working pddl
This commit is contained in:
Mark Voltov
parent
249f28721e
commit
da7a3c995c
7 changed files with 610 additions and 63 deletions
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@ -1,60 +0,0 @@
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# import FreeCAD as App
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# doc = App.ActiveDocument
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#генерируем pddl
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#импортируем кучу обьектов из дерева построения freecad
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#задаем шаблон на действие
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predicates = ';; Предикаты \n(:predicates \n(at ?c - component ?location - component) \n(printed ?c - component) \n(has-material ?m - material) \n(compatible ?m - material ?c - component))'
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# print(predicates)
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predicates =
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(" ;; Предикаты \
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'(:predicates (at ?c - component ?location - component)' \
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'(printed ?c - component)' \
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'(printed ?c - component))'
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print(predicates)
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# (:predicates
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# (at ?c - component ?location - component)
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# (printed ?c - component)
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# (has-material ?m - material)
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# (compatible ?m - material ?c - component))''
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# ;; Предикаты
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# (:predicates
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# (at ?c - component ?location - component)
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# (printed ?c - component)
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# (has-material ?m - material)
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# (compatible ?m - material ?c - component))
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# ;; Действия
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# (:action load-material
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# :parameters (?m - material ?c - component)
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# :precondition (and (at ?m ?c) (compatible ?m ?c))
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# :effect (has-material ?m))
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# (:action unload-material
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# :parameters (?m - material ?c - component)
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# :precondition (has-material ?m)
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# :effect (and (not (has-material ?m)) (at ?m ?c)))
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# (:action print-component
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# :parameters (?c - component)
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# :precondition (and (at ?c ?printer) (has-material ?m) (compatible ?m ?c))
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# :effect (printed ?c))
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# ;; Цель
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# (:goal (forall (?c - component) (printed ?c))))
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@ -68,8 +68,13 @@ def materialExistenceCheck(doc):
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#проверим, что материалы правильно описаны:
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# Открываем файл JSON с требованиями и загружаем его содержимое
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with open('material_requirements.json', 'r') as f:
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material_requirements = json.load(f)
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# with open('material_requirements.json', 'r') as f:
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# material_requirements = json.load(f)
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material_requirements = ["Density",
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"DiffuseColor",
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"EmissiveColor"
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]
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@ -158,4 +163,7 @@ def parse_values(value_str):
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#todo:
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# сделать проверку на солидовые тела
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#укомпоновать все вспомогательные обьекты в отдельную штуку
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#wip
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#wip
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#подготавливаем действия и состояния для PDDL
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#
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69
cg/freecad/Frames/my_problem.pddl
Normal file
69
cg/freecad/Frames/my_problem.pddl
Normal file
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@ -0,0 +1,69 @@
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(define (problem my_problem)
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(:domain roboarm)
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(:objects
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ur_manipulator_gripper - arm
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printer - printer
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world - zone
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box1 box2 box3 box4 box5 box6 - part
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asm0 asm1 asm2 asm3 asm4 asm5 asm6 - assembly
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)
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(:init
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not(part_at box1 world)
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not(part_at box2 world)
