def add_effect(self, effect, c):
"""Helper function for visit_effect_stmt.
Keyword arguments:
effect -- instance of the effect data structure
c -- the formula representing the effect that we want to add to the
addlist or dellist
"""
# Needed for instance check.
from .parser import Variable
nextPredicate = None
isNegative = False
if c.key == 'not':
# This is a negative effect, only one child allowed.
if len(c.children) != 1:
raise SemanticError('Error not statement with multiple '
'children in effect of action')
nextPredicate = c.children[0]
isNegative = True
else:
nextPredicate = c
# Check whether predicate was defined previously.
if not nextPredicate.key in self._predicates:
raise SemanticError('Error: unknown predicate %s used in effect '
'of action' % nextPredicate.key)
if nextPredicate == None:
raise SemanticError('Error: NoneType predicate used in effect of '
'action')
predDef = self._predicates[nextPredicate.key]
signature = list()
count = 0
# Check whether predicate is used with the correct signature.
if len(nextPredicate.children) != len(predDef.signature):
raise SemanticError('Error: wrong number of arguments for '
'predicate ' + nextPredicate.key +
' in effect of action')
# Apply to all parameters.
for v in nextPredicate.children:
if isinstance(v.key, Variable):
signature.append((v.key.name, predDef.signature[count][1]))
else:
signature.append((v.key, predDef.signature[count][1]))
count += 1
# Add a new effect to the positive or negative effects respectively.
if isNegative:
effect.dellist.append(pddl.Predicate(nextPredicate.key, signature))
else:
effect.addlist.append(pddl.Predicate(nextPredicate.key, signature))
def replace(condition):
if isinstance(condition, pddl.FunctionComparison):
non_negated = condition
if condition.negated:
non_negated = condition.negate()
# remove possible duplicates
fluent_str = 'num_condition_satisfied{0}'.format(task.comparator_count)
new_predicate_args = dict()
functions = condition.get_functions()
for func in functions:
arg_types = extract_arg_types(func)
for (key, value) in zip(func.args, arg_types):
new_predicate_args[key] = pddl.TypedObject(key, value)
args = []
for key in sorted(new_predicate_args.keys()):
args.append(new_predicate_args[key])
predicate = pddl.Predicate(fluent_str, args)
task.predicates.append(predicate)
if condition.negated:
new_atom = pddl.NegatedNumericWrapper(predicate.name, [x.name for x in args], non_negated)
else:
new_atom = pddl.NumericWrapper(predicate.name, [x.name for x in args], non_negated)
task.comparator_count += 1
return new_atom
if condition.has_numeric_precondition():
new_condition = condition.__class__([])
new_condition.parts = [replace(x) for x in condition.parts]
return new_condition
return condition
def compile_into_unary_predicates(task):
"""Create one new unary predicate for each object type."""
for t in task.types:
pred_name = _get_type_predicate_name(str(t))
task.predicates.append(pddl.Predicate(pred_name, ['?x']))
name_to_type_pred[pred_name] = task.predicates[-1]
return
def parse_temporal_domain(domain_pddl):
translate_path = os.path.join(get_tfd_path(), 'translate/') # tfd & temporal-FD
prefixes = ['pddl', 'normalize']
deleted = delete_imports(prefixes)
sys.path.insert(0, translate_path)
import pddl
import normalize
temporal_domain = TemporalDomain(*pddl.tasks.parse_domain(pddl.parser.parse_nested_list(domain_pddl.splitlines())))
name, requirements, constants, predicates, types, functions, actions, durative_actions, axioms = temporal_domain
fluents = normalize.get_fluent_predicates(temporal_domain)
sys.path.remove(translate_path)
delete_imports(prefixes)
sys.modules.update(deleted) # This is important otherwise classes are messed up
import pddl
import pddl_parser
assert not actions
simple_from_durative = simple_from_durative_action(durative_actions, fluents)
simple_actions = [action for triplet in simple_from_durative.values() for action in triplet]
requirements = pddl.Requirements([])
types = [pddl.Type(ty.name, ty.basetype_name) for ty in types]
pddl_parser.parsing_functions.set_supertypes(types)
predicates = [pddl.Predicate(p.name, p.arguments) for p in predicates]
constants = convert_parameters(constants)
axioms = list(map(convert_axiom, axioms))
return SimplifiedDomain(name, requirements, types, {ty.name: ty for ty in types}, constants,
predicates, {p.name: p for p in predicates}, functions,
simple_actions, axioms, simple_from_durative, domain_pddl)
def add_precond(self, precond, c, isNegative):
"""Helper function for visit_precondition_stmt.
