151 lines
4.7 KiB
Python
151 lines
4.7 KiB
Python
|
|
|
|
from sympy import symbols, Not, Or, And, to_dnf
|
|
from sympy import symbols, simplify_logic
|
|
import re
|
|
|
|
|
|
|
|
import re
|
|
|
|
def act_str_process(act_str, already_split=False):
|
|
"""
|
|
Processes action strings in both underscore-separated and parentheses formats.
|
|
|
|
Parameters:
|
|
- act_str (str or list): The string or list of strings to be processed.
|
|
- already_split (bool): Whether the input is already a list of action strings.
|
|
|
|
Returns:
|
|
- priority_act_ls (list): A list of formatted action strings in "Verb(Object)" format.
|
|
"""
|
|
# Determine if the input is already a list or needs to be split
|
|
if already_split:
|
|
act_str_ls = act_str
|
|
else:
|
|
act_str_ls = act_str.replace(" ", "").split(",")
|
|
|
|
priority_act_ls = []
|
|
|
|
# Process each action string
|
|
for literal in act_str_ls:
|
|
# Remove only unwanted characters while keeping parentheses intact
|
|
literal = re.sub(r"[\[\]\n]", "", literal)
|
|
|
|
# Check for underscore-separated format (e.g., "Walk_pear")
|
|
if '_' in literal and '(' not in literal:
|
|
first_part, rest = literal.split('_', 1)
|
|
literal = f"{first_part}({rest})"
|
|
literal = literal.replace('_', ',')
|
|
|
|
# Add parentheses if not already in that format
|
|
elif '(' not in literal:
|
|
literal = literal.replace('_', ',')
|
|
literal = f"{literal}()"
|
|
|
|
# Append processed literal to the list
|
|
priority_act_ls.append(literal)
|
|
|
|
return priority_act_ls
|
|
|
|
# Example usage:
|
|
# action_str = 'Walk_pear, RightGrab_pear, Walk_kitchentable'
|
|
# processed = act_str_process(action_str)
|
|
# print(processed)
|
|
#
|
|
# action_str_parentheses = 'Walk(pear), RightGrab(pear), Walk(kitchentable)'
|
|
# processed_parentheses = act_str_process(action_str_parentheses)
|
|
# print(processed_parentheses)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def goal_transfer_str(goal):
|
|
goal_dnf = str(to_dnf(goal, simplify=True,force=True))
|
|
# print(goal_dnf)
|
|
goal_set = []
|
|
if ('|' in goal or '&' in goal or 'Not' in goal) or not '(' in goal:
|
|
goal_ls = goal_dnf.split("|")
|
|
for g in goal_ls:
|
|
g_set = set()
|
|
g = g.replace(" ", "").replace("(", "").replace(")", "")
|
|
g = g.split("&")
|
|
for literal in g:
|
|
if '_' in literal:
|
|
first_part, rest = literal.split('_', 1)
|
|
literal = first_part + '(' + rest
|
|
# 添加 ')' 到末尾
|
|
literal += ')'
|
|
# 替换剩余的 '_' 为 ','
|
|
literal = literal.replace('_', ',')
|
|
g_set.add(literal)
|
|
goal_set.append(g_set)
|
|
|
|
else:
|
|
g_set = set()
|
|
w = goal.split(")")
|
|
g_set.add(w[0] + ")")
|
|
if len(w) > 1:
|
|
for x in w[1:]:
|
|
if x != "":
|
|
g_set.add(x[1:] + ")")
|
|
goal_set.append(g_set)
|
|
return goal_set
|
|
|
|
|
|
|
|
def act_format_records(act_record_list):
|
|
# 初始化一个空列表来存储格式化后的结果
|
|
formatted_records = []
|
|
predicate = []
|
|
objects_ls= []
|
|
# 遍历列表中的每个记录
|
|
for record in act_record_list:
|
|
|
|
if "," not in record:
|
|
# 找到括号的位置
|
|
start = record.find('(')
|
|
end = record.find(')')
|
|
# 提取动作和对象
|
|
action = record[:start]
|
|
obj = record[start+1:end]
|
|
# 格式化为新的字符串格式
|
|
formatted_record = f"{action}_{obj}"
|
|
# 将格式化后的字符串添加到结果列表中
|
|
formatted_records.append(formatted_record)
|
|
predicate.append(action)
|
|
objects_ls.append(obj)
|
|
else:
|
|
# 有逗号，即涉及两个物体
|
|
start = record.find('(')
|
|
end = record.find(')')
|
|
action = record[:start]
|
|
objects = record[start + 1:end].split(',')
|
|
obj1 = objects[0].strip() # 去除可能的空白字符
|
|
obj2 = objects[1].strip()
|
|
formatted_record = f"{action}_{obj1}_{obj2}"
|
|
# 将格式化后的字符串添加到结果列表中
|
|
formatted_records.append(formatted_record)
|
|
predicate.append(action)
|
|
objects_ls.append(obj1)
|
|
objects_ls.append(obj2)
|
|
|
|
from collections import OrderedDict
|
|
return list(formatted_records),list(OrderedDict.fromkeys(predicate)),list(OrderedDict.fromkeys(objects_ls))
|
|
|
|
|
|
|
|
def remove_duplicates_using_set(lst):
|
|
return list(set(lst))
|
|
|
|
|
|
def update_objects_from_expressions(expressions, pattern, objects):
|
|
for expr in expressions:
|
|
match = pattern.search(expr)
|
|
if match:
|
|
# 将括号内的内容按逗号分割并加入到集合中
|
|
objects.update(match.group(1).split(','))
|