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import os
import numpy as np
INDENT = " "
def print_result(result):
print("\n".join(result))
def get_result(result):
return "\n".join(result)
def save_to_file(result, scene_name, language, folder=""):
file_name = os.path.join(
folder,
f"{scene_name}".upper() + "_" + "_".join(language.lower().split(" ")) + ".bddl",
)
with open(file_name, "w") as f:
f.write(result)
return file_name
class _PDDLDefinition:
def __init__(self, func, problem_name="", domain="robosuite"):
self.func = func
self.problem_name = problem_name
self.domain = domain
def __call__(self, *args, **kwargs):
meta_strings = []
content_strings = []
meta_strings.append(f"(define (problem {self.problem_name})")
content_strings.append(f"(:domain {self.domain})")
content_strings += self.func(*args, **kwargs)
content_strings = [INDENT + each_line for each_line in content_strings]
meta_strings += content_strings
meta_strings.append(")\n")
return meta_strings
def PDDLDefinition(func=None, problem_name=""):
if func:
return _PDDLDefinition(func)
else:
def wrapper(func):
return _PDDLDefinition(func, problem_name)
return wrapper
class Language:
def __init__(self, func):
self.func = func
def __call__(self, *args, **kwargs):
strings = []
language = kwargs["language"]
strings.append(f"(:language {language})")
del kwargs["language"]
strings += self.func(*args, **kwargs)
# strings = [INDENT + each_line for each_line in strings]
return strings
class _LogicalState:
def __init__(self, func, state_type=""):
self.func = func
self.state_type = state_type
def __call__(self, *args, **kwargs):
strings = []
strings.append(f"(:{self.state_type}")
strings += self.func(*args, **kwargs)
strings.append(")\n")
# strings = [INDENT + each_line for each_line in strings]
return strings
def LogicalState(func=None, state_type="PLACEHOLDER"):
if func:
return _LogicalState(func)
else:
def wrapper(func):
return _LogicalState(func, state_type)
return wrapper
# Region definition
class RegionWrapper:
def __init__(self, func):
self.func = func
def __call__(self, *args, **kwargs):
strings = []
strings.append("(:regions")
strings += self.func(*args, **kwargs)
strings.append(")\n")
strings = [INDENT + each_line for each_line in strings]
return strings
class Region:
def __init__(self, func):
self.func = func
def __call__(self, *args, **kwargs):
assert "target" in kwargs, "target property has to be defined!"
assert "region_name" in kwargs, "region name has to be defined"
strings = []
region_name = kwargs["region_name"]
strings.append(f"({region_name}")
del kwargs["region_name"]
strings += self.func(*args, **kwargs)
strings.append(")")
strings = [INDENT + each_line for each_line in strings]
return strings
# Objects
class _ObjectDict:
def __init__(self, func, object_type):
self.func = func
self.object_type = object_type
def __call__(self, *args, **kwargs):
strings = []
strings.append(f"(:{self.object_type}")
strings += self.func(*args, **kwargs)
strings.append(")\n")
# strings = [INDENT + each_line for each_line in strings]
return strings
def ObjectDict(func=None, object_type="objects"):
if func:
return _ObjectDict(func)
else:
def wrapper(func):
return _ObjectDict(func, object_type)
return wrapper
@ObjectDict(object_type="fixtures")
def get_fixtures(**kwargs):
return get_dict_string(**kwargs)
@ObjectDict(object_type="objects")
def get_objects(**kwargs):
