Function parse_problem

pddlstream/algorithms/algorithm.py:75–108

(problem, stream_info={}, constraints=None, unit_costs=False, unit_efforts=False)

    SOLUTIONS[:] = []

def parse_problem(problem, stream_info={}, constraints=None, unit_costs=False, unit_efforts=False):
    # TODO: just return the problem if already written programmatically
    #reset_globals() # Prevents use of satisfaction.py
    domain_pddl, constant_map, stream_pddl, stream_map, init, goal = problem

    domain = parse_domain(domain_pddl) # TODO: normalize here
    #domain = domain_pddl
    if len(domain.types) != 1:
        raise NotImplementedError('Types are not currently supported')
    if unit_costs:
        set_unit_costs(domain)
    if not has_costs(domain):
        # TODO: set effort_weight to 1 if no costs
        print('Warning! All actions have no cost. Recommend setting unit_costs=True')
    obj_from_constant = parse_constants(domain, constant_map) # Keep before parse_stream_pddl

    streams = parse_stream_pddl(stream_pddl, stream_map, stream_info=stream_info,
                                unit_costs=unit_costs, unit_efforts=unit_efforts)
    check_problem(domain, streams, obj_from_constant)

    evaluations = evaluations_from_init(init)
    goal_exp = obj_from_value_expression(goal)

    if isinstance(domain, SimplifiedDomain):
        #assert isinstance(domain, str) # raw PDDL is returned
        _ = {name: Object(value, name=name) for name, value in constant_map.items()}
        return evaluations, goal_exp, domain, streams

    goal_exp = add_plan_constraints(constraints, domain, evaluations, goal_exp)
    parse_goal(goal_exp, domain) # Just to check that it parses
    normalize_domain_goal(domain, goal_exp) # TODO: does not normalize goal_exp

    compile_to_exogenous(evaluations, domain, streams)
    return evaluations, goal_exp, domain, streams

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