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not(part_at box3 world)
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not(part_at box4 world)
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not(part_at box5 world)
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not(part_at box6 world)
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(part_of box1 asm1)
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(part_of box2 asm2)
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(part_of box3 asm3)
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(part_of box4 asm4)
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(part_of box5 asm5)
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(part_of box6 asm6)
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(assembly_order asm0 asm1)
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(assembly_order asm1 asm2)
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(assembly_order asm2 asm3)
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(assembly_order asm3 asm4)
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(assembly_order asm4 asm5)
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(assembly_order asm5 asm6)
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(printer_available printer)
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(arm_available ur_manipulator_gripper)
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(assembly_at asm0 world)
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(assembled asm0)
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)
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(:goal (and
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(assembled asm6)
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))
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)
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; нужно указать желаемое конечное состояние
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; (эффект в конце действия)
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; в нашем случае, допустим, будет asm6
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; чтобы включить принтер в процесс, у нас должны спавниться детали
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; будет что-то типа (not part_at box1 workzone)
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; и action print
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; начальные условия: not part_at box workzone
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; принтер доступен
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; в ходе дела парт печатается, принтер не доступен
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; в конце - принтер доступен, деталь в зоне
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; нужно в генераторе добавить поддержку условий at start и at end
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; но пока что это можно прописать текстом
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; предикаты -
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; рука доступна - рука
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; сборка в зоне - сборка зона
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; деталь часть сборки - деталь сборка
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; собрана - сборка
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; сборочный порядок - предсборка следсборка
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; +
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; деталь в зоне - деталь зона
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; принтер доступен - принтер
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96
cg/freecad/Frames/pddl/domain.pddl
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96
cg/freecad/Frames/pddl/domain.pddl
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@ -0,0 +1,96 @@
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(define (domain roboarm)
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(:requirements :strips :typing)
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(:types
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zone
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part
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assembly
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roboarm
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printer
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)
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(:predicates
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(arm_available ?a - roboarm)
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(printer_available ?p - printer)
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;касты на сборку
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(assembly_at ?a - assembly ?z - zone)
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(part_of ?part - part ?whole - assembly)
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(assembled ?whole - assembly)
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(assembly_order ?prev ?next - assembly)
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(part_at ?part - part ?z - zone)
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)
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(:durative-action assemble
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:parameters (?part - part ?prev ?next - assembly ?z - zone ?a - arm)
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:duration ( = ?duration 5)
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:condition (and
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(at start (arm_available ?a))
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(at start (assembly_order ?prev ?next))
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(at start (part_of ?part ?next))
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(at start (assembly_at ?prev ?z))
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(at start (assembled ?prev))
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)
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:effect (and
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(at start (not (arm_available ?a)))
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(at end (assembly_at ?next ?z))