Keyword arguments:
precond -- a list of preconditions tuple(predicate, true if positive)
c -- the formula representing a precondition we want to add to the list
"""
from .parser import Variable
predDef = self._predicates[c.key]
signature = list()
count = 0
# Check for correct number of arguments.
if len(c.children) != len(predDef.signature):
raise SemanticError('Error: wrong number of arguments for '
'predicate ' + c.key + ' in precondition of '
'action')
# Apply to all arguments.
for v in c.children:
if isinstance(v.key, Variable):
signature.append((v.key.name, predDef.signature[count][1]))
else:
signature.append((v.key, predDef.signature[count][1]))
count += 1
# Add predicate to precondition list.
precond.append((pddl.Predicate(c.key, signature), not(isNegative)))
def compile_to_exogenous_axioms(evaluations, domain, streams):
# TODO: no attribute certified
import pddl
fluent_predicates = get_fluents(domain)
certified_predicates = {
get_prefix(a)
for s in streams for a in s.certified
}
future_map = {p: 'f-{}'.format(p) for p in certified_predicates}
augment_evaluations(evaluations, future_map)
rename_future = lambda a: rename_atom(a, future_map)
derived_map = {p: 'd-{}'.format(p) for p in certified_predicates}
rename_derived = lambda a: rename_atom(a, derived_map)
for action in domain.actions:
action.precondition = replace_predicates(derived_map,
action.precondition)
for effect in action.effects:
assert (isinstance(effect, pddl.Effect))
effect.condition = replace_predicates(derived_map,
effect.condition)
for axiom in domain.axioms:
axiom.condition = replace_predicates(derived_map, axiom.condition)
#fluent_predicates.update(certified_predicates)
for stream in list(streams):
if not isinstance(stream, Stream):
raise NotImplementedError(stream)
streams.append(
create_static_stream(stream, evaluations, fluent_predicates,
rename_future))
stream_atom = streams[-1].certified[0]
domain.predicate_dict[get_prefix(stream_atom)] = pddl.Predicate(
get_prefix(stream_atom), get_args(stream_atom))
preconditions = [stream_atom] + list(map(rename_derived,
stream.domain))
for fact in stream.certified:
derived_fact = fd_from_fact(rename_derived(fact))
external_params = derived_fact.args
internal_params = tuple(p for p in (stream.inputs + stream.outputs)
if p not in derived_fact.args)
parameters = tuple(
pddl.TypedObject(p, OBJECT)
for p in (external_params + internal_params))
#precondition = pddl.Conjunction(tuple(map(fd_from_fact, [stream_atom] +
# list(map(rename_derived, stream.domain)))))
#precondition = pddl.Disjunction([fd_from_fact(fact), precondition]) # TODO: quantifier
domain.axioms.extend([
pddl.Axiom(name=derived_fact.predicate,
parameters=parameters,
num_external_parameters=len(external_params),
condition=make_preconditions(preconditions)),
pddl.Axiom(name=derived_fact.predicate,
parameters=parameters[:len(external_params)],
num_external_parameters=len(external_params),
condition=fd_from_fact(fact)),
])
stream.certified = tuple(
set(stream.certified) | set(map(rename_future, stream.certified)))
def visit_predicate(self, node):
"""Visits a PDDL predicate."""
signature = list()
# Visit all predicate parameters.
for v in node.parameters:
v.accept(self)
signatureTuple = self.get_in(v)
# Append each parameter to the predicate signature.
signature.append(signatureTuple)
# Create new PDDL predicate and store it in node.
self.set_in(node, pddl.Predicate(node.name, signature))
def visit_predicate_instance(self, node):
""" Visits a PDDL-problem predicate instance."""
