-
Notifications
You must be signed in to change notification settings - Fork 0
/
BasicSurgery.py
198 lines (131 loc) · 4.74 KB
/
BasicSurgery.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
# coding: utf-8
# In[1]:
get_ipython().magic('load_ext autoreload')
# In[2]:
get_ipython().magic('aimport Planner')
# In[3]:
get_ipython().magic('autoreload')
# In[4]:
import pyddl
# In[5]:
from Planner import Predicate, DualPredicate, Action, Problem
# In[6]:
from tracery import Grammar, modifiers
# In[7]:
import tracery_alterations
# In[8]:
predicates = {}
# In[9]:
skull_open = DualPredicate('open', 'closed', ('body_id',))
predicates['open'] = skull_open
predicates['closed'] = skull_open.neg()
empty = Predicate('empty', ('body_id',))
predicates['empty'] = empty
on_ice = Predicate('on_ice', ('brain_id',))
predicates['on_ice'] = on_ice
brain_in = Predicate('brain_in', ('brain_id','body_id'))
predicates['brain_in'] = brain_in
# In[10]:
open_skull = Action(
name='open_skull',
parameters=[('body', 'body_id')],
preconditions=[skull_open('body_id').neg()],
effects=[skull_open('body_id')])
predicates['open_skull'] = open_skull.predicate()
# In[11]:
close_skull = Action(
name='close_skull',
parameters=[('body', 'body_id')],
preconditions=[skull_open('body_id')],
effects=[skull_open('body_id').neg()])
predicates['close_skull'] = close_skull.predicate()
# In[12]:
remove_brain = Action(
name='remove_brain',
parameters=(('brain', 'brain_id'),
('body', 'body_id')),
preconditions=(skull_open('body_id'),
brain_in('brain_id', 'body_id'),
on_ice('brain_id').neg(),
empty('body_id').neg()),
effects=(brain_in('brain_id', 'body_id').neg(),
empty('body_id'),
on_ice('brain_id')))
predicates['remove_brain'] = remove_brain.predicate()
# In[13]:
replace_brain = Action(
name='replace_brain',
parameters=(('brain', 'brain_id'),
('body', 'body_id')),
preconditions=(skull_open('body_id'),
brain_in('brain_id', 'body_id').neg(),
on_ice('brain_id'),
empty('body_id')),
effects=(brain_in('brain_id', 'body_id'),
empty('body_id').neg(),
on_ice('brain_id').neg()))
predicates['replace_brain'] = replace_brain.predicate()
# In[14]:
brain_surgery = pyddl.Domain(actions=(open_skull,
close_skull,
remove_brain,
replace_brain))
# In[15]:
init_state = [brain_in('2','2'),
brain_in('1','1'),
skull_open('1').neg(),
skull_open('2').neg()]
goal_state=[brain_in('1','2'),
brain_in('2','1'),
skull_open('1').neg(),
skull_open('2').neg()]
subject_ids = ('1', '2')
objects={'brain': subject_ids,
'body': subject_ids}
# In[16]:
two_brain_swap = Problem(domain=brain_surgery,
objects=objects,
init=init_state,
goal=goal_state)
# In[17]:
def brain_surgery_heuristic(state):
r = 0.0
for p in state.predicates:
if(p[0] == 'open'):
r += 0.0#0.1
elif(p[0] == 'on_ice'):
r += 0.4
elif(p[0] == 'empty'):
r += 0.4
return r
# In[18]:
#tbs_plan = pyddl.planner(two_brain_swap, heuristic=brain_surgery_heuristic)
tbs_plan = pyddl.planner(two_brain_swap)
# In[19]:
for action in tbs_plan:
print(action)
# In[20]:
g = Grammar({
'open':'#body_id.possessive# cranium is open and the brain is exposed',
'closed':'#body_id.possessive# cranium is either intact, or closed and repaired',
'brain_in':'#brain_id.possessive# brain is in #body_id.possessive# head',
'empty':'#body_id.possessive# head does not contain a brain',
'on_ice':'#body_id.possessive# brain is stored in an ice box',
'open_skull':'open #body_id.possessive# skull carefully using a chainsaw',
'close_skull':'replace the removed section of #body_id.possessive# skull with a sterilised metal plate and suture the skin',
'remove_brain':'disconnect #brain_id.possessive# brain from peripheral nervous system connections and remove it from #body_id.possessive# skull',
'replace_brain':'apply nerve growth factor to connection sites in #body_id.possessive# empty skull and #brain_id.possessive# brain, then place #brain_id.possessive# brain in #body_id.possessive# body'
})
g.add_modifiers(modifiers.base_english)
# In[21]:
for i, subject_id in enumerate(subject_ids):
g.push_rules(subject_id,'subject {0}'.format(chr(ord('A')+int(i))))
# In[22]:
for condition in init_state:
print(condition.flatten(g))
print()
for action in tbs_plan:
print(predicates[action.name](*action.sig[1:]).flatten(g))
print()
for condition in goal_state:
print(condition.flatten(g))