def test_scan_tokens_problem(self):
parser = PDDL_Parser()
self.assertEqual(parser.scan_tokens('examples/dinner/pb1.pddl'), [
'define', ['problem', 'pb1'], [':domain', 'dinner'],
[':init', ['garbage'], ['clean'], ['quiet']],
[':goal', ['and', ['dinner'], ['present'], ['not', ['garbage']]]]
])
def test_scan_tokens_domain(self):
parser = PDDL_Parser()
self.assertEqual(parser.scan_tokens('examples/dinner/dinner.pddl'), [
'define', ['domain', 'dinner'], [':requirements', ':strips'],
[
':predicates', ['clean'], ['dinner'], ['quiet'], ['present'],
['garbage']
],
[
':action', 'cook', ':precondition', ['clean'], ':effect',
['dinner']
],
[
':action', 'wrap', ':precondition', ['quiet'], ':effect',
['present']
],
[
':action', 'carry', ':precondition', ['garbage'], ':effect',
['and', ['not', ['garbage']], ['not', ['clean']]]
],
[
':action', 'dolly', ':precondition', ['garbage'], ':effect',
['and', ['not', ['garbage']], ['not', ['quiet']]]
]
])
def test_scan_tokens_problem(self):
parser = PDDL_Parser()
self.assertEqual(parser.scan_tokens('dinner/pb1.pddl'),
['define', ['problem', 'pb1'],
[':domain', 'dinner'],
[':init', ['garbage'], ['clean'], ['quiet']],
[':goal', ['and', ['dinner'], ['present'], ['not', ['garbage']]]]]
)
def test_scan_tokens_domain(self):
parser = PDDL_Parser()
self.assertEqual(parser.scan_tokens('dinner/dinner.pddl'),
['define', ['domain', 'dinner'],
[':requirements', ':strips'],
[':predicates', ['clean'], ['dinner'], ['quiet'], ['present'], ['garbage']],
[':action', 'cook',
':parameters', [],
':precondition', ['and', ['clean']],
':effect', ['and', ['dinner']]],
[':action', 'wrap',
':parameters', [],
':precondition', ['and', ['quiet']],
':effect', ['and', ['present']]],
[':action', 'carry',
':parameters', [],
':precondition', ['and', ['garbage']],
':effect', ['and', ['not', ['garbage']], ['not', ['clean']]]],
[':action', 'dolly',
':parameters', [],
':precondition', ['and', ['garbage']],
':effect', ['and', ['not', ['garbage']], ['not', ['quiet']]]]]
)
class trajectory:
def parseObjects(self, objTokens):
self.types2objs = {
} # Map of types -> objects; useful when you need to know what objects have a specified type
self.objs2types = {
} # Map of objects -> types; useful when you want to know what the type of a specific object is
objs = []
isType = False
for token in objTokens[
1:]: # Throw out objTokens[0], which will be the string ':objects'
if isType:
if token not in self.types2objs:
self.types2objs[token] = []
self.types2objs[token].extend(objs)
for obj in objs:
self.objs2types[obj] = token
objs = []
isType = False
elif token == '-':
isType = True
else:
objs.append(token)
# Parses the :init and :state blocks in the trajectory file, and also makes a dictionary of all the predicates that appear in the states, along with the types of their peremeters
def parseStates(self, tokens):
self.states = []
self.predicates = {}
for block in tokens:
if block[0] == ':state' or block[0] == ':init':
self.states.append(block[1:])
for pred in block[1:]:
pName = pred[0]
pTypes = []
for arg in pred[1:]:
pTypes.append(
[self.objs2types[arg]]
) # Predicate type lists are now lists of lists of strings- each inner list representing the types observed for one parameter
if pName in self.predicates:
for oldParamTypes, newType in zip(
self.predicates[pName], pTypes):
if newType[0] not in oldParamTypes:
oldParamTypes.append(newType[0])
# if self.predicates[pName] != pTypes:
# raise TypeError('Predicate {} believed to have parameter types {}; inconsistent with observed parameters {}'.format(pName, self.predicates[pName], pTypes))
else:
self.predicates[pName] = pTypes
def parseActions(self, tokens):
self.actions = {}
for block in tokens:
if block[0] == ':action':
act_in = block[1]
# print('Parsing action {}'.format(act_in))
parTypes = []
for param in act_in[1:]:
parTypes.append(
self.objs2types[param]
) # Not doing list-of-lists here- that'll be handled in actionCandidate constructor
if act_in[0] in self.actions:
# print ('Found action with same name: {}'.format(act_in[0]))
for oldTypes, newType in zip(