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(at end (assembled ?next))
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(at end (arm_available ?a))
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)
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)
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(:durative-action print
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:parameters (?part - part ?p - printer ?z - zone )
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:duration ( = ?duration 10)
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:condition (and
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(at start (printer_available ?p))
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(at_start (not (part_at ?part ?z)))
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)
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:effect (and
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(at start (not (printer_available ?p)))
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(at end (part_at ?part ?z))
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(at end (printer_available ?a))
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)
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)
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; (:action take
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; :parameters (?r - roboarm ?w - workspace )
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; :condition (and
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; (roboarm_free ?r)
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; (roboarm_available ?r)
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; )
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; :effect (and
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; (not (roboarm_free ?r))
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; (not (roboarm_available ?r))
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; )
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; )
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; (:action assemble
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; :parameters (?r - roboarm ?w - workspace ?a - assembly )
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; :duration (= ?duration 5 )
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; :condition (and
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; (not(roboarm_free ?r))
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; (not(roboarm_available ?r))
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; )
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; :effect (and
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; (roboarm_free ?r)
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; (roboarm_available ?r)
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; (assembled ?a)
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; )
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; )
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; (:goal (and
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; (roboarm_free ?r)
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; (assembled ?a)
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; )
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; ))
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;
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333
cg/freecad/Frames/pddl/freecad2pddl.py
Normal file
333
cg/freecad/Frames/pddl/freecad2pddl.py
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@ -0,0 +1,333 @@
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import FreeCAD as App
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doc = App.ActiveDocument
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#функции для создания обьекта действия
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#скорее всего, пойдем как-то по-тупому
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#но вообще, тут прям жесть как нужен нормальный интерфейс
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def add_types():
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types = doc.addObject('App::FeaturePython', 'Types')
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types.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
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types.addProperty("App::PropertyStringList", 'Types', 'PDDL')
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def add_action(name):
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#создаем обьект по шаблону, потом заполним ее вручную
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#
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#в следующих сериях мы вытащим из нее все дерьмо
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#name = input('Название действия:')
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action = doc.addObject('App::FeaturePython', str(name))
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action.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
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action.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Action'
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action.addProperty("App::PropertyStringList", 'Parameters', 'PDDL')
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action.addProperty("App::PropertyStringList", 'Conditions', 'PDDL')
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action.addProperty("App::PropertyStringList", 'Effects', 'PDDL')
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def add_predicate():
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#предикат - это одна штука на все
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#нужно название предиката и вовлеченные в него сущности
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# name = input('Название предиката:')
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predicate = doc.addObject('App::FeaturePython', 'Predicates')
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predicate.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
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predicate.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Predicate'
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predicate.addProperty("App::PropertyStringList", 'Name', 'PDDL')
