Planning in Python
- action.py with an Action class
- PDDL.py with a PDDL parser
- planner.py with a planner
- examples folder with PDDL domains:
- Dinner from Daniel Weld, a propositional domain
- Blocks World
- Dock Worker Robot
- Travelling Salesman Problem
# Parser can be used separately
cd pddl-parser
python -B PDDL.py examples/dinner/dinner.pddl examples/dinner/pb1.pddl
# Output
----------------------------
['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']]]]]
----------------------------
['define',
['problem', 'pb1'],
[':domain', 'dinner'],
[':init', ['garbage'], ['clean'], ['quiet']],
[':goal', ['and', ['dinner'], ['present'], ['not', ['garbage']]]]]
----------------------------
Domain name: dinner
action: cook
parameters: []
positive_preconditions: [['clean']]
negative_preconditions: []
add_effects: [['dinner']]
del_effects: []
action: wrap
parameters: []
positive_preconditions: [['quiet']]
negative_preconditions: []
add_effects: [['present']]
del_effects: []
action: carry
parameters: []
positive_preconditions: [['garbage']]
negative_preconditions: []
add_effects: []
del_effects: [['garbage'], ['clean']]
action: dolly
parameters: []
positive_preconditions: [['garbage']]
negative_preconditions: []
add_effects: []
del_effects: [['garbage'], ['quiet']]
----------------------------
Problem name: pb1
Objects: {}
State: [['garbage'], ['clean'], ['quiet']]
Positive goals: [['dinner'], ['present']]
Negative goals: [['garbage']]# Planning using BFS
cd pddl-parser
python -B planner.py examples/dinner/dinner.pddl examples/dinner/pb1.pddl
# Output
Time: 0.00200009346008s
plan:
action: cook
parameters: []
positive_preconditions: [['clean']]
negative_preconditions: []
add_effects: [['dinner']]
del_effects: []
action: wrap
parameters: []
positive_preconditions: [['quiet']]
negative_preconditions: []
add_effects: [['present']]
del_effects: []
action: carry
parameters: []
positive_preconditions: [['garbage']]
negative_preconditions: []
add_effects: []
del_effects: [['garbage'], ['clean']]