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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,232 @@ | ||
| #!/usr/bin/env python | ||
| # Four spaces as indentation [no tabs] | ||
|
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| import re | ||
| from action import Action | ||
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| class PDDL_Parser: | ||
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| SUPPORTED_REQUIREMENTS = [':strips', ':negative-preconditions', ':typing'] | ||
|
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| # ------------------------------------------ | ||
| # Tokens | ||
| # ------------------------------------------ | ||
|
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| def scan_tokens(self, filename): | ||
| with open(filename,'r') as f: | ||
| # Remove single line comments | ||
| str = re.sub(r';.*$', '', f.read(), flags=re.MULTILINE).lower() | ||
| # Tokenize | ||
| stack = [] | ||
| list = [] | ||
| for t in re.findall(r'[()]|[^\s()]+', str): | ||
| if t == '(': | ||
| stack.append(list) | ||
| list = [] | ||
| elif t == ')': | ||
| if stack: | ||
| l = list | ||
| list = stack.pop() | ||
| list.append(l) | ||
| else: | ||
| raise Exception('Missing open parentheses') | ||
| else: | ||
| list.append(t) | ||
| if stack: | ||
| raise Exception('Missing close parentheses') | ||
| if len(list) != 1: | ||
| raise Exception('Malformed expression') | ||
| return list[0] | ||
|
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| #----------------------------------------------- | ||
| # Parse domain | ||
| #----------------------------------------------- | ||
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| def parse_domain(self, domain_filename): | ||
| tokens = self.scan_tokens(domain_filename) | ||
| if type(tokens) is list and tokens.pop(0) == 'define': | ||
| self.domain_name = 'unknown' | ||
| self.requirements = [] | ||
| self.types = [] | ||
| self.actions = [] | ||
| self.predicates = {} | ||
| while tokens: | ||
| group = tokens.pop(0) | ||
| t = group.pop(0) | ||
| if t == 'domain': | ||
| self.domain_name = group[0] | ||
| elif t == ':requirements': | ||
| for req in group: | ||
| if not req in self.SUPPORTED_REQUIREMENTS: | ||
| raise Exception('Requirement ' + req + ' not supported') | ||
| self.requirements = group | ||
| elif t == ':predicates': | ||
| self.parse_predicates(group) | ||
| elif t == ':types': | ||
| self.types = group | ||
| elif t == ':action': | ||
| self.parse_action(group) | ||
| else: print(str(t) + ' is not recognized in domain') | ||
| else: | ||
| raise Exception('File ' + domain_filename + ' does not match domain pattern') | ||
|
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| #----------------------------------------------- | ||
| # Parse predicates | ||
| #----------------------------------------------- | ||
|
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| def parse_predicates(self, group): | ||
| for pred in group: | ||
| predicate_name = pred.pop(0) | ||
| if predicate_name in self.predicates: | ||
| raise Exception('Predicate ' + predicate_name + ' redefined') | ||
| arguments = {} | ||
| untyped_variables = [] | ||
| while pred: | ||
| t = pred.pop(0) | ||
| if t == '-': | ||
| if not untyped_variables: | ||
| raise Exception('Unexpected hyphen in predicates') | ||
| type = pred.pop(0) | ||
| while untyped_variables: | ||
| arguments[untyped_variables.pop(0)] = type | ||
| else: | ||
| untyped_variables.append(t) | ||
| while untyped_variables: | ||
| arguments[untyped_variables.pop(0)] = 'object' | ||
| self.predicates[predicate_name] = arguments | ||
|
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| #----------------------------------------------- | ||
| # Parse action | ||
| #----------------------------------------------- | ||
|
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| def parse_action(self, group): | ||
| name = group.pop(0) | ||
| if not type(name) is str: | ||
