From ceaf947bf31a53ffe9bdc5091b676862f66a51de Mon Sep 17 00:00:00 2001 From: Aaron Williams Date: Mon, 18 May 2020 17:35:53 -0400 Subject: [PATCH 1/4] Modified evaluation.py to output presision and recall scores, in addition to F1 --- .gitignore | 6 +++++- trajectory/evaluation.py | 6 +++--- 2 files changed, 8 insertions(+), 4 deletions(-) diff --git a/.gitignore b/.gitignore index f3bcb27..38572a5 100644 --- a/.gitignore +++ b/.gitignore @@ -139,4 +139,8 @@ dmypy.json .pytype/ # Cython debug symbols -cython_debug/ \ No newline at end of file +cython_debug/ + +# Vim file backups +*~ + diff --git a/trajectory/evaluation.py b/trajectory/evaluation.py index 11b8b32..c2811fa 100755 --- a/trajectory/evaluation.py +++ b/trajectory/evaluation.py @@ -49,7 +49,7 @@ def f1(self): return 2 * self.precision * self.recall / (self.precision + self.recall) def __str__(self): - return f'{self.name} {self.f1}' + return '{:15s} {:6.4f} {:6.4f} {:6.4f}'.format(self.name, self.f1, self.precision, self.recall,) class Evaluation: @@ -62,7 +62,7 @@ def __init__(self, reference, target): def __str__(self): - return f"""Name F1-score + return f"""Name F1-score Precision Recall {chr(10).join([str(action_evaluation) for action_evaluation in self.action_evaluations])} """ @@ -76,4 +76,4 @@ def __str__(self): ref_parser.parse_domain(reference) tar_parser.parse_domain(target) evaluation = Evaluation(ref_parser, tar_parser) - print(evaluation) \ No newline at end of file + print(evaluation) From 582b9630298615cb3df2d114f4fa4017e91ca80b Mon Sep 17 00:00:00 2001 From: Aaron Williams Date: Fri, 22 May 2020 16:38:17 -0400 Subject: [PATCH 2/4] Added all the code relevant to the IPC Sokoban domain from https://github.com/SomeoneElse37/pddl-parser --- .gitignore | 4 +- README.md | 38 +- blackout/PDDL.py | 228 +++++ blackout/README.md | 39 + blackout/action.py | 69 ++ blackout/blackout1.py | 411 ++++++++ blackout/blackout2.py | 217 +++++ blackout/blackout3.py | 185 ++++ blackout/engine.py | 372 ++++++++ blackout/invariants.py | 486 ++++++++++ blackout/levels/level-large.pddl | 359 +++++++ blackout/levels/level-medium.pddl | 74 ++ blackout/levels/level-small.pddl | 62 ++ blackout/model/large-blackout-1.pddl | 23 + blackout/model/large-blackout-2.pddl | 23 + blackout/model/large-blackout-3.pddl | 23 + blackout/model/medium-FAMA.pddl | 58 ++ blackout/model/medium-blackout-1.pddl | 17 + blackout/model/medium-blackout-2.pddl | 17 + blackout/model/medium-blackout-3.pddl | 17 + blackout/model/small-FAMA.pddl | 51 + blackout/model/small-blackout-1.pddl | 23 + blackout/model/small-blackout-2.pddl | 23 + blackout/model/small-blackout-3.pddl | 23 + blackout/sokoban-sequential.pddl | 56 ++ blackout/trajectory/large-brief.log | 915 ++++++++++++++++++ blackout/trajectory/large-verbose.log | 1199 ++++++++++++++++++++++++ blackout/trajectory/medium-brief.log | 27 + blackout/trajectory/medium-verbose.log | 35 + blackout/trajectory/small-brief.log | 51 + blackout/trajectory/small-verbose.log | 75 ++ blackout/trajectory/strip-verbose.py | 57 ++ 32 files changed, 5254 insertions(+), 3 deletions(-) create mode 100755 blackout/PDDL.py create mode 100644 blackout/README.md create mode 100755 blackout/action.py create mode 100755 blackout/blackout1.py create mode 100755 blackout/blackout2.py create mode 100755 blackout/blackout3.py create mode 100755 blackout/engine.py create mode 100755 blackout/invariants.py create mode 100644 blackout/levels/level-large.pddl create mode 100644 blackout/levels/level-medium.pddl create mode 100644 blackout/levels/level-small.pddl create mode 100644 blackout/model/large-blackout-1.pddl create mode 100644 blackout/model/large-blackout-2.pddl create mode 100644 blackout/model/large-blackout-3.pddl create mode 100644 blackout/model/medium-FAMA.pddl create mode 100644 blackout/model/medium-blackout-1.pddl create mode 100644 blackout/model/medium-blackout-2.pddl create mode 100644 blackout/model/medium-blackout-3.pddl create mode 100644 blackout/model/small-FAMA