signature = list()
# Visit all parameters.
for o in node.parameters:
o_type = None
# Check whether predicate was introduced in objects or domain
# constants.
if not (o in self._objects or o in self._domain.constants):
raise SemanticError('Error: object ' + o + ' referenced in '
'problem definition - but not defined')
elif o in self._objects:
o_type = self._objects[o]
elif o in self._domain.constants:
o_type = self._domain.constants[o]
signature.append((o, o_type.name)) ###(o_type)
self.set_in(node, pddl.Predicate(node.name, signature))
def compile_to_exogenous_actions(evaluations, domain, streams):
import pddl
# TODO: automatically derive fluents
# TODO: version of this that operates on fluents of length one?
# TODO: better instantiation when have full parameters
# TODO: conversion from stream cost to real cost units?
# TODO: any predicates derived would need to be replaced as well
fluent_predicates = get_fluents(domain)
certified_predicates = {
get_prefix(a)
for s in streams for a in s.certified
}
future_map = {p: 'f-{}'.format(p) for p in certified_predicates}
augment_evaluations(evaluations, future_map)
rename_future = lambda a: rename_atom(a, future_map)
for stream in list(streams):
if not isinstance(stream, Stream):
raise NotImplementedError(stream)
# TODO: could also just have conditions asserting that one of the fluent conditions fails
streams.append(
create_static_stream(stream, evaluations, fluent_predicates,
rename_future))
stream_atom = streams[-1].certified[0]
parameters = [
pddl.TypedObject(p, OBJECT) for p in get_args(stream_atom)
]
# TODO: add to predicates as well?
domain.predicate_dict[get_prefix(stream_atom)] = pddl.Predicate(
get_prefix(stream_atom), parameters)
preconditions = [stream_atom] + list(stream.domain)
effort = 1 # TODO: use stream info
#effort = 1 if unit_cost else result.instance.get_effort()
#if effort == INF:
# continue
domain.actions.append(
pddl.Action(name='call-{}'.format(stream.name),
parameters=parameters,
num_external_parameters=len(parameters),
precondition=make_preconditions(preconditions),
effects=make_effects(stream.certified),
cost=make_cost(effort)))
stream.certified = tuple(
set(stream.certified) | set(map(rename_future, stream.certified)))
def parse_domain_custom(checker):
# parse domain file
checker.parse_code(checker.files['domain'], checker.parse_token_domain)
yield checker.names['domain']
if checker.requirements:
yield pddl.Requirements(checker.requirements)
else:
yield pddl.Requirements([":strips"])
types = [pddl.Type("object")]
set_supertypes(types)
type_dict = dict((type_.name, type_) for type_ in types)
yield types
yield type_dict
yield []
predicates = [[pred] + checker.predicates[pred]['params']
for pred in checker.predicates]
predicates = [parse_predicate(entry) for entry in predicates]
predicates += [
pddl.Predicate("=", [
pddl.TypedObject("?x", "object"),
pddl.TypedObject("?y", "object")
])
]
predicate_dict = dict((pred.name, pred) for pred in predicates)
yield predicates
yield predicate_dict
yield []
actions = []
entries = [[
':action', action, ':parameters', checker.actions[action]['params'],
':precondition', checker.actions[action]['logic_precs'], ':effect',
checker.actions[action]['logic_effs']
] for action in checker.actions]
for entry in entries:
action = parse_action(entry, type_dict, predicate_dict)
if action is not None:
actions.append(action)
yield actions
yield []
def compile_to_exogenous_actions(evaluations, domain, streams):
import pddl
# TODO: automatically derive fluents
# TODO: version of this that operates on fluents of length one?
# TODO: better instantiation when have full parameters
# TODO: conversion from stream cost to real cost units?
# TODO: any predicates derived would need to be replaced as well
fluent_predicates = get_fluents(domain)
domain_predicates = {get_prefix(a) for s in streams for a in s.domain}
if not (domain_predicates & fluent_predicates):
return
certified_predicates = {get_prefix(a) for s in streams for a in s.certified}
future_map = {p: 'f-{}'.format(p) for p in certified_predicates}
augment_evaluations(evaluations, future_map)
rename_future = lambda a: rename_atom(a, future_map)
for stream in list(streams):
if not isinstance(stream, Stream):
raise NotImplementedError(stream)
# TODO: could also just have conditions asserting that one of the fluent conditions fails
streams.append(create_static_stream(stream, evaluations, fluent_predicates, rename_future))
stream_atom = streams[-1].certified[0]
parameters = [pddl.TypedObject(p, 'object') for p in get_args(stream_atom)]
