diff --git a/bddl/activity.py b/bddl/activity.py new file mode 100644 index 00000000..60a9ae42 --- /dev/null +++ b/bddl/activity.py @@ -0,0 +1,152 @@ +import bddl +from bddl.condition_evaluation import ( + compile_state, + create_scope, + evaluate_state, + get_ground_state_options, +) +from bddl.object_taxonomy import ObjectTaxonomy +from bddl.parsing import ( + gen_natural_language_condition, + gen_natural_language_conditions, + parse_domain, + parse_problem, +) + + +class Conditions(object): + def __init__(self, behavior_activity, activity_definition, simulator_name, predefined_problem=None): + """Object to store behavior activity content and compile conditions for checking and + simulator use + + Args: + behavior_activity (str): behavior activity being used + activity_definition (int): specific definition of behavior_activity + simulator_name (str): simulator that BEHAVIOR is being used with + predefined_problem (str): a pre-defined problem that is not in the activity_definitions folder + """ + self.behavior_activity = behavior_activity + self.activity_definition = activity_definition + domain_name, *__ = parse_domain(simulator_name) + __, self.parsed_objects, self.parsed_initial_conditions, self.parsed_goal_conditions = parse_problem( + self.behavior_activity, self.activity_definition, domain_name, predefined_problem=predefined_problem + ) + + +######## API ######## + + +def get_object_scope(conds): + """Create unpopulated object scope to populate for generating goal and + ground goal conditions. + + Args: + conds (Conditions): conditions for the particular activity and definition + + Returns: + dict: unpopulated scope with string keys to be mapped to + simulator object values + """ + return create_scope(conds.parsed_objects) + + +def get_initial_conditions(conds, backend, scope): + """Create compiled initial conditions that can be checked and sampled + + Args: + conds (Conditions): conditions for the particular activity and definition + + Returns: + list: compiled conditions if initial + condition definition is not + empty else None + """ + if bool(conds.parsed_initial_conditions[0]): + initial_conditions = compile_state( + [cond for cond in conds.parsed_initial_conditions if cond[0] not in ["inroom"]], + backend, + scope=scope, + object_map=conds.parsed_objects, + ) + return initial_conditions + + +def get_goal_conditions(conds, backend, scope): + """Create compiled goal conditions with a populated object scope for checking + + Args: + conds (Conditions): conditions for the particular activity and definition + populated_object_scope (dict): scope mapping object + terms in BDDL to + simulator objects + + Returns: + list: compiled conditions if goal condition + definition is not empty else None + """ + if bool(conds.parsed_goal_conditions[0]): + goal_conditions = compile_state( + conds.parsed_goal_conditions, backend, scope=scope, object_map=conds.parsed_objects + ) + return goal_conditions + + +def get_ground_goal_state_options(conds, backend, scope, goal_conditions): + """Create compiled ground solutions to goal state with a populated object scope + for checking progress on specific solutions + + Args: + conds (Conditions): conditions for the particular activity and definition + populated_object_scope (dict): scope mapping object + terms in BDDL to + simulator objects + + Returns: + list: compiled goal solutions + + Raises: + AssertionError if there are no ground solutions + """ + ground_goal_state_options = get_ground_state_options( + goal_conditions, backend, scope=scope, object_map=conds.parsed_objects + ) + assert len(ground_goal_state_options) > 0 + return ground_goal_state_options + + +def evaluate_goal_conditions(goal_conditions): + """Evaluate compiled goal state to see if current simulator state has been met + + Args: + goal_conditions (list): list of compiled + goal conditions with + populated scope + + Returns: + bool, dict>: [description] + """ + return evaluate_state(goal_conditions) + + +def get_natural_initial_conditions(conds): + """Return natural language translation of init of given conditions + + Args: + conditions (list): conditions being translated + + Returns: + list: natural language translations, one per condition in conditions + """ + return gen_natural_language_conditions(conds.parsed_initial_conditions) + + +def get_natural_goal_conditions(conds): + """Return natural language translation of goal of given conditions + + Args: + conditions (list): conditions being translated + + Returns: + list: natural language translations, one per condition in conditions + """ + return gen_natural_language_conditions(conds.parsed_goal_conditions) diff --git a/bddl/activity_base.py b/bddl/activity_base.py deleted file mode 100644 index 0b2cfec4..00000000 --- a/bddl/activity_base.py +++ /dev/null @@ -1,162 +0,0 @@ -import random -import os - -from bddl.parsing import parse_domain, parse_problem, gen_natural_language_conditions -from bddl.condition_evaluation import create_scope, compile_state, evaluate_state, get_ground_state_options - -import numpy as np -from bddl.object_taxonomy import ObjectTaxonomy - - -class BEHAVIORActivityInstance(object): - - def __init__(self, behavior_activity=None, activity_definition=None, scene_path=None, predefined_problem=None): - self.scene_path = scene_path - self.object_taxonomy = ObjectTaxonomy() - self.update_problem(behavior_activity, activity_definition, - predefined_problem=predefined_problem) - - def update_problem(self, behavior_activity, activity_definition, predefined_problem=None): - if predefined_problem is not None: - self.behavior_activity = behavior_activity - self.activity_definition = "predefined" - else: - self.behavior_activity = behavior_activity - self.activity_definition = activity_definition - domain_name, requirements, types, actions, predicates = parse_domain( - "igibson") - problem_name, self.objects, self.parsed_initial_conditions, self.parsed_goal_conditions = parse_problem( - self.behavior_activity, - self.activity_definition, - domain_name, - predefined_problem=predefined_problem) - self.object_scope = create_scope(self.objects) - self.obj_inst_to_obj_cat = { - obj_inst: obj_cat - for obj_cat in self.objects - for obj_inst in self.objects[obj_cat] - } - - # Generate initial and goal conditions - self.gen_initial_conditions() - self.gen_goal_conditions() - self.gen_ground_goal_conditions() - - # Demo attributes - self.instruction_order = np.arange(len(self.parsed_goal_conditions)) - np.random.shuffle(self.instruction_order) - self.currently_viewed_index = 0 - self.currently_viewed_instruction = self.instruction_order[self.currently_viewed_index] - self.current_success = False - self.current_goal_status = {"satisfied": [], "unsatisfied": []} - self.natural_language_goal_conditions = gen_natural_language_conditions( - self.parsed_goal_conditions) - - def initialize(self, scene_class, scene_id=None, scene_kwargs=None, online_sampling=True): - scenes = os.listdir(self.scene_path) - random.shuffle(scenes) - accept_scene = True - self.online_sampling = online_sampling - - for scene in scenes: - if scene_id is not None and scene != scene_id: - continue - if '_int' not in scene: - continue - if scene_kwargs is None: - self.scene = scene_class(scene) - else: - self.scene = scene_class(scene, **scene_kwargs) - - # Reject scenes with missing non-sampleable objects - # Populate scope with simulator objects - if self.online_sampling: - accept_scene, feedback = self.check_scene() - if not accept_scene: - continue - - # Import scenes and objects into simulator - self.import_scene() - self.import_agent() - - if self.online_sampling: - # Sample objects to satisfy initial conditions - accept_scene, feedback = self.sample() - if not accept_scene: - continue - - # Add clutter objects into the scenes - self.clutter_scene() - - self.move_agent() - - # Generate goal condition with the fully populated self.object_scope - self.gen_goal_conditions() - - return accept_scene - - def gen_initial_conditions(self): - if bool(self.parsed_initial_conditions[0]): - self.initial_conditions = compile_state( - [cond for cond in self.parsed_initial_conditions if cond[0] - not in ["inroom"]], - self, - scope=self.object_scope, - object_map=self.objects) - - def gen_goal_conditions(self): - if bool(self.parsed_goal_conditions[0]): - self.goal_conditions = compile_state( - self.parsed_goal_conditions, self, scope=self.object_scope, object_map=self.objects) - - def gen_ground_goal_conditions(self): - self.ground_goal_state_options = get_ground_state_options( - self.goal_conditions, - self, - scope=self.object_scope, - object_map=self.objects) - assert len(self.ground_goal_state_options) > 0 - - def show_instruction(self): - satisfied = self.currently_viewed_instruction in self.current_goal_status["satisfied"] - natural_language_condition = self.natural_language_goal_conditions[ - self.currently_viewed_instruction] - objects = self.goal_conditions[self.currently_viewed_instruction].get_relevant_objects( - ) - text_color = [83. / 255., 176. / 255., 72. / 255.] if satisfied \ - else [255. / 255., 51. / 255., 51. / 255.] - - return natural_language_condition, text_color, objects - - def iterate_instruction(self): - self.currently_viewed_index = ( - self.currently_viewed_index + 1) % len(self.parsed_goal_conditions) - self.currently_viewed_instruction = \ - self.instruction_order[self.currently_viewed_index] - - def check_scene(self): - raise NotImplementedError - - def import_agent(self): - raise NotImplementedError - - def move_agent(self): - pass - - def import_scene(self): - raise NotImplementedError - - def clutter_scene(self): - raise NotImplementedError - - def sample(self, kinematic_only=False): - raise NotImplementedError - - def check_success(self): - ''' - Check if scene satisfies goal conditions and report binary success + unsatisfied predicates - ''' - # print('Passing trivially. Later, check scene against final conditions and report success score.') - self.current_success, self.current_goal_status = evaluate_state( - self.goal_conditions) - return self.current_success, self.current_goal_status diff --git a/bddl/activity_manifest.txt b/bddl/activity_manifest.txt new file mode 100644 index 00000000..ce3cad97 --- /dev/null +++ b/bddl/activity_manifest.txt @@ -0,0 +1,100 @@ +assembling_gift_baskets +bottling_fruit +boxing_books_up_for_storage +bringing_in_wood +brushing_lint_off_clothing +chopping_vegetables +cleaning_a_car +cleaning_barbecue_grill +cleaning_bathrooms +cleaning_bathtub +cleaning_bedroom +cleaning_carpets +cleaning_closet +cleaning_cupboards +cleaning_floors +cleaning_freezer +cleaning_garage +cleaning_high_chair +cleaning_kitchen_cupboard +cleaning_microwave_oven +cleaning_out_drawers +cleaning_oven +cleaning_shoes +cleaning_sneakers +cleaning_stove +cleaning_table_after_clearing +cleaning_the_hot_tub +cleaning_the_pool +cleaning_toilet +cleaning_up_after_a_meal +cleaning_up_refrigerator +cleaning_up_the_kitchen_only +cleaning_windows +clearing_the_table_after_dinner +collect_misplaced_items +collecting_aluminum_cans +defrosting_freezer +filling_a_Christmas_stocking +filling_an_Easter_basket +installing_a_fax_machine +installing_a_modem +installing_a_printer +installing_a_scanner +installing_alarms +laying_tile_floors +laying_wood_floors +loading_the_dishwasher +locking_every_door +locking_every_window +making_tea +mopping_floors +moving_boxes_to_storage +opening_packages +opening_presents +organizing_boxes_in_garage +organizing_file_cabinet +organizing_school_stuff +packing_adult_s_bags +packing_bags_or_suitcase +packing_boxes_for_household_move_or_trip +packing_car_for_trip +packing_child_s_bag +packing_food_for_work +packing_lunches +packing_picnics +picking_up_take-out_food +picking_up_trash +polishing_furniture +polishing_shoes +polishing_silver +preparing_a_shower_for_child +preparing_salad +preserving_food +putting_away_Christmas_decorations +putting_away_Halloween_decorations +putting_away_toys +putting_dishes_away_after_cleaning +putting_leftovers_away +putting_up_Christmas_decorations_inside +re-shelving_library_books +rearranging_furniture +serving_a_meal +serving_hors_d_oeuvres +setting_mousetraps +setting_up_candles +sorting_books +sorting_groceries +sorting_mail +storing_food +storing_the_groceries +thawing_frozen_food +throwing_away_leftovers +unpacking_suitcase +vacuuming_floors +washing_cars_or_other_vehicles +washing_dishes +washing_floor +washing_pots_and_pans +watering_houseplants +waxing_cars_or_other_vehicles diff --git a/bddl/condition_evaluation.py b/bddl/condition_evaluation.py index 6fa8ec0a..66562da1 100644 --- a/bddl/condition_evaluation.py +++ b/bddl/condition_evaluation.py @@ -1,10 +1,15 @@ import copy import itertools + import numpy as np import bddl -from bddl.logic_base import Expression, AtomicFormula, UnaryAtomicFormula -from bddl.utils import truncated_product, truncated_permutations, UnsupportedPredicateError +from bddl.logic_base import Expression +from bddl.utils import ( + UnsupportedPredicateError, + truncated_permutations, + truncated_product, +) #################### RECURSIVE PREDICATES #################### @@ -12,172 +17,165 @@ class Conjunction(Expression): - def __init__(self, scope, activity_instance, body, object_map): - super().__init__(scope, activity_instance, body, object_map) + def __init__(self, scope, backend, body, object_map): + super().__init__(scope, backend, body, object_map) new_scope = copy.copy(scope) - child_predicates = [get_predicate_for_token(subpredicate[0])( - new_scope, activity_instance, subpredicate[1:], object_map) for subpredicate in body] + child_predicates = [ + get_predicate_for_token(subexpression[0], backend)(new_scope, backend, subexpression[1:], object_map) + for subexpression in body + ] self.children.extend(child_predicates) self.get_ground_options() def evaluate(self): self.child_values = [child.evaluate() for child in self.children] - assert all([val is not None for val in self.child_values] - ), 'child_values has NoneTypes' + assert all([val is not None for val in self.child_values]), "child_values has NoneTypes" return all(self.child_values) def get_ground_options(self): - options = list(itertools.product( - *[child.flattened_condition_options for child in self.children])) + options = list(itertools.product(*[child.flattened_condition_options for child in self.children])) self.flattened_condition_options = [] for option in options: - self.flattened_condition_options.append( - list(itertools.chain(*option)) - ) + self.flattened_condition_options.append(list(itertools.chain(*option))) class Disjunction(Expression): - def __init__(self, scope, activity_instance, body, object_map): - super().__init__(scope, activity_instance, body, object_map) + def __init__(self, scope, backend, body, object_map): + super().__init__(scope, backend, body, object_map) # body = [[predicate1], [predicate2], ..., [predicateN]] new_scope = copy.copy(scope) - child_predicates = [get_predicate_for_token(subpredicate[0])( - new_scope, activity_instance, subpredicate[1:], object_map) for subpredicate in body] + child_predicates = [ + get_predicate_for_token(subexpression[0], backend)(new_scope, backend, subexpression[1:], object_map) + for subexpression in body + ] self.children.extend(child_predicates) self.get_ground_options() def evaluate(self): self.child_values = [child.evaluate() for child in self.children] - assert all([val is not None for val in self.child_values] - ), 'child_values has NoneTypes' + assert all([val is not None for val in self.child_values]), "child_values has NoneTypes" return any(self.child_values) def get_ground_options(self): self.flattened_condition_options = [] for child in self.children: - self.flattened_condition_options.extend( - child.flattened_condition_options - ) + self.flattened_condition_options.extend(child.flattened_condition_options) # QUANTIFIERS class Universal(Expression): - def __init__(self, scope, activity_instance, body, object_map): - super().