return get_dict_string(**kwargs)
@ObjectDict(object_type="obj_of_interest")
def get_objects_of_interest(l):
return get_list_string(l)
def general_get_str_func(v):
if type(v) is list:
return get_list_string(v)
elif type(v) is tuple:
return get_tuple_string(v)
elif type(v) is dict:
return get_dict_string(v)
elif type(v) is int or type(v) is float:
return str(v)
elif type(v) is str:
return v
def get_dict_string(**kwargs):
strings = []
for k, v in kwargs.items():
assert type(v) is list
object_names = " ".join(v)
strings.append(f"{object_names} - {k}")
strings = [INDENT + each_line for each_line in strings]
return strings
def get_list_string(l):
strings = []
assert type(l) is list
for v in l:
strings.append(general_get_str_func(v))
strings = [INDENT + each_line for each_line in strings]
return strings
def get_tuple_string(t):
strings = []
assert type(t) is tuple
return "(" + " ".join([general_get_str_func(v) for v in t]) + ")"
def get_logical_expression_string(l):
strings = []
assert type(l) is list
for v in l:
strings.append(general_get_str_func(v))
strings = [INDENT + each_line for each_line in strings]
return strings
def get_property_string(**kwargs):
strings = []
for k, v in kwargs.items():
if type(v) is str:
strings.append(f"{INDENT}(:{k} {v})")
else:
strings.append(f"{INDENT}(:{k} (")
strings += [INDENT + INDENT + new_v for new_v in general_get_str_func(v)]
strings.append(f"{INDENT}{INDENT})")
strings.append(f"{INDENT})")
strings = [INDENT + each_line for each_line in strings]
return strings
def get_prediate_string(predicates):
# Handle init case and goal case
assert type(predicates)
strings = []
@LogicalState(state_type="init")
def get_init_state(l):
return get_logical_expression_string(l)
@LogicalState(state_type="goal")
def get_goal_state(l):
return get_logical_expression_string(l)
@Region
def get_xy_region(**kwargs):
assert "ranges" in kwargs
for v in kwargs["ranges"]:
assert len(v) == 4
return get_property_string(**kwargs)
@Region
def get_object_affordance_region(**kwargs):
new_kwargs = {"target": kwargs["target"]}
return get_property_string(**new_kwargs)
@RegionWrapper
def region_module(xy_region_kwargs_list=None, affordance_region_kwargs_list=None):
strings = []
if xy_region_kwargs_list is not None:
for fixture_kwargs in xy_region_kwargs_list:
strings += get_xy_region(**fixture_kwargs)
if affordance_region_kwargs_list is not None:
for fixture_kwargs in affordance_region_kwargs_list:
strings += get_object_affordance_region(**fixture_kwargs)
return strings
def object_naming_mapping(category_name, object_id):
if category_name == "table":
if object_id > 1:
raise ValueError("Table can only be one for the moment.")
return "main_table"
elif category_name == "kitchen_table":
if object_id > 1:
raise ValueError("Kitchen table can only be one for the moment.")
return "kitchen_table"
elif category_name == "floor":
if object_id > 1:
raise ValueError("Floor can only be one.")
return "floor"
elif category_name == "coffee_table":
if object_id > 1:
raise ValueError("Coffee table can only be one for the moment.")
return "coffee_table"
elif category_name == "living_room_table":
if object_id > 1:
raise ValueError("Living room table can only be one for the moment.")
return "living_room_table"
elif category_name == "study_table":
if object_id > 1:
raise ValueError("Study table can only be one for the moment.")