| raise Exception('Action without name definition') | ||
| for act in self.actions: | ||
| if act.name == name: | ||
| raise Exception('Action ' + name + ' redefined') | ||
| parameters = [] | ||
| positive_preconditions = [] | ||
| negative_preconditions = [] | ||
| add_effects = [] | ||
| del_effects = [] | ||
| while group: | ||
| t = group.pop(0) | ||
| if t == ':parameters': | ||
| if not type(group) is list: | ||
| raise Exception('Error with ' + name + ' parameters') | ||
| parameters = [] | ||
| untyped_parameters = [] | ||
| p = group.pop(0) | ||
| while p: | ||
| t = p.pop(0) | ||
| if t == '-': | ||
| if not untyped_parameters: | ||
| raise Exception('Unexpected hyphen in ' + name + ' parameters') | ||
| ptype = p.pop(0) | ||
| while untyped_parameters: | ||
| parameters.append([untyped_parameters.pop(0), ptype]) | ||
| else: | ||
| untyped_parameters.append(t) | ||
| while untyped_parameters: | ||
| parameters.append([untyped_parameters.pop(0), 'object']) | ||
| elif t == ':precondition': | ||
| self.split_predicates(group.pop(0), positive_preconditions, negative_preconditions, name, ' preconditions') | ||
| elif t == ':effect': | ||
| self.split_predicates(group.pop(0), add_effects, del_effects, name, ' effects') | ||
| else: print(str(t) + ' is not recognized in action') | ||
| self.actions.append(Action(name, parameters, positive_preconditions, negative_preconditions, add_effects, del_effects)) | ||
|
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| #----------------------------------------------- | ||
| # Parse problem | ||
| #----------------------------------------------- | ||
|
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| def parse_problem(self, problem_filename): | ||
| tokens = self.scan_tokens(problem_filename) | ||
| if type(tokens) is list and tokens.pop(0) == 'define': | ||
| self.problem_name = 'unknown' | ||
| self.objects = dict() | ||
| self.state = [] | ||
| self.positive_goals = [] | ||
| self.negative_goals = [] | ||
| while tokens: | ||
| group = tokens.pop(0) | ||
| t = group[0] | ||
| if t == 'problem': | ||
| self.problem_name = group[-1] | ||
| elif t == ':domain': | ||
| if self.domain_name != group[-1]: | ||
| raise Exception('Different domain specified in problem file') | ||
| elif t == ':requirements': | ||
| pass # Ignore requirements in problem, parse them in the domain | ||
| elif t == ':objects': | ||
| group.pop(0) | ||
| object_list = [] | ||
| while group: | ||
| if group[0] == '-': | ||
| group.pop(0) | ||
| theType = group.pop(0) | ||
| if theType in self.objects: | ||
| self.objects[theType].extend(object_list) | ||
| else: | ||
| self.objects[theType] = object_list | ||
| object_list = [] | ||
| else: | ||
| object_list.append(group.pop(0)) | ||
| if object_list: | ||
| if not 'object' in self.objects: | ||
| self.objects['object'] = [] | ||
| self.objects['object'] += object_list | ||
| elif t == ':init': | ||
| group.pop(0) | ||
| self.state = group | ||
| elif t == ':goal': | ||
| self.split_predicates(group[1], self.positive_goals, self.negative_goals, '', 'goals') | ||
| else: print(str(t) + ' is not recognized in problem') | ||
| else: | ||
| raise Exception('File ' + problem_filename + ' does not match problem pattern') | ||
|
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| #----------------------------------------------- | ||
| # Split predicates | ||
| #----------------------------------------------- | ||
|
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| def split_predicates(self, group, pos, neg, name, part): | ||
| if not type(group) is list: | ||
| raise Exception('Error with ' + name + part) | ||
| if group[0] == 'and': | ||
| group.pop(0) | ||
| else: | ||
| group = [group] | ||
| for predicate in group: | ||
| if predicate[0] == 'not': | ||
| if len(predicate) != 2: | ||
| raise Exception('Unexpected not in ' + name + part) | ||
| neg.append(predicate[-1]) | ||
| else: | ||
| pos.append(predicate) | ||
|