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predicate.addProperty("App::PropertyStringList", 'Parameters', 'PDDL')
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def add_durative_action(name):
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# name = input('Название действия:')
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action = doc.addObject('App::FeaturePython', str(name))
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action.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
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action.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'DurativeAction'
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action.addProperty("App::PropertyStringList", 'Parameters', 'PDDL')
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action.addProperty("App::PropertyStringList", 'Conditions', 'PDDL')
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action.addProperty("App::PropertyStringList", 'Effects', 'PDDL')
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action.addProperty('App::PropertyStringList', 'Duration', 'PDDL')
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def add_goal(name):
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# name = input('Название цели:')
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goal = doc.addObject('App::FeaturePython', str(name))
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goal.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
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goal.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Goal'
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goal.addProperty("App::PropertyStringList", 'Conditions', 'PDDL')
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file_path = '/home/mark-voltov/GitProjects/framework/cg/freecad/Frames/domain.pddl'
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def export_to_file(file_path):
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objs = doc.Objects
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with open(file_path, 'w') as f:
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f.write('(define (domain roboarm)\n \n')
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f.write('(:requirements :strips :typing)\n')
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# Типы обьектов
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types = doc.getObjectsByLabel('Types')[0]
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f.write('(:types \n')
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for obj_type in types.Types:
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f.write(' ' + obj_type + ' \n')
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f.write(')\n')
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# предикаты
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f.write('(:predicates\n')
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for obj in objs:
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if hasattr(obj, 'PDDL') and hasattr(obj, 'Type') and obj.Type == 'Predicate':
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for names in obj.Name:
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f.write(' (' + names + ' ')
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for params in obj.Parameters:
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f.write('(' + params + ') ')
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f.write(')\n')
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f.write(' )\n')
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#действия:
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for obj in objs:
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if hasattr(obj, 'PDDL') and hasattr(obj, 'Type') and obj.Type == 'Action':
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f.write('(:action ' + obj.Label + '\n')
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f.write(' :parameters (')
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for params in obj.Parameters:
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f.write('' + params + ' ')
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f.write(')\n')
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f.write(' :condition (and \n')
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for condition in obj.Conditions:
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f.write(' (' + condition + ') \n')
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# f.write(') ')
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# f.write(')\n')
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f.write(' )\n')
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f.write(' :effect (and \n')
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for effect in obj.Effects:
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f.write(' (' + effect + ') \n')
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# f.write(' ')
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f.write(')\n')
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f.write(' )\n')
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# цели
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f.write(' (:goal (and \n')
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for obj in objs:
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if hasattr(obj, 'PDDL') and hasattr(obj, 'Type') and obj.Type == 'Goal':
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f.write(' (')
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for conds in obj.Conditions:
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f.write( conds + ' ')
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f.write(') ')
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f.write(')\n')
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f.write('))\n')
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# f.write(' )\n')
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#сделаем задание обьектов прямо здесь, без лишней головной боли
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add_types()
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doc.getObject('Types').Types = ['roboarm', 'workspace', 'assemble']
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add_action('take')