__init__(scope, activity_instance, body, object_map) - iterable, subpredicate = body + def __init__(self, scope, backend, body, object_map): + super().__init__(scope, backend, body, object_map) + iterable, subexpression = body param_label, __, category = iterable - param_label = param_label.strip('?') - assert __ == '-', 'Middle was not a hyphen' + param_label = param_label.strip("?") + assert __ == "-", "Middle was not a hyphen" for obj_name, obj in scope.items(): if obj_name in object_map[category]: new_scope = copy.copy(scope) new_scope[param_label] = obj_name - self.children.append(get_predicate_for_token(subpredicate[0])( - new_scope, activity_instance, subpredicate[1:], object_map)) + self.children.append( + get_predicate_for_token(subexpression[0], backend)( + new_scope, backend, subexpression[1:], object_map + ) + ) self.get_ground_options() def evaluate(self): self.child_values = [child.evaluate() for child in self.children] - assert all([val is not None for val in self.child_values] - ), 'child_values has NoneTypes' + assert all([val is not None for val in self.child_values]), "child_values has NoneTypes" return all(self.child_values) def get_ground_options(self): # Accept just a few possible options - options = list(truncated_product( - *[child.flattened_condition_options for child in self.children] - )) + options = list(truncated_product(*[child.flattened_condition_options for child in self.children])) self.flattened_condition_options = [] for option in options: - self.flattened_condition_options.append( - list(itertools.chain(*option)) - ) + self.flattened_condition_options.append(list(itertools.chain(*option))) class Existential(Expression): - def __init__(self, scope, activity_instance, body, object_map): - super().__init__(scope, activity_instance, body, object_map) - iterable, subpredicate = body + def __init__(self, scope, backend, body, object_map): + super().__init__(scope, backend, body, object_map) + iterable, subexpression = body param_label, __, category = iterable - param_label = param_label.strip('?') - assert __ == '-', 'Middle was not a hyphen' + param_label = param_label.strip("?") + assert __ == "-", "Middle was not a hyphen" for obj_name, obj in scope.items(): if obj_name in object_map[category]: new_scope = copy.copy(scope) new_scope[param_label] = obj_name # body = [["param_label", "-", "category"], [predicate]] - self.children.append(get_predicate_for_token(subpredicate[0])( - new_scope, activity_instance, subpredicate[1:], object_map)) + self.children.append( + get_predicate_for_token(subexpression[0], backend)( + new_scope, backend, subexpression[1:], object_map + ) + ) self.get_ground_options() def evaluate(self): self.child_values = [child.evaluate() for child in self.children] - assert all([val is not None for val in self.child_values] - ), 'child_values has NoneTypes' + assert all([val is not None for val in self.child_values]), "child_values has NoneTypes" return any(self.child_values) def get_ground_options(self): self.flattened_condition_options = [] for child in self.children: - self.flattened_condition_options.extend( - child.flattened_condition_options - ) + self.flattened_condition_options.extend(child.flattened_condition_options) class NQuantifier(Expression): - def __init__(self, scope, activity_instance, body, object_map): - super().__init__(scope, activity_instance, body, object_map) + def __init__(self, scope, backend, body, object_map): + super().__init__(scope, backend, body, object_map) - N, iterable, subpredicate = body + N, iterable, subexpression = body self.N = int(N[0]) param_label, __, category = iterable - param_label = param_label.strip('?') - assert __ == '-', 'Middle was not a hyphen' + param_label = param_label.strip("?") + assert __ == "-", "Middle was not a hyphen" for obj_name, obj in scope.items(): if obj_name in object_map[category]: new_scope = copy.copy(scope) new_scope[param_label] = obj_name - self.children.append(get_predicate_for_token(subpredicate[0])( - new_scope, activity_instance, subpredicate[1:], object_map)) + self.children.append( + get_predicate_for_token(subexpression[0], backend)( + new_scope, backend, subexpression[1:], object_map + ) + ) self.get_ground_options() def evaluate(self): self.child_values = [child.evaluate() for child in self.children] - assert all([val is not None for val in self.child_values] - ), 'child_values has NoneTypes' + assert all([val is not None for val in self.child_values]), "child_values has NoneTypes" return sum(self.child_values) == self.N def get_ground_options(self): # Accept just a few possible options - options = list(truncated_product( - *[child.flattened_condition_options for child in self.children] - )) + options = list(truncated_product(*[child.flattened_condition_options for child in self.children])) self.flattened_condition_options = [] for option in options: # for combination in [combo for num_el in range(self.N - 1, len(option)) for combo in itertools.combinations(option, num_el + 1)]: # Use a minimal solution (exactly N fulfilled, rather than >=N fulfilled) for combination in itertools.combinations(option, self.N): - self.flattened_condition_options.append( - list(itertools.chain(*combination)) - ) + self.flattened_condition_options.append(list(itertools.chain(*combination))) class ForPairs(Expression): - def __init__(self, scope, activity_instance, body, object_map): - super().