return "study_table"
else:
return f"{category_name}_{object_id}"
def retrieve_fixture_property(category_name):
"""Retrieve fixture property"""
property_dict = {}
return property_dict
def get_affordance_region_kwargs_list_from_fixture_info(fixture_info_dict):
kwargs_list = []
for k, v in fixture_info_dict.items():
for item in v:
kwargs_list.append({"target": k, "region_name": item})
return kwargs_list
def get_xy_region_kwargs_list_from_regions_info(regions_info_dict):
kwargs_list = []
for k, v in regions_info_dict.items():
assert type(v) is dict
kwargs = {
"region_name": k,
}
kwargs.update(v)
kwargs_list.append(kwargs)
return kwargs_list
def get_object_dict(objects_num_info):
"""
A dctionary of objects that has "category_name": number_of_objects
"""
object_dict = {}
for category_name, num_objects in objects_num_info.items():
object_dict[category_name] = []
for object_id in range(1, num_objects + 1):
object_dict[category_name].append(
object_naming_mapping(category_name, object_id)
)
return object_dict
@PDDLDefinition(problem_name="LIBERO_Tabletop_Manipulation")
@Language
def tabletop_task_suites_generator(
xy_region_kwargs_list,
affordance_region_kwargs_list,
fixture_object_dict,
movable_object_dict,
objects_of_interest,
init_states,
goal_states,
):
result = []
result += region_module(
xy_region_kwargs_list=xy_region_kwargs_list,
affordance_region_kwargs_list=affordance_region_kwargs_list,
)
result += get_fixtures(**fixture_object_dict)
result += get_objects(**movable_object_dict)
result += get_objects_of_interest(objects_of_interest)
result += get_init_state(init_states)
result += get_goal_state(goal_states)
return result
@PDDLDefinition(problem_name="LIBERO_Kitchen_Tabletop_Manipulation")
@Language
def kitchen_table_task_suites_generator(
xy_region_kwargs_list,
affordance_region_kwargs_list,
fixture_object_dict,
movable_object_dict,
objects_of_interest,
init_states,
goal_states,
):
result = []
result += region_module(
xy_region_kwargs_list=xy_region_kwargs_list,
affordance_region_kwargs_list=affordance_region_kwargs_list,
)
result += get_fixtures(**fixture_object_dict)
result += get_objects(**movable_object_dict)
result += get_objects_of_interest(objects_of_interest)
result += get_init_state(init_states)
result += get_goal_state(goal_states)
return result
@PDDLDefinition(problem_name="LIBERO_Floor_Manipulation")
@Language
def floor_task_suites_generator(
xy_region_kwargs_list,
affordance_region_kwargs_list,
fixture_object_dict,
movable_object_dict,
objects_of_interest,
init_states,
goal_states,
):
result = []
result += region_module(
xy_region_kwargs_list=xy_region_kwargs_list,
affordance_region_kwargs_list=affordance_region_kwargs_list,
)
result += get_fixtures(**fixture_object_dict)
result += get_objects(**movable_object_dict)
result += get_objects_of_interest(objects_of_interest)
result += get_init_state(init_states)
result += get_goal_state(goal_states)
return result
@PDDLDefinition(problem_name="LIBERO_Coffee_Table_Manipulation")
@Language
def coffee_table_task_suites_generator(
xy_region_kwargs_list,
affordance_region_kwargs_list,
fixture_object_dict,
movable_object_dict,
objects_of_interest,
init_states,
goal_states,
):
result = []
result += region_module(
xy_region_kwargs_list=xy_region_kwargs_list,
affordance_region_kwargs_list=affordance_region_kwargs_list,
)
result += get_fixtures(**fixture_object_dict)
result += get_objects(**movable_object_dict)
result += get_objects_of_interest(objects_of_interest)
result += get_init_state(init_states)
result += get_goal_state(goal_states)
return result
@PDDLDefinition(problem_name="LIBERO_Study_Tabletop_Manipulation")
@Language
def study_table_task_suites_generator(
xy_region_kwargs_list,
affordance_region_kwargs_list,
fixture_object_dict,
movable_object_dict,
objects_of_interest,
init_states,
goal_states,
):
result = []
result += region_module(
xy_region_kwargs_list=xy_region_kwargs_list,
affordance_region_kwargs_list=affordance_region_kwargs_list,
)
result += get_fixtures(**fixture_object_dict)
result += get_objects(**movable_object_dict)
result += get_objects_of_interest(objects_of_interest)
result += get_init_state(init_states)
result += get_goal_state(goal_states)
return result
@PDDLDefinition(problem_name="LIBERO_Living_Room_Tabletop_Manipulation")
@Language
def living_room_table_task_suites_generator(
xy_region_kwargs_list,
affordance_region_kwargs_list,
fixture_object_dict,
movable_object_dict,
objects_of_interest,
init_states,
goal_states,
):
result = []
result += region_module(
xy_region_kwargs_list=xy_region_kwargs_list,
affordance_region_kwargs_list=affordance_region_kwargs_list,
)
result += get_fixtures(**fixture_object_dict)
result += get_objects(**movable_object_dict)
result += get_objects_of_interest(objects_of_interest)
result += get_init_state(init_states)
result += get_goal_state(goal_states)
return result
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