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obj = doc.getObject('take')
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obj.Parameters = ['?r - roboarm', '?w - workspace']
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obj.Conditions = ['roboarm_free ?r', 'roboarm_available ?r']
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obj.Effects = ['not (roboarm_free ?r)', 'not (roboarm_available ?r)']
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add_action('assemble')
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obj = doc.getObject('assemble')
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obj.Parameters = ['?r - roboarm' ,'?w - workspace', '?a - assembly']
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obj.Conditions = ['not(roboarm_free ?r)', 'not(roboarm_available ?r)']
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obj.Effects = ['roboarm_free ?r', 'roboarm_available ?r', 'assembled ?a']
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add_predicate()
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obj = doc.getObject('Predicates')
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obj.Name = ['roboarm_free', 'roboarm_available', 'assembled']
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obj.Parameters = ['?r - roboarm', '?w - workspace']
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add_goal('goal')
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doc.getObject('goal').Conditions = ['roboarm_free ?r', 'assembled ?a']
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export_to_file(file_path)
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# (:action load-material
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# :parameters (?m - material ?c - component)
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# :precondition (and (at ?m ?c) (compatible ?m ?c))
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# :effect (has-material ?m))
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# class PDDLExporter:
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# def __init__(self):
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# self.actions = []
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# self.predicates = []
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# self.object_types = []
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# self.goals = []
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# def add_action(self, name, parameters, preconditions, effects):
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# action = {
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# 'name': name,
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# 'parameters': parameters,
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# 'preconditions': preconditions,
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# 'effects': effects
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# }
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# self.actions.append(action)
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# def add_predicate(self, name, parameters, types):
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# predicate = {
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# 'name': name,
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# 'parameters': parameters,
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# 'types': types
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# }
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# self.predicates.append(predicate)
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# def add_object_type(self, name):
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# self.object_types.append(name)
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# def add_goal(self, predicates):
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# self.goals = predicates
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# def export_to_file(self, file_path):
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# with open(file_path, 'w') as f:
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# f.write('(define (domain my_domain)\n')
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# f.write(' (:requirements :strips :typing)\n')
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# # Export object types
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# f.write(' (:types ')
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# for obj_type in self.object_types:
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# f.write(obj_type + ' ')
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# f.write(')\n')
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# # Export predicates
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# f.write(' (:predicates\n')
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# for predicate in self.predicates:
|
||||
# f.write(' (' + predicate['name'] + ' ')
|
||||
# for i, param in enumerate(predicate['parameters']):
|
||||
# f.write('(' + param + ' ' + predicate['types'][i] + ') ')
|
||||
# f.write(')\n')
|
||||
# f.write(' )\n')
|
||||
|
||||
# # Export actions
|
||||
# for action in self.actions:
|
||||
# f.write(' (:action ' + action['name'] + '\n')
|
||||
# f.write(' :parameters (')
|
||||
# for i, param in enumerate(action['parameters']):
|
||||
# f.write('(' + param + ' ' + action['parameters'][param] + ') ')
|
||||
# f.write(')\n')
|
||||
|
||||
# f.write(' :precondition (and ')
|
||||
# for precondition in action['preconditions']:
|
||||
# f.write('(' + precondition['predicate'] + ' ')
|
||||
# for i, param in enumerate(precondition['parameters']):
|
||||
# f.write(param + ' ')
|
||||
# f.write(') ')
|
||||
# f.write(')\n')
|
||||
|
||||
# f.write(' :effect (and ')
|
||||
# for effect in action['effects']:
|
||||
# f.write('(' + effect['predicate'] + ' ')
|
||||
# for i, param in enumerate(effect['parameters']):
|
||||
# f.write(param + ' ')
|
||||
# f.write(') ')
|
||||
# f.write(')\n')
|
||||
|
||||
# f.write(' )\n')
|
||||
|
||||
# # Export goals
|
||||
# f.write(' (:goal (and ')
|
||||
# for goal in self.goals:
|
||||
# f.write('(' + goal['predicate'] + ' ')
|
||||
# for i, param in enumerate(goal['parameters']):
|
||||
# f.write(param + ' ')
|
||||
# f.write(') ')
|
||||
# f.write('))\n')
|
||||
|
||||
# f.write(')\n')
|
||||
|
||||
# # Пример использования
|
||||
