def parse_domain_structure(entry, the_functions, the_axioms, the_actions,
the_durative_actions, the_types, the_predicates):
if entry[0] == ":derived":
axiom = axioms.Axiom.parse(entry)
the_axioms.append(axiom)
elif entry[0] == ":durative-action":
action = actions.DurativeAction.parse(entry)
the_durative_actions.append(action)
elif entry[0] == ":functions":
the_functions.extend(
pddl_types.parse_typed_list(
entry[1:],
constructor=functions.Function.parse_typed,
functions=True,
types=the_types))
for function in the_functions:
Task.FUNCTION_SYMBOLS[function.name] = function.type
if function.type != "number":
the_predicates.append(
predicates.Predicate(
conditions.function_predicate_name(function.name),
function.arguments +
[pddl_types.TypedObject("?val", function.type)]))
elif entry[0] == ":action":
action = actions.Action.parse(entry)
the_actions.append(action)
else:
assert False, "unknown entity"
def __init__(self, time, init_fact): self.time = time self.fact = init_fact # nested list if self.fact[0] == 'not': self.type = 'NEGATED_BOOLEAN' self.value = False self.predicate = tuple(self.fact[1]) self.atom = conditions.Atom(self.fact[1][0], [conditions.parse_term(term) for term in self.fact[1][1:]]) elif self.fact[0] == '=': if f_expression.isFloat(self.fact[2]): self.type = 'NUMERICAL_FUNCTION' self.value = float(self.fact[2]) self.predicate = tuple(self.fact[1]) self.atom = f_expression.parse_assignment(fact) else: self.type = 'OBJECT_FUNCTION' self.value = self.fact[2] self.predicate = tuple(self.fact[1]) function = conditions.parse_term(self.fact[1]) terms = function.args terms.append(conditions.parse_term(self.fact[2])) atomname = conditions.function_predicate_name(function.name) self.atom = conditions.Atom(atomname, terms) else: self.type = 'BOOLEAN' self.value = True self.atom = conditions.Atom(self.fact[0], [conditions.parse_term(term) for term in self.fact[1:]]) self.predicate = tuple(self.fact)
def parse_task(task_pddl):
iterator = iter(task_pddl)
assert iterator.next() == "define"
problem_line = iterator.next()
assert problem_line[0] == "problem" and len(problem_line) == 2
yield problem_line[1]
domain_line = iterator.next()
assert domain_line[0] == ":domain" and len(domain_line) == 2
yield domain_line[1]
objects_opt = iterator.next()
if objects_opt[0] == ":objects":
yield pddl_types.parse_typed_list(objects_opt[1:])
init = iterator.next()
else:
yield []
init = objects_opt
assert init[0] == ":init"
initial = []
for fact in init[1:]:
if fact[0] == "=":
if conditions.is_function_comparison(fact): # numeric function
initial.append(f_expression.parse_assignment(fact))
else: # object function
function = conditions.parse_term(fact[1])
terms = function.args
terms.append(conditions.parse_term(fact[2]))
atomname = conditions.function_predicate_name(function.name)
initial.append(conditions.Atom(atomname, terms))
else:
initial.append(
conditions.Atom(
fact[0],
[conditions.parse_term(term) for term in fact[1:]]))
yield initial
goal = iterator.next()
assert goal[0] == ":goal" and len(goal) == 2
yield conditions.parse_condition(goal[1])
metric_defined = False
for entry in iterator:
if entry[0] == ":metric":
metric_defined = True
# if entry[2][0] in ["total-time", "total-cost"] :
metric = (entry[1], entry[2])
yield metric
if not metric_defined:
metric = ()
yield metric
def parse_init_fact(fact):
if fact[0] == "=":
if conditions.is_function_comparison(fact): # numeric function
return f_expression.parse_assignment(fact)
else: # object function
function = conditions.parse_term(fact[1])
terms = function.args
terms.append(conditions.parse_term(fact[2]))
atomname = conditions.function_predicate_name(function.name)
return conditions.Atom(atomname, terms)
else:
return conditions.Atom(fact[0], [conditions.parse_term(term) for term in fact[1:]])
def parse_task(task_pddl):