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| # ========================================== | ||
| # Main | ||
| # ========================================== | ||
| if __name__ == '__main__': | ||
| import sys, pprint | ||
| domain = sys.argv[1] | ||
| problem = sys.argv[2] | ||
| parser = PDDL_Parser() | ||
| print('----------------------------') | ||
| pprint.pprint(parser.scan_tokens(domain)) | ||
| print('----------------------------') | ||
| pprint.pprint(parser.scan_tokens(problem)) | ||
| print('----------------------------') | ||
| parser.parse_domain(domain) | ||
| parser.parse_problem(problem) | ||
| print('Domain name: ' + parser.domain_name) | ||
| for act in parser.actions: | ||
| print(act) | ||
| print('----------------------------') | ||
| print('Problem name: ' + parser.problem_name) | ||
| print('Objects: ' + str(parser.objects)) | ||
| print('State: ' + str(parser.state)) | ||
| print('Positive goals: ' + str(parser.positive_goals)) | ||
| print('Negative goals: ' + str(parser.negative_goals)) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
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| # To reproduce our results, run these commands in your preferred UNIX terminal: | ||
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| cd blackout | ||
| # Remove the :action-failed lines and whatnot from the trajectory files, so FAMA can use them | ||
| cd trajectory | ||
| python strip-verbose.py small-verbose.log small-brief.log | ||
| python strip-verbose.py medium-verbose.log medium-brief.log | ||
| python strip-verbose.py large-verbose.log large-brief.log | ||
| cd .. | ||
| # Run blackout | ||
| python blackout1.py trajectory/small-verbose.log model/small-blackout-1.pddl sokoban-sequential | ||
| python blackout2.py trajectory/small-verbose.log model/small-blackout-2.pddl sokoban-sequential | ||
| python blackout3.py trajectory/small-verbose.log model/small-blackout-3.pddl sokoban-sequential | ||
| python blackout1.py trajectory/medium-verbose.log model/medium-blackout-1.pddl sokoban-sequential | ||
| python blackout2.py trajectory/medium-verbose.log model/medium-blackout-2.pddl sokoban-sequential | ||
| python blackout3.py trajectory/medium-verbose.log model/medium-blackout-3.pddl sokoban-sequential | ||
| python blackout1.py trajectory/large-verbose.log model/large-blackout-1.pddl sokoban-sequential | ||
| python blackout2.py trajectory/large-verbose.log model/large-blackout-2.pddl sokoban-sequential | ||
| python blackout3.py trajectory/large-verbose.log model/large-blackout-3.pddl sokoban-sequential | ||
| # Run FAMA | ||
| ##TODO insert commands to run FAMA on trajectory/small-brief.log and trajectory/medium-brief.log | ||
| ## and put the results in model/small-FAMA.pddl and model/medium-FAMA.pddl | ||
| ## here | ||
| # Run evaluation script | ||
| cd ../trajectory | ||
| python evaluation.py ../blackout/sokoban-sequential.pddl ../blackout/model/small-blackout-1.pddl | ||
| python evaluation.py ../blackout/sokoban-sequential.pddl ../blackout/model/small-blackout-2.pddl | ||
| python evaluation.py ../blackout/sokoban-sequential.pddl ../blackout/model/small-blackout-3.pddl | ||
| python evaluation.py ../blackout/sokoban-sequential.pddl ../blackout/model/small-FAMA.pddl | ||
| python evaluation.py ../blackout/sokoban-sequential.pddl ../blackout/model/medium-blackout-1.pddl | ||
| python evaluation.py ../blackout/sokoban-sequential.pddl ../blackout/model/medium-blackout-2.pddl | ||
| python evaluation.py ../blackout/sokoban-sequential.pddl ../blackout/model/medium-blackout-3.pddl | ||
| python evaluation.py ../blackout/sokoban-sequential.pddl ../blackout/model/medium-FAMA.pddl | ||
| python evaluation.py ../blackout/sokoban-sequential.pddl ../blackout/model/large-blackout-1.pddl | ||
| python evaluation.py ../blackout/sokoban-sequential.pddl ../blackout/model/large-blackout-2.pddl | ||
| python evaluation.py ../blackout/sokoban-sequential.pddl ../blackout/model/large-blackout-3.pddl | ||
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