__init__(scope, activity_instance, body, object_map) + def __init__(self, scope, backend, body, object_map): + super().__init__(scope, backend, body, object_map) - iterable1, iterable2, subpredicate = body + iterable1, iterable2, subexpression = body param_label1, __, category1 = iterable1 param_label2, __, category2 = iterable2 - param_label1 = param_label1.strip('?') - param_label2 = param_label2.strip('?') + param_label1 = param_label1.strip("?") + param_label2 = param_label2.strip("?") for obj_name_1, obj_1 in scope.items(): if obj_name_1 in object_map[category1]: sub = [] @@ -186,18 +184,22 @@ def __init__(self, scope, activity_instance, body, object_map): new_scope = copy.copy(scope) new_scope[param_label1] = obj_name_1 new_scope[param_label2] = obj_name_2 - sub.append(get_predicate_for_token(subpredicate[0])( - new_scope, activity_instance, subpredicate[1:], object_map)) + sub.append( + get_predicate_for_token(subexpression[0], backend)( + new_scope, backend, subexpression[1:], object_map + ) + ) self.children.append(sub) self.get_ground_options() def evaluate(self): - self.child_values = np.array( - [np.array([subchild.evaluate() for subchild in child]) for child in self.children]) + self.child_values = np.array([np.array([subchild.evaluate() for subchild in child]) for child in self.children]) L = min(len(self.children), len(self.children[0])) - return (np.sum(np.any(self.child_values, axis=1), axis=0) >= L) and (np.sum(np.any(self.child_values, axis=0), axis=0) >= L) + return (np.sum(np.any(self.child_values, axis=1), axis=0) >= L) and ( + np.sum(np.any(self.child_values, axis=0), axis=0) >= L + ) def get_ground_options(self): self.flattened_condition_options = [] @@ -208,30 +210,30 @@ def get_ground_options(self): for lchoice in all_L_choices: for gchoice in all_G_choices: if M < N: - all_child_options = [self.children[lchoice[l]][gchoice[l]].flattened_condition_options - for l in range(L)] + all_child_options = [ + self.children[lchoice[l]][gchoice[l]].flattened_condition_options for l in range(L) + ] else: - all_child_options = [self.children[gchoice[l]][lchoice[l]].flattened_condition_options - for l in range(L)] + all_child_options = [ + self.children[gchoice[l]][lchoice[l]].flattened_condition_options for l in range(L) + ] choice_options = truncated_product(*all_child_options) unpacked_choice_options = [] for choice_option in choice_options: - unpacked_choice_options.append( - list(itertools.chain(*choice_option))) - self.flattened_condition_options.extend( - unpacked_choice_options) + unpacked_choice_options.append(list(itertools.chain(*choice_option))) + self.flattened_condition_options.extend(unpacked_choice_options) class ForNPairs(Expression): - def __init__(self, scope, activity_instance, body, object_map): - super().__init__(scope, activity_instance, body, object_map) + def __init__(self, scope, backend, body, object_map): + super().__init__(scope, backend, body, object_map) - N, iterable1, iterable2, subpredicate = body + N, iterable1, iterable2, subexpression = body self.N = int(N[0]) param_label1, __, category1 = iterable1 param_label2, __, category2 = iterable2 - param_label1 = param_label1.strip('?') - param_label2 = param_label2.strip('?') + param_label1 = param_label1.strip("?") + param_label2 = param_label2.strip("?") for obj_name_1, obj_1 in scope.items(): if obj_name_1 in object_map[category1]: sub = [] @@ -240,16 +242,20 @@ def __init__(self, scope, activity_instance, body, object_map): new_scope = copy.copy(scope) new_scope[param_label1] = obj_name_1 new_scope[param_label2] = obj_name_2 - sub.append(get_predicate_for_token(subpredicate[0])( - new_scope, activity_instance, subpredicate[1:], object_map)) + sub.append( + get_predicate_for_token(subexpression[0], backend)( + new_scope, backend, subexpression[1:], object_map + ) + ) self.children.append(sub) self.get_ground_options() def evaluate(self): - self.child_values = np.array( - [np.array([subchild.evaluate() for subchild in child]) for child in self.children]) - return (np.sum(np.any(self.child_values, axis=1), axis=0) >= self.N) and (np.sum(np.any(self.child_values, axis=0), axis=0) >= self.N) + self.child_values = np.array([np.array([subchild.evaluate() for subchild in child]) for child in self.children]) + return (np.sum(np.any(self.child_values, axis=1), axis=0) >= self.N) and ( + np.sum(np.any(self.child_values, axis=0), axis=0) >= self.N + ) def get_ground_options(self): self.flattened_condition_options = [] @@ -260,36 +266,34 @@ def get_ground_options(self): all_Q_choices = truncated_permutations(range(Q), r=self.N) for pchoice in all_P_choices: for qchoice in all_Q_choices: - all_child_options = [self.children[pchoice[n]][qchoice[n]].flattened_condition_options - for n in range(self.N) - ] + all_child_options = [ + self.children[pchoice[n]][qchoice[n]].flattened_condition_options for n in range(self.N) + ] choice_options = truncated_product(*all_child_options) unpacked_choice_options = [] for choice_option in choice_options: - unpacked_choice_options.append( - list(itertools.chain(*choice_option))) - self.flattened_condition_options.extend( - unpacked_choice_options) + unpacked_choice_options.append(list(itertools.chain(*choice_option))) + self.flattened_condition_options.extend(unpacked_choice_options) # NEGATION class Negation(Expression): - def __init__(self, scope, activity_instance, body, object_map): - super().