# exporter = PDDLExporter()
|
||||
|
||||
# # Добавляем действия
|
||||
# exporter.add_action('move', {'obj': 'object'}, [{'predicate': 'at', 'parameters': ['obj', 'loc']}], [{'predicate': 'at', 'parameters': ['obj', 'new-loc']}, {'predicate': 'not-at', 'parameters': ['obj', 'loc']}])
|
||||
# exporter.add_action('pick', {'obj': 'object', 'hand': 'hand'}, [{'predicate': 'at', 'parameters': ['obj', 'loc']}, {'predicate': 'empty', 'parameters': ['hand']}], [{'predicate': 'holding', 'parameters': ['obj', 'hand']}, {'predicate': 'not-at', 'parameters': ['obj', 'loc']}, {'predicate': 'not-empty', 'parameters': ['hand']}])
|
||||
|
||||
# # Добавляем предикаты
|
||||
# exporter.add_predicate('at', ['obj', 'loc'], ['object', 'location'])
|
||||
# exporter.add_predicate('not-at', ['obj', 'loc'], ['object', 'location'])
|
||||
# exporter.add_predicate('empty', ['hand'], ['hand'])
|
||||
# exporter.add_predicate('holding', ['obj', 'hand'], ['object', 'hand'])
|
||||
|
||||
# # Добавляем типы объектов
|
||||
# exporter.add_object_type('object')
|
||||
# exporter.add_object_type('location')
|
||||
# exporter.add_object_type('hand')
|
||||
|
||||
# # Добавляем цели
|
||||
# exporter.add_goal([{'predicate': 'at', 'parameters': ['obj', 'final-loc']}])
|
||||
|
||||
# # Экспортируем в файл PDDL domain
|
||||
# exporter.export_to_file('domain.pddl')
|
||||
|
||||
|
||||
|
||||
# #генерируем pddl
|
||||
# #импортируем кучу обьектов из дерева построения freecad
|
||||
|
||||
# #задаем шаблон на действие
|
||||
|
||||
# # predicates = ';; Предикаты \n(:predicates \n(at ?c - component ?location - component) \n(printed ?c - component) \n(has-material ?m - material) \n(compatible ?m - material ?c - component))'
|
||||
|
||||
# # # print(predicates)
|
||||
|
||||
|
||||
# # predicates =
|
||||
|
||||
|
||||
# (" ;; Предикаты \
|
||||
# '(:predicates (at ?c - component ?location - component)' \
|
||||
# '(printed ?c - component)' \
|
||||
# '(printed ?c - component))'
|
||||
|
||||
|
||||
|
||||
# (:predicates
|
||||
# (at ?c - component ?location - component)
|
||||
# (printed ?c - component)
|
||||
# (has-material ?m - material)
|
||||
# (compatible ?m - material ?c - component))''
|
||||
|
||||
|
||||
|
||||
# ;; Предикаты
|
||||
# (:predicates
|
||||
# (at ?c - component ?location - component)
|
||||
# (printed ?c - component)
|
||||
# (has-material ?m - material)
|
||||
# (compatible ?m - material ?c - component))
|
||||
|
||||
# ;; Действия
|
||||
# (:action load-material
|
||||
# :parameters (?m - material ?c - component)
|
||||
# :precondition (and (at ?m ?c) (compatible ?m ?c))
|
||||
# :effect (has-material ?m))
|
||||
|
||||
# (:action unload-material
|
||||
# :parameters (?m - material ?c - component)
|
||||
# :precondition (has-material ?m)
|
||||
# :effect (and (not (has-material ?m)) (at ?m ?c)))
|
||||
|
||||
# (:action print-component
|
||||
# :parameters (?c - component)
|
||||
# :precondition (and (at ?c ?printer) (has-material ?m) (compatible ?m ?c))
|
||||
# :effect (printed ?c))
|
||||
|
||||
# ;; Цель
|
||||
# (:goal (forall (?c - component) (printed ?c))))
|
||||
67
cg/freecad/Frames/pddl/workingdomain.pddl
Normal file
67
cg/freecad/Frames/pddl/workingdomain.pddl
Normal file
|
|
@ -0,0 +1,67 @@
|
|||
;; Modified domain taken from
|
||||
;; "Knowledge transfer in robot manipulation tasks" by Jacob O. Huckaby 2014
|
||||
(define (domain robossembler)
|
||||
(:requirements :strips :typing :adl :fluents :durative-actions)
|
||||
(:types
|
||||
printer workspace - zone
|
||||
part
|
||||
arm
|
||||
assembly
|
||||
)
|
||||
|
||||
(:predicates
|
||||
(arm_available ?a - arm)
|
||||
(part_at ?p - part ?z - zone)
|
||||
(printer_ready ?p - printer)
|
||||
(part_of ?part - part ?whole - assembly)
|
||||
(assembly_order ?prev ?next - assembly)
|
||||
(assembled ?whole - assembly ?z - zone)
|
||||
)
|
||||
|
||||
(:functions)
|
||||
|
||||
(:durative-action print
|
||||
:parameters (?p - part ?pr - printer)
|
||||
:duration ( = ?duration 10)
|
||||
:condition (and
|
||||
(at start(printer_ready ?pr))
|
||||
)
|
||||
:effect (and
|
||||
(at start (not (printer_ready ?pr)))
|
||||
(at end(part_at ?p ?pr))
|
||||
)
|
||||
)
|
||||
|
||||
(:durative-action remove
|
||||
:parameters (?p - part ?pr - printer ?z - zone ?a - arm)
|
||||
:duration (= ?duration 1)
|
||||
:condition (and
|
||||
(at start (part_at ?p ?pr))
|
||||
(at start (arm_available ?a))
|
||||
)
|
||||
:effect (and
|
||||
(at start (not (arm_available ?a)))
|
||||
(at end (part_at ?p ?z))
|
||||
(at end (arm_available ?a))
|
||||
(at end (printer_ready ?pr))
|
||||
)
|
||||
)
|
||||
|
||||
(:durative-action assemble
|
||||
:parameters (?p - part ?prev ?next - assembly ?w - workspace ?arm - arm)
|
||||
:duration (= ?duration 5)
|
||||
:condition (and
|
||||
(at start (assembled ?prev ?w))
|
||||
(at start (part_at ?p ?w))
|
||||
(at start (part_of ?p ?next))
|
||||
(at start (arm_available ?arm))
|
||||
(at start (assembly_order ?prev ?next))
|
||||
)
|
||||
:effect (and
|
||||
(at start (not (arm_available ?arm)))
|
||||
(at end (not (part_at ?p ?w)))
|
||||
(at end (arm_available ?arm))
|
||||
(at end (assembled ?next ?w))
|
||||
)
|
||||
)
|
||||
);; end Domain ;;;;;;;;;;;;;;;;;;;;;;;;
|
||||
34
cg/freecad/Frames/pddl/workingproblem.pddl
Normal file
34
cg/freecad/Frames/pddl/workingproblem.pddl
Normal file
|
|
@ -0,0 +1,34 @@
|
|||
(define (problem p1)
|
||||
(:domain robossembler)
|
||||
(:objects
|
||||
;; information from Scene
|
||||
rasmt - arm
|
||||
printer1 printer2 printer3 - printer
|
||||
workspace1 - workspace
|
||||
;; information from CAD
|
||||
part1 part2 part3 part4 - part
|
||||
subasm0 subasm1 subasm2 subasm3 subasm4 - assembly
|
||||
)
|
||||
(:init
|
||||
;; information from Scene
|
||||
(printer_ready printer1)
|
||||
(printer_ready printer2)
|
||||
(printer_ready printer3)
|
||||
(arm_available rasmt)
|
||||
;; information from CAD
|
||||
(assembled subasm0 workspace1)
|
||||
(part_of part1 subasm1)
|
||||
(part_of part2 subasm2)
|
||||
(part_of part3 subasm3)
|
||||
(part_of part4 subasm4)
|
||||
(assembly_order subasm0 subasm1)
|
||||
(assembly_order subasm1 subasm2)
|
||||
(assembly_order subasm2 subasm3)
|
||||
(assembly_order subasm3 subasm4)
|
||||
)
|
||||
(:goal (and
|
||||
;; information from CAD
|
||||
(assembled subasm4 workspace1)
|
||||
)
|
||||
)
|
||||
)
|
||||
Loading…
Add table
Add a link
Reference in a new issue