# TODO: add to predicates as well?
domain.predicate_dict[get_prefix(stream_atom)] = pddl.Predicate(get_prefix(stream_atom), parameters)
precondition = pddl.Conjunction(tuple(map(fd_from_fact, (stream_atom,) + tuple(stream.domain))))
effects = [pddl.Effect(parameters=[], condition=pddl.Truth(),
literal=fd_from_fact(fact)) for fact in stream.certified]
effort = 1 # TODO: use stream info
#effort = 1 if unit_cost else result.instance.get_effort()
#if effort == INF:
# continue
fluent = pddl.PrimitiveNumericExpression(symbol=TOTAL_COST, args=[])
expression = pddl.NumericConstant(int_ceil(effort)) # Integer
cost = pddl.Increase(fluent=fluent, expression=expression) # Can also be None
domain.actions.append(pddl.Action(name='call-{}'.format(stream.name),
parameters=parameters,
num_external_parameters=len(parameters),
precondition=precondition, effects=effects, cost=cost))
stream.certified = tuple(set(stream.certified) |
set(map(rename_future, stream.certified)))
def add_goal(self, goal, c):
"""Helper function for visit_goal_stmt.
Keyword arguments:
goal -- a list of goals
c -- a formula representing a goal we want to add to the goal list
"""
# Check whether predicate was introduced in domain file.
if not c.key in self._domain.predicates:
raise SemanticError('Error: unknown predicate ' + c.key +
' in goal definition')
# Get predicate from the domain data structure.
predDef = self._domain.predicates[c.key]
signature = list()
count = 0
# Check whether the predicate uses the correct signature.
if len(c.children) != len(predDef.signature):
raise SemanticError('Error: wrong number of arguments for '
'predicate ' + c.key + ' in goal')
for v in c.children:
signature.append((v.key, predDef.signature[count][1]))
count += 1
# Add the predicate to the goal.
goal.append(pddl.Predicate(c.key, signature))
def parse_predicate(alist):
name = alist[0]
arguments = parse_typed_list(alist[1:], only_variables=True)
return pddl.Predicate(name, arguments)
def parse_domain_pddl(domain_pddl):
iterator = iter(domain_pddl)
define_tag = next(iterator)
assert define_tag == "define"
domain_line = next(iterator)
assert domain_line[0] == "domain" and len(domain_line) == 2
yield domain_line[1]
## We allow an arbitrary order of the requirement, types, constants,
## predicates and functions specification. The PDDL BNF is more strict on
## this, so we print a warning if it is violated.
requirements = pddl.Requirements([":strips"])
the_types = [pddl.Type("object")]
constants, the_predicates, the_functions = [], [], []
correct_order = [
":requirements", ":types", ":constants", ":predicates", ":functions"
]
seen_fields = []
for opt in iterator:
field = opt[0]
if field not in correct_order:
first_action = opt
break
if field in seen_fields:
raise SystemExit("Error in domain specification\n" +
"Reason: two '%s' specifications." % field)
if (seen_fields and correct_order.index(seen_fields[-1]) >
correct_order.index(field)):
msg = "\nWarning: %s specification not allowed here (cf. PDDL BNF)" % field
print(msg, file=sys.stderr)
seen_fields.append(field)
if field == ":requirements":
requirements = pddl.Requirements(opt[1:])
elif field == ":types":
the_types.extend(parse_typed_list(opt[1:], constructor=pddl.Type))
elif field == ":constants":
constants = parse_typed_list(opt[1:])
elif field == ":predicates":
the_predicates = [parse_predicate(entry) for entry in opt[1:]]
the_predicates += [
pddl.Predicate("=", [
pddl.TypedObject("?x", "object"),
pddl.TypedObject("?y", "object")
])
]
elif field == ":functions":
the_functions = parse_typed_list(opt[1:],
constructor=parse_function,
default_type="number")
set_supertypes(the_types)
yield requirements
yield the_types
type_dict = dict((type.name, type) for type in the_types)
yield type_dict
yield constants
yield the_predicates
predicate_dict = dict((pred.name, pred) for pred in the_predicates)
yield predicate_dict
yield the_functions
entries = [first_action] + [entry for entry in iterator]
the_axioms = []
the_actions = []
for entry in entries:
if entry[0] == ":derived":
axiom = parse_axiom(entry, type_dict, predicate_dict)
the_axioms.append(axiom)
else:
action = parse_action(entry, type_dict, predicate_dict)
if action is not None:
the_actions.append(action)
yield the_actions
yield the_axioms
def make_predicate(name, parameters):
return pddl.Predicate(name, make_parameters(parameters))
def parse_predicate(alist):
name = alist[0]
# if DEBUG: print("parsing predicate: ", name)
arguments = parse_typed_list(alist[1:], only_variables=True)
return pddl.Predicate(name, arguments)
def parse_domain_pddl(domain_pddl):
def typesplit(
alist): # recurse nested lists and replace "-type" by "-", "type"
# an error which occurs in some sloppyly modeled domains
ix = 0
while ix < len(alist):
el = alist[ix]
# print("checking element %s"%el)
if isinstance(el, list):
typesplit(alist[ix])
elif len(el) > 1 and el[0] == "-":
msg = (
"\nWARNING: %s seems to be a 'type' definition missing a space.\n"
"Splitting Element into '-' and '%s'") % (el, el[1:])
print(msg, file=sys.stderr)
alist[ix:ix + 1] = el[0], el[1:]
ix += 1
iterator = iter(domain_pddl)
define_tag = next(iterator)
assert define_tag == "define"
domain_line = next(iterator)
assert domain_line[0] == "domain" and len(domain_line) == 2
yield domain_line[1]