__init__(scope, activity_instance, body, object_map) + def __init__(self, scope, backend, body, object_map): + super().__init__(scope, backend, body, object_map) # body = [[predicate]] - subpredicate = body[0] - self.children.append(get_predicate_for_token(subpredicate[0])( - scope, activity_instance, subpredicate[1:], object_map)) - assert len(self.children) == 1, 'More than one child.' + subexpression = body[0] + self.children.append( + get_predicate_for_token(subexpression[0], backend)(scope, backend, subexpression[1:], object_map) + ) + assert len(self.children) == 1, "More than one child." self.get_ground_options() def evaluate(self): self.child_values = [child.evaluate() for child in self.children] - assert len(self.child_values) == 1, 'More than one child value' - assert all([val is not None for val in self.child_values] - ), 'child_values has NoneTypes' + assert len(self.child_values) == 1, "More than one child value" + assert all([val is not None for val in self.child_values]), "child_values has NoneTypes" return not self.child_values[0] def get_ground_options(self): @@ -300,33 +304,32 @@ def get_ground_options(self): for option in child.flattened_condition_options: negated_conds = [] for cond in option: - negated_conds.append(['not', cond]) + negated_conds.append(["not", cond]) negated_options.append(negated_conds) # only picking one condition from each set of disjuncts for negated_option_selections in itertools.product(*negated_options): - self.flattened_condition_options.append( - list(itertools.chain(negated_option_selections)) - ) + self.flattened_condition_options.append(list(itertools.chain(negated_option_selections))) # IMPLICATION class Implication(Expression): - def __init__(self, scope, activity_instance, body, object_map): - super().__init__(scope, activity_instance, body, object_map) + def __init__(self, scope, backend, body, object_map): + super().__init__(scope, backend, body, object_map) # body = [[antecedent], [consequent]] antecedent, consequent = body - self.children.append(get_predicate_for_token(antecedent[0])( - scope, activity_instance, antecedent[1:], object_map)) - self.children.append(get_predicate_for_token(consequent[0])( - scope, activity_instance, consequent[1:], object_map)) + self.children.append( + get_predicate_for_token(antecedent[0], backend)(scope, backend, antecedent[1:], object_map) + ) + self.children.append( + get_predicate_for_token(consequent[0], backend)(scope, backend, consequent[1:], object_map) + ) self.get_ground_options() def evaluate(self): self.child_values = [child.evaluate() for child in self.children] - assert all([val is not None for val in self.child_values] - ), 'child_values has NoneTypes' + assert all([val is not None for val in self.child_values]), "child_values has NoneTypes" ante, cons = self.child_values return (not ante) or cons @@ -341,41 +344,38 @@ def get_ground_options(self): negated_conds.append(["not", cond]) negated_options.append(negated_conds) for negated_option_selections in itertools.product(*negated_options): - flattened_neg_antecedent_options.append( - list(itertools.chain(negated_option_selections)) - ) + flattened_neg_antecedent_options.append(list(itertools.chain(negated_option_selections))) flattened_consequent_options = self.children[1].flattened_condition_options - self.flattened_condition_options = flattened_neg_antecedent_options + \ - flattened_consequent_options + self.flattened_condition_options = flattened_neg_antecedent_options + flattened_consequent_options # HEAD + class HEAD(Expression): - def __init__(self, scope, activity_instance, body, object_map): - super().__init__(scope, activity_instance, body, object_map) + def __init__(self, scope, backend, body, object_map): + super().