_param_list, updated_obj_types
@staticmethod
def load_in(params: list, obj_types: dict, fluent_value: str) -> Tuple[list, dict]:
param_order = {0: ('load', 'load')}
ordered_param_list, updated_obj_types = PDDLKnowledgeUtils.get_ordered_param_list(params,
param_order,
obj_types)
if 'elevator' in updated_obj_types:
if fluent_value not in updated_obj_types['elevator']:
updated_obj_types['elevator'].append(fluent_value)
else:
updated_obj_types['elevator'] = [fluent_value]
return ordered_param_list, updated_obj_types
@staticmethod
def robot_floor(params: list, obj_types: dict, fluent_value: str) -> Tuple[list, dict]:
param_order = {0: ('bot', 'robot')}
ordered_param_list, updated_obj_types = PDDLKnowledgeUtils.get_ordered_param_list(params,
param_order,
obj_types)
if 'floor' in updated_obj_types:
if fluent_value not in updated_obj_types['floor']:
updated_obj_types['floor'].append(fluent_value)
else:
updated_obj_types['floor'] = [fluent_value]
return ordered_param_list, updated_obj_types
@staticmethod
def load_floor(params: list, obj_types: dict, fluent_value: str) -> Tuple[list, dict]:
param_order = {0: ('load', 'load')}
ordered_param_list, updated_obj_types = PDDLKnowledgeUtils.get_ordered_param_list(params,
param_order,
obj_types)
if 'floor' in updated_obj_types:
if fluent_value not in updated_obj_types['floor']:
updated_obj_types['floor'].append(fluent_value)
else:
updated_obj_types['floor'] = [fluent_value]
return ordered_param_list, updated_obj_types
@staticmethod
def location_floor(params: list, obj_types: dict, fluent_value: str) -> Tuple[list, dict]:
param_order = {0: ('loc', 'location')}
ordered_param_list, updated_obj_types = PDDLKnowledgeUtils.get_ordered_param_list(params,
param_order,
obj_types)
if 'floor' in updated_obj_types:
if fluent_value not in updated_obj_types['floor']:
updated_obj_types['floor'].append(fluent_value)
else:
updated_obj_types['floor'] = [fluent_value]
return ordered_param_list, updated_obj_types
@staticmethod
def elevator_floor(params: list, obj_types: dict, fluent_value: str) -> Tuple[list, dict]:
param_order = {0: ('elevator', 'elevator')}
ordered_param_list, updated_obj_types = PDDLKnowledgeUtils.get_ordered_param_list(params,
param_order,
obj_types)
if 'floor' in updated_obj_types:
if fluent_value not in updated_obj_types['floor']:
updated_obj_types['floor'].append(fluent_value)
else:
updated_obj_types['floor'] = [fluent_value]
return ordered_param_list, updated_obj_types
@staticmethod
def destination_floor(params: list, obj_types: dict, fluent_value: str) -> Tuple[list, dict]:
param_order = {0: ('elevator', 'elevator')}
ordered_param_list, updated_obj_types = PDDLKnowledgeUtils.get_ordered_param_list(params,
param_order,
obj_types)
if 'floor' in updated_obj_types:
if fluent_value not in updated_obj_types['floor']:
updated_obj_types['floor'].append(fluent_value)
else:
updated_obj_types['floor'] = [fluent_value]
return ordered_param_list, updated_obj_types
class PDDLNumericFluentLibrary(object):
@staticmethod
def get_assertion_param_list(fluent_name: str, fluent_params: list, obj_types: dict) -> Tuple[list, dict]:
ordered_param_list, obj_types = getattr(PDDLNumericFluentLibrary, fluent_name)(fluent_params, obj_types)
return ordered_param_list, obj_types
@staticmethod
def robot_floor(params: list, obj_types: dict) -> Tuple[list, dict]:
param_order = {0: ('bot', 'robot')}
return PDDLKnowledgeUtils.get_ordered_param_list(params, param_order, obj_types)
@staticmethod
def load_floor(params: list, obj_types: dict) -> Tuple[list, dict]:
param_order = {0: ('load', 'load')}
return PDDLKnowledgeUtils.get_ordered_param_list(params, param_order, obj_types)
@staticmethod
def location_floor(params: list, obj_types: dict) -> Tuple[list, dict]:
param_order = {0: ('loc', 'location')}
return PDDLKnowledgeUtils.get_ordered_param_list(params, param_order, obj_types)
@staticmethod
def elevator_floor(params: list, obj_types: dict) -> Tuple[list, dict]:
param_order = {0: ('elevator', 'elevator')}
return PDDLKnowledgeUtils.get_ordered_param_list(params, param_order, obj_types)
@staticmethod
def destination_floor(params: list, obj_types: dict) -> Tuple[list, dict]:
param_order = {0: ('elevator', 'elevator')}
return PDDLKnowledgeUtils.get_ordered_param_list(params, param_order, obj_types)