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Minor update to planning.py #923

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Merged
merged 2 commits into from
May 15, 2018
Merged

Minor update to planning.py #923

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5a78850
PDDLs and Actions can now be defined using Exprs as well as Strings
ad71 May 15, 2018
5dd7324
Minor refactors
ad71 May 15, 2018
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97 changes: 71 additions & 26 deletions planning.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,20 +17,25 @@ class PDDL:

def __init__(self, init, goals, actions):
self.init = self.convert(init)
self.goals = expr(goals)
self.goals = self.convert(goals)
self.actions = actions

def convert(self, init):
def convert(self, clauses):
"""Converts strings into exprs"""
if not isinstance(clauses, Expr):
if len(clauses) > 0:
clauses = expr(clauses)
else:
clauses = []
try:
init = conjuncts(expr(init))
clauses = conjuncts(clauses)
except AttributeError:
init = expr(init)
return init
clauses = clauses
return clauses

def goal_test(self):
"""Checks if the goals have been reached"""
return all(goal in self.init for goal in conjuncts(self.goals))
return all(goal in self.init for goal in self.goals)

def act(self, action):
"""
Expand Down Expand Up @@ -61,34 +66,35 @@ class Action:
"""

def __init__(self, action, precond, effect):
action = expr(action)
if isinstance(action, str):
action = expr(action)
self.name = action.op
self.args = action.args
self.precond, self.effect = self.convert(precond, effect)
self.precond = self.convert(precond)
self.effect = self.convert(effect)

def __call__(self, kb, args):
return self.act(kb, args)

def convert(self, precond, effect):
def convert(self, clauses):
"""Converts strings into Exprs"""
if isinstance(clauses, Expr):
clauses = conjuncts(clauses)
for i in range(len(clauses)):
if clauses[i].op == '~':
clauses[i] = expr('Not' + str(clauses[i].args[0]))

precond = precond.replace('~', 'Not')
if len(precond) > 0:
precond = expr(precond)
effect = effect.replace('~', 'Not')
if len(effect) > 0:
effect = expr(effect)
elif isinstance(clauses, str):
clauses = clauses.replace('~', 'Not')
if len(clauses) > 0:
clauses = expr(clauses)

try:
precond = conjuncts(precond)
except AttributeError:
pass
try:
effect = conjuncts(effect)
except AttributeError:
pass
try:
clauses = conjuncts(clauses)
except AttributeError:
pass

return precond, effect
return clauses

def substitute(self, e, args):
"""Replaces variables in expression with their respective Propositional symbol"""
Expand Down Expand Up @@ -138,10 +144,10 @@ def act(self, kb, args):
def air_cargo():
"""Air cargo problem"""

return PDDL(init='At(C1, SFO) & At(C2, JFK) & At(P1, SFO) & At(P2, JFK) & Cargo(C1) & Cargo(C2) & Plane(P1) & Plane(P2) & Airport(SFO) & Airport(JFK)',
return PDDL(init='At(C1, SFO) & At(C2, JFK) & At(P1, SFO) & At(P2, JFK) & Cargo(C1) & Cargo(C2) & Plane(P1) & Plane(P2) & Airport(SFO) & Airport(JFK)',
goals='At(C1, JFK) & At(C2, SFO)',
actions=[Action('Load(c, p, a)',
precond='At(c, a) & At(p, a) & Cargo(c) & Plane(p) & Airport(a)',
precond='At(c, a) & At(p, a) & Cargo(c) & Plane(p) & Airport(a)',
effect='In(c, p) & ~At(c, a)'),
Action('Unload(c, p, a)',
precond='In(c, p) & At(p, a) & Cargo(c) & Plane(p) & Airport(a)',
Expand Down Expand Up @@ -207,6 +213,25 @@ def shopping_problem():
effect='At(y) & ~At(x)')])


def socks_and_shoes():
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This is good, but you could do it without a function:

socks_and_shoes = PDDL(...)

"""Socks and shoes problem"""

return PDDL(init='',
goals='RightShoeOn & LeftShoeOn',
actions=[Action('RightShoe',
precond='RightSockOn',
effect='RightShoeOn'),
Action('RightSock',
precond='',
effect='RightSockOn'),
Action('LeftShoe',
precond='LeftSockOn',
effect='LeftShoeOn'),
Action('LeftSock',
precond='',
effect='LeftSockOn')])


class Level:
"""
Contains the state of the planning problem
Expand Down Expand Up @@ -559,6 +584,26 @@ def goal_test(kb, goals):
return None


def socks_and_shoes_graphplan():
pddl = socks_and_shoes()
graphplan = GraphPlan(pddl)

def goal_test(kb, goals):
return all(kb.ask(q) is not False for q in goals)

goals = expr('RightShoeOn, LeftShoeOn')

while True:
if (goal_test(graphplan.graph.levels[-1].kb, goals) and graphplan.graph.non_mutex_goals(goals, -1)):
solution = graphplan.extract_solution(goals, -1)
if solution:
return solution

graphplan.graph.expand_graph()
if len(graphplan.graph.levels) >= 2 and graphplan.check_leveloff():
return None


def linearize(solution):
"""Converts a level-ordered solution into a linear solution"""

Expand Down