__init__(scope, backend, body, object_map) - subpredicate = body - self.children.append(get_predicate_for_token(subpredicate[0])( - scope, activity_instance, subpredicate[1:], object_map)) + subexpression = body + self.children.append( + get_predicate_for_token(subexpression[0], backend)(scope, backend, subexpression[1:], object_map) + ) - self.terms = [term.lstrip('?') - for term in list(flatten_list(self.body))] + self.terms = [term.lstrip("?") for term in list(flatten_list(self.body))] self.get_ground_options() def evaluate(self): self.child_values = [child.evaluate() for child in self.children] - assert len(self.child_values) == 1, 'More than one child value' + assert len(self.child_values) == 1, "More than one child value" self.currently_satisfied = self.child_values[0] return self.currently_satisfied def get_relevant_objects(self): # All object instances and categories that are in the scope will be collected - objects = set([self.scope[obj_name] - for obj_name in self.terms if obj_name in self.scope]) + objects = set([self.scope[obj_name] for obj_name in self.terms if obj_name in self.scope]) # If this has a quantifier, the category-relevant objects won't all be caught, so adding them here # No matter what the quantifier, every object of the category/ies is relevant @@ -393,11 +393,12 @@ def get_ground_options(self): #################### CHECKING #################### + def create_scope(object_terms): - ''' + """ Creates degenerate scope mapping all object parameters to None :param objects: (list of strings) BDDL terms for objects - ''' + """ scope = {} for object_cat in object_terms: for object_inst in object_terms[object_cat]: @@ -405,30 +406,28 @@ def create_scope(object_terms): return scope -def compile_state(parsed_state, activity_instance, scope=None, object_map=None): +def compile_state(parsed_state, backend, scope=None, object_map=None): compiled_state = [] for parsed_condition in parsed_state: scope = scope if scope is not None else {} - compiled_state.append( - HEAD(scope, activity_instance, parsed_condition, object_map)) + compiled_state.append(HEAD(scope, backend, parsed_condition, object_map)) return compiled_state - def evaluate_state(compiled_state): - results = {'satisfied': [], 'unsatisfied': []} + results = {"satisfied": [], "unsatisfied": []} for i, compiled_condition in enumerate(compiled_state): if compiled_condition.evaluate(): - results['satisfied'].append(i) + results["satisfied"].append(i) else: - results['unsatisfied'].append(i) - return not bool(results['unsatisfied']), results + results["unsatisfied"].append(i) + return not bool(results["unsatisfied"]), results -def get_ground_state_options(compiled_state, activity_instance, scope=None, object_map=None): - all_options = list(itertools.product(*[compiled_condition.flattened_condition_options - for compiled_condition in compiled_state])) - all_unpacked_options = [list(itertools.chain(*option)) - for option in all_options] +def get_ground_state_options(compiled_state, backend, scope=None, object_map=None): + all_options = list( + itertools.product(*[compiled_condition.flattened_condition_options for compiled_condition in compiled_state]) + ) + all_unpacked_options = [list(itertools.chain(*option)) for option in all_options] # Remove all unsatisfiable options (those that contain some (cond1 and not cond1)) consistent_unpacked_options = [] @@ -443,8 +442,7 @@ def get_ground_state_options(compiled_state, activity_instance, scope=None, obje consistent_unpacked_options.append(option) consistent_unpacked_options = [ - compile_state(option, activity_instance, - scope=scope, object_map=object_map) + compile_state(option, backend, scope=scope, object_map=object_map) for option in sorted(consistent_unpacked_options, key=len) ] return consistent_unpacked_options @@ -452,6 +450,7 @@ def get_ground_state_options(compiled_state, activity_instance, scope=None, obje #################### UTIL ###################### + def flatten_list(li): for elem in li: if isinstance(elem, list): @@ -464,25 +463,24 @@ def flatten_list(li): TOKEN_MAPPING = { # BDDL - 'forall': Universal, - 'exists': Existential, - 'and': Conjunction, - 'or': Disjunction, - 'not': Negation, - 'imply': Implication, - + "forall": Universal, + "exists": Existential, + "and": Conjunction, + "or": Disjunction, + "not": Negation, + "imply": Implication, # BDDL extensions - 'forn': NQuantifier, - 'forpairs': ForPairs, - 'fornpairs': ForNPairs, + "forn": NQuantifier, + "forpairs": ForPairs, + "fornpairs": ForNPairs, } -def get_predicate_for_token(token): +def get_predicate_for_token(token, backend): if token in TOKEN_MAPPING: return TOKEN_MAPPING[token] else: try: - return bddl.get_backend().get_predicate_class(token) + return backend.get_predicate_class(token) except KeyError as e: raise UnsupportedPredicateError(e) diff --git a/bddl/hierarchy_all.json b/bddl/hierarchy_all.json new file mode 100644 index 00000000..b5db1b99 --- /dev/null +++ b/bddl/hierarchy_all.json @@ -0,0 +1,29719 @@ +{ + "name": "entity.n.01", + "children": [ + { + "name": "physical_entity.n.01", + "children": [ + { + "name": "object.n.01", + "children": [ + { + "name": "whole.n.02", + "children": [ + { + "name": "artifact.n.01", + "children": [ + { + "name": "surface.n.01", + "children": [ + { + "name": "horizontal_surface.n.01", + "children": [ + { + "name": "floor.n.01", + "children": [ + { + "name": "floorboard.n.02", + "igibson_categories": [ + "floorboard" + ], + "abilities": { + "burnable": { + "burn_temperature": 200.0 + }, + "dustyable": {}, + "stainable": {} + } + }, + { + "name": "truck_bed.n.01", + "children": [ + { + "name": "flatbed.n.02", + "igibson_categories": [ + "flatbed" + ], + "abilities": { + "dustyable": {}, + "stainable": {} + } + } + ], + "igibson_categories": [], + "abilities": { + "dustyable": {}, + "stainable": {} + } + } + ], + "igibson_categories": [ + "floors" + ], + "abilities": { + "dustyable": {}, + "stainable": {} + } + }, + { + "name": "platform.n.01", + "children": [ + { + "name": "deck.n.01", + "igibson_categories": [ + "deck" + ], + "abilities": { + "dustyable": {}, + "stainable": {} + } + }, + { + "name": "pallet.n.02", + "igibson_categories": [ + "pallet" + ], + "abilities": { + "burnable": { + "burn_temperature": 160.0 + } + } + } + ], + "igibson_categories": [], + "abilities": {} + } + ], + "igibson_categories": [], + "abilities": {} + }, + { + "name": "work_surface.n.01", + "children": [ + { + "name": "tabletop.n.01", + "children": [ + { + "name": "countertop.n.01", + "igibson_categories": [ + "countertop" + ], + "abilities": { + "dustyable": {}, + "stainable": {} + } + } + ], + "igibson_categories": [], + "abilities": { + "dustyable": {}, + "stainable": {} + } + }, + { + "name": "writing_board.n.01", + "children": [ + { + "name": "clipboard.n.01", + "igibson_categories": [ + "clipboard" + ], + "abilities": { + "burnable": { + "burn_temperature": 160.0 + }, + "dustyable": {}, + "openable": {} + } + } + ], + "igibson_categories": [], + "abilities": { + "burnable": { + "burn_temperature": 160.0 + }, + "dustyable": {}, + "openable": {} + } + } + ], + "igibson_categories": [], + "abilities": { + "dustyable": {} + } + }, + { + "name": "board.n.09", + "children": [ + { + "name": "dartboard.n.01", + "igibson_categories": [ + "dartboard" + ], + "abilities": { + "burnable": { + "burn_temperature": 200.0 + }, + "dustyable": {} + } + }, + { + "name": "pegboard.n.01", + "igibson_categories": [ + "pegboard" + ], + "abilities": { + "burnable": { + "burn_temperature": 232.77777777777777 + }, + "dustyable": {}, + "stainable": {} + } + } + ], + "igibson_categories": [], + "abilities": { + "burnable": {}, + "dustyable": {} + } + }, + { + "name": "side.n.05", + "children": [ + { + "name": "edge.n.03", + "children": [ + { + "name": "brim.n.01", + "igibson_categories": [ + "rim" + ], + "abilities": { + "dustyable": {}, + "stainable": {} + } + } + ], + "igibson_categories": [], + "abilities": { + "dustyable": {}, + "stainable": {} + } + }, + { + "name": "front.n.04", + "children": [ + { + 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+ { + "name": "thing.n.08", + "children": [ + { + "name": "freshener.n.01", + "igibson_categories": [ + "freshener" + ], + "abilities": { + "burnable": { + "burn_temperature": 236.66666666666666 + }, + "liquid": {} + } + } + ], + "igibson_categories": [], + "abilities": { + "burnable": { + "burn_temperature": 236.66666666666666 + }, + "liquid": {} + } + } + ], + "igibson_categories": [], + "abilities": {} +} \ No newline at end of file diff --git a/bddl/hierarchy_articles.json.REMOVED.git-id b/bddl/hierarchy_articles.json.REMOVED.git-id deleted file mode 100644 index 6fe3900b..00000000 --- a/bddl/hierarchy_articles.json.REMOVED.git-id +++ /dev/null @@ -1 +0,0 @@ -d76f51de0e8df24d17a3792e0e088cffe44c5ed1 \ No newline at end of file diff --git a/bddl/logic_base.py b/bddl/logic_base.py index 8ca220e0..7a5e4dbe 100644 --- a/bddl/logic_base.py +++ b/bddl/logic_base.py @@ -5,13 +5,13 @@ class Expression(with_metaclass(ABCMeta)): - def __init__(self, scope, activity_instance, body, object_map): + def __init__(self, scope, backend, body, object_map): self.children = [] self.child_values = [] self.kwargs = {} - self.activity_instance = activity_instance self.body = body self.scope = scope + self.backend = backend self.object_map = object_map @abstractmethod @@ -20,15 +20,15 @@ def evaluate(self): class AtomicFormula(Expression): - def __init__(self, scope, activity_instance, body, object_map): - super().__init__(scope, activity_instance, body, object_map) + def __init__(self, scope, backend, body, object_map): + super().__init__(scope, backend, body, object_map) class BinaryAtomicFormula(AtomicFormula): STATE_NAME = None - def __init__(self, scope, activity_instance, body, object_map): - super().__init__(scope, activity_instance, body, object_map) + def __init__(self, scope, backend, body, object_map): + super().__init__(scope, backend, body, object_map) assert len(body) == 2, 'Param list should have 2 args' self.input1, self.input2 = [inp.strip('?') for inp in body] self.scope = scope @@ -75,8 +75,8 @@ def get_ground_options(self): class UnaryAtomicFormula(AtomicFormula): STATE_NAME = None - def __init__(self, scope, activity_instance, body, object_map): - super().__init__(scope, activity_instance, body, object_map) + def __init__(self, scope, backend, body, object_map): + super().__init__(scope, backend, body, object_map) assert len(body) == 1, 'Param list should have 1 arg' self.input = body[0].strip('?') self.scope = scope diff --git a/docs/images/ig_scene.png b/docs/images/ig_scene.png new file mode 100644 index 00000000..742b0563 Binary files /dev/null and b/docs/images/ig_scene.png differ diff --git a/docs/images/ig_scene.png.REMOVED.git-id b/docs/images/ig_scene.png.REMOVED.git-id deleted file mode 100644 index 56cec445..00000000 --- a/docs/images/ig_scene.png.REMOVED.git-id +++ /dev/null @@ -1 +0,0 @@ -742b0563500153d8f678d0b40ef8fd8634f9095c \ No newline at end of file diff --git a/docs/images/igibson.gif b/docs/images/igibson.gif 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