## We allow an arbitrary order of the requirement, types, constants,
## predicates and functions specification. The PDDL BNF is more strict on
## this, so we print a warning if it is violated.
requirements = pddl.Requirements([":strips"])
the_types = [pddl.Type("object")]
constants, the_functions = [], []
the_predicates = [
pddl.Predicate("=", [
pddl.TypedObject("?x", "object"),
pddl.TypedObject("?y", "object")
])
]
# the_free_functions = [] ## support for global constraints with free functions is not implemented yet
correct_order = [
":requirements", ":types", ":constants", ":predicates", ":functions"
] #, ":free_functions"]
seen_fields = []
first_action = None
for opt in iterator:
# print("Options before: ",opt)
typesplit(
opt) # fix for missing space between dash '-' and type identifier
# print("Options after: ",opt)
field = opt[0]
if field not in correct_order:
first_action = opt
break
if field in seen_fields:
raise SystemExit("Error in domain specification\n" +
"Reason: two '%s' specifications." % field)
if (seen_fields and correct_order.index(seen_fields[-1]) >
correct_order.index(field)):
msg = "\nWARNING: %s specification not allowed here (cf. PDDL BNF)" % field
print(msg, file=sys.stderr)
seen_fields.append(field)
if field == ":requirements":
requirements = pddl.Requirements(opt[1:])
elif field == ":types":
the_types.extend(parse_typed_list(opt[1:], constructor=pddl.Type))
elif field == ":constants":
constants = parse_typed_list(opt[1:])
elif field == ":predicates":
the_predicates += [parse_predicate(entry) for entry in opt[1:]]
elif field == ":functions":
the_functions = parse_typed_list(opt[1:],
constructor=parse_function,
default_type="number")
# elif field == ":free_functions":
# the_free_functions = parse_typed_list(
# opt[1:],
# constructor=parse_function,
# default_type="number")
set_supertypes(the_types)
yield requirements
yield the_types
type_dict = dict((pddltype.name, pddltype) for pddltype in the_types)
yield type_dict
yield constants
yield the_predicates
predicate_dict = dict((pred.name, pred) for pred in the_predicates)
yield predicate_dict
total_cost_fluent = pddl.Function("total-cost", [], "number")
the_functions.append(total_cost_fluent)
# the_functions.append(the_free_functions)
yield the_functions
entries = []
if first_action is not None:
entries.append(first_action)
entries.extend(iterator)
the_axioms = []
the_actions = []
for entry in entries:
# if DEBUG: print("Entries before: ",entry)
typesplit(
entry
) # fix for missing space between dash '-' and type identifier
# if DEBUG: print("Entries after: ",entry)
if entry[0] == ":derived":
axiom = parse_axiom(entry, type_dict, predicate_dict)
the_axioms.append(axiom)
elif entry[0] == ":action":
action = parse_action(entry, type_dict, predicate_dict)
if action is not None:
the_actions.append(action)
elif entry[
0] == ":constraint": ## support for global constraints is new in NFD
global_constraint = parse_global_constraint(
entry, type_dict, predicate_dict)
the_axioms.append(global_constraint)
else:
print("%s could not be parsed" % entry[0])
if entry[0] != ":free_functions":
assert False
yield the_actions
yield the_axioms