self.actions[act_in[0]].parameterTypes, parTypes):
if newType not in oldTypes:
oldTypes.append(newType)
self.actions[act_in[0]].updateParameterTypes(parTypes)
# if act.parameterTypes != parTypes:
# raise TypeError('Action {} found using parameters {}; inconsistent with earlier {}. Are you using type inheritance?'.format(act_in[0], parTypes, act.parameterTypes))
else:
newAct = actionCandidate(act_in[0], parTypes, self)
self.actions[newAct.name] = newAct
def refineActions(self, tokens):
assignments = [((n - 1) // 2 - 1, block[1])
for (n, block) in enumerate(tokens)
if block[0] == ':action']
# pprint.pprint(assignments)
for i, agmt in assignments:
assignedTypes = [self.objs2types[par] for par in agmt[1:]]
self.actions[agmt[0]].updateParameterTypes(assignedTypes)
for act in self.actions.values():
act.createPrecons(self)
needsDoubleChecking = False
for i, agmt in assignments:
# print('State {}: {}'.format(i, self.states[i]))
# print('Action {}: {}'.format(i, agmt))
# print('State {}: {}'.format(i+1, self.states[i+1]))
# print()
act = self.actions[agmt[0]]
assignment = agmt[1:]
# assignedTypes = [self.objs2types[par] for par in assignment]
act.prunePrecons(self.states[i], assignment)
needsDoubleChecking |= act.updateEffects(self.states[i],
assignment,
self.states[i + 1])
if needsDoubleChecking:
# print('Double-checking action effects\n')
needsDoubleChecking = False
for i, agmt in assignments:
act = self.actions[agmt[0]]
assignment = agmt[1:]
# assignedTypes = [self.objs2types[par] for par in assignment]
needsDoubleChecking |= act.updateEffects(
self.states[i], assignment, self.states[i + 1])
if needsDoubleChecking:
raise ValueError(
"Some actions still had unexpected effects during the second pass. This shouldn't be possible. If you see this message, please let me know. --SE"
)
def genTypeclasses(self): #TODO Add code to deal with deeper hierarchies
classList = []
for typesOuter in self.predicates.values():
for types in typesOuter:
# print(types)
sorTypes = list(sorted(types))
if sorTypes not in classList:
classList.append(sorTypes)
for act in self.actions:
for types in self.actions[act].parameterTypes:
sorTypes = list(sorted(types))
if sorTypes not in classList:
classList.append(sorTypes)
# print(classList)
self.typeclasses = {}
for tclass in classList:
self.typeclasses['_'.join(tclass)] = 'object'
for typ in self.types2objs.keys():
container = 'object'
for tclass in classList:
if typ in tclass and typ != '_'.join(tclass):
container = '_'.join(tclass)
self.typeclasses[typ] = container
def __init__(self, filename, domainName='reconstructed'):
self.domainName = domainName
self.parser = PDDL_Parser()
self.tokens = self.parser.scan_tokens(filename)
pprint.pprint(self.tokens)
print('=== Objects ===')
self.parseObjects(self.tokens[1])
pprint.pprint(self.types2objs)
print('=== States ===')
self.parseStates(self.tokens)
pprint.pprint(self.states)
print('=== Predicates ===')
pprint.pprint(self.predicates)
print('=== Actions ===')
self.parseActions(self.tokens)
# print(self.tokens[3])
# p, n = self.actions[0].assignPrecons(self.tokens[3][1][1:])
# print('Grounded Positive preconditions')
# print(p)
# print('Grounded Negative preconditions')
# print(n)
# print('Before State')
# print(self.states[0])
# self.actions[0].prunePrecons(self.states[0], self.tokens[3][1][1:])
# print(self.actions[0])
self.refineActions(self.tokens)
pprint.pprint(self.actions)
self.genTypeclasses()
def __repr__(self):
fmtTypeclasses = [
'{} - {}'.format(k, v) for k, v in self.typeclasses.items()
]
fmtPredicates = []
for name, types in self.predicates.items():
fmtParams = [name]
for i, typ in enumerate(types):
fmtParams.append('?{} - {}'.format(i, '_'.join(typ)))
fmtPredicates.append('({})'.format(' '.join(fmtParams)))
fmtActions = [str(act) for act in self.actions.values()]
return '''(define (domain {})
(:requirements :typing :negative-preconditions)
(:types {})
(:predicates {})
{})
'''.format(self.domainName, ' '.join(fmtTypeclasses), ' '.join(fmtPredicates),
''.join(fmtActions))
