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action.py
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action.py
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#!/usr/bin/env python
# Four spaces as indentation [no tabs]
import itertools
class Action:
def __init__(self, name, parameters, positive_preconditions, negative_preconditions, add_effects, del_effects):
self.name = name
self.parameters = parameters
self.positive_preconditions = positive_preconditions
self.negative_preconditions = negative_preconditions
self.add_effects = add_effects
self.del_effects = del_effects
def __str__(self):
return 'action: ' + self.name + \
'\n parameters: ' + str(self.parameters) + \
'\n positive_preconditions: ' + str(self.positive_preconditions) + \
'\n negative_preconditions: ' + str(self.negative_preconditions) + \
'\n add_effects: ' + str(self.add_effects) + \
'\n del_effects: ' + str(self.del_effects) + '\n'
def __eq__(self, other):
return self.__dict__ == other.__dict__
def groundify(self, objects):
if not self.parameters:
yield self
return
type_map = []
variables = []
for var, type in self.parameters:
type_map.append(objects[type])
variables.append(var)
for assignment in itertools.product(*type_map):
positive_preconditions = self.replace(self.positive_preconditions, variables, assignment)
negative_preconditions = self.replace(self.negative_preconditions, variables, assignment)
add_effects = self.replace(self.add_effects, variables, assignment)
del_effects = self.replace(self.del_effects, variables, assignment)
yield Action(self.name, assignment, positive_preconditions, negative_preconditions, add_effects, del_effects)
def replace(self, group, variables, assignment):
g = []
for pred in group:
pred = list(pred)
iv = 0
for v in variables:
while v in pred:
pred[pred.index(v)] = assignment[iv]
iv += 1
g.append(pred)
return g
if __name__ == '__main__':
a = Action('move', [['?ag', 'agent'], ['?from', 'pos'], ['?to', 'pos']],
[['at', '?ag', '?from'], ['adjacent', '?from', '?to']],
[['at', '?ag', '?to']],
[['at', '?ag', '?to']],
[['at', '?ag', '?from']]
)
print(a)
objects = {
'agent': ['ana','bob'],
'pos': ['p1','p2']
}
for act in a.groundify(objects):
print(act)