def parse_goal_state(pddl_domain_name, pddl_file_name):
t = parsePDDL(task_filename=pddl_file_name, domain_filename=pddl_domain_name)
# Only lift the goal if it is a conjunction of atoms
if Conjunction != t.goal.__class__:
print ("Error: Goal condition must be a conjunction of atoms -- " + str(t.goal.__class__))
return set([])
# Lift the goal state
goals = set([])
for g in t.goal.parts:
if Atom != g.__class__:
print ("Error: Goal condition not an Atom -- " + str(init.__class__))
return set([])
fluent = str(g.predicate)
for arg in g.args:
fluent += ' ' + str(arg)
# We don't want to keep around the trivial equality constraints
if fluent[0] != '=':
goals.add(Fluent(fluent))
return goals
def parse_problem(pddl_domain_name, pddl_file_name):
# Get the init and goal conditions
I = parse_init_state(pddl_domain_name, pddl_file_name)
G = parse_goal_state(pddl_domain_name, pddl_file_name)
# Parse our task
t = parsePDDL(task_filename=pddl_file_name,
domain_filename=pddl_domain_name)
_, atoms, actions, _, _ = explore(t)
F = set([])
FMAP = {}
for atom in atoms:
fname = ' '.join([atom.predicate] + list(atom.args))
f = Fluent(fname)
F.add(f)
FMAP[fname] = f
A = {}
for a in actions:
PRE = set([])
ADD = set([])
DEL = set([])
for p in a.precondition:
assert not p.negated, "Error: Cannot handle negative preconditions"
PRE.add(FMAP[' '.join([p.predicate] + list(p.args))])
for cond, fact in a.add_effects:
ADD.add(FMAP[' '.join([fact.predicate] + list(fact.args))])
for cond, fact in a.del_effects:
DEL.add(FMAP[' '.join([fact.predicate] + list(fact.args))])
A[a.name[1:-1].lower().strip()] = Action(PRE, ADD, DEL,
a.name[1:-1].lower().strip())
return (F, A, I, G)
def parse_init_state(pddl_domain_name, pddl_file_name):
t = parsePDDL(task_filename=pddl_file_name, domain_filename=pddl_domain_name)
# Lift the initial state
inits = set([])
for init in t.init:
# We don't want to keep around the trivial equality constraints
if Assign == init.__class__:
continue
if Atom != init.__class__:
print ("Error: Init condition not an Atom -- " + str(init.__class__))
return set([])
fluent = str(init.predicate)
for arg in init.args:
fluent += ' ' + str(arg)
inits.add(Fluent(fluent))
return inits