concepts.pdsketch.regression_utils.gen_grounded_subgoals_with_placeholders#

gen_grounded_subgoals_with_placeholders(executor, state, goal, constraints, candidate_regression_rules, enable_csp)[source]#

Generated a set of subgoals with placeholders for CSP variables.

Parameters:

executor (PDSketchExecutor) – the executor.
state (State) – the current state.
goal (ValueOutputExpression) – the goal expression.
constraints (Sequence[ValueOutputExpression]) – the constraints.
candidate_regression_rules (List[ApplicableRegressionRuleItem]) – the candidate regression rules.
enable_csp (bool) – whether to enable the constraint satisfaction problem.

Returns:

the grounded subgoals (which can be AchieveExpression, FindExpression, OperatorApplier, RegressionRuleApplier, or RegressionCommitFlag)
the constraint satisfaction problem (for tracking placeholder variables).
the length of the prefix that can be reordered.

Return type:

the grounded subgoals. It is a dictionary mapping from the index of the regression rule to a tuple