iterator = iter(task_pddl)
assert iterator.next() == "define"
problem_line = iterator.next()
assert problem_line[0] == "problem" and len(problem_line) == 2
yield problem_line[1]
domain_line = iterator.next()
assert domain_line[0] == ":domain" and len(domain_line) == 2
yield domain_line[1]
objects_opt = iterator.next()
if objects_opt[0] == ":objects":
yield pddl_types.parse_typed_list(objects_opt[1:])
init = iterator.next()
else:
yield []
init = objects_opt
assert init[0] == ":init"
initial = []
for fact in init[1:]:
if fact[0] == "=":
if conditions.is_function_comparison(fact): # numeric function
initial.append(f_expression.parse_assignment(fact))
else: # object function
function = conditions.parse_term(fact[1])
terms = function.args
terms.append(conditions.parse_term(fact[2]))
atomname = conditions.function_predicate_name(function.name)
initial.append(conditions.Atom(atomname, terms))
else:
initial.append(conditions.Atom(fact[0], [conditions.parse_term(term) for term in fact[1:]]))
yield initial
goal = iterator.next()
assert goal[0] == ":goal" and len(goal) == 2
yield conditions.parse_condition(goal[1])
for entry in iterator:
if entry[0] == ":metric" and entry[1]=="minimize":
if entry[2][0] in ["total-time", "total-cost"] :
continue
assert False, entry
def parse_domain_structure(entry,the_functions,the_axioms,the_actions,the_durative_actions,
the_types, the_predicates):
if entry[0] == ":derived":
axiom = axioms.Axiom.parse(entry)
the_axioms.append(axiom)
elif entry[0] == ":durative-action":
action = actions.DurativeAction.parse(entry)
the_durative_actions.append(action)
elif entry[0] == ":functions":
the_functions = pddl_types.parse_typed_list(entry[1:],
constructor=functions.Function.parse_typed, functions=True, types=the_types)
for function in the_functions:
Task.FUNCTION_SYMBOLS[function.name] = function.type
if function.type != "number":
the_predicates.append(
predicates.Predicate(conditions.function_predicate_name(function.name),
function.arguments + [pddl_types.TypedObject("?val", function.type)]))
else:
action = actions.Action.parse(entry)
the_actions.append(action)
def parse_task(task_pddl):
iterator = iter(task_pddl)
assert iterator.next() == "define"
problem_line = iterator.next()
assert problem_line[0] == "problem" and len(problem_line) == 2
yield problem_line[1]
domain_line = iterator.next()
assert domain_line[0] == ":domain" and len(domain_line) == 2
yield domain_line[1]
module_opt = iterator.next()
if module_opt[0] == ":moduleoptions":
yield [modules.ModuleInit.parse(mi) for mi in module_opt[1:]]
module_exit_opt = iterator.next()
else:
yield []
module_exit_opt = module_opt
if module_exit_opt[0] == ":moduleexitoptions":
yield [modules.ModuleExit.parse(mi) for mi in module_exit_opt[1:]]
objects_opt = iterator.next()
else:
yield []
objects_opt = module_exit_opt
if objects_opt[0] == ":objects":
yield pddl_types.parse_typed_list(objects_opt[1:])
init = iterator.next()
else:
yield []
init = objects_opt
assert init[0] == ":init"
initial = []
for fact in init[1:]:
if fact[0] == "=":
if conditions.is_function_comparison(fact): # numeric function
initial.append(f_expression.parse_assignment(fact))
else: # object function
function = conditions.parse_term(fact[1])
terms = function.args
terms.append(conditions.parse_term(fact[2]))
atomname = conditions.function_predicate_name(function.name)
initial.append(conditions.Atom(atomname, terms))
else:
initial.append(
conditions.Atom(
fact[0],
[conditions.parse_term(term) for term in fact[1:]]))
yield initial
goal = iterator.next()
assert goal[0] == ":goal" and len(goal) == 2
yield conditions.parse_condition(goal[1])
for entry in iterator:
if entry[0] == ":metric" and entry[1] == "minimize":
if entry[2][0] in ["total-time", "total-cost"]:
continue
assert False, "Can only minimize total-time or total-cost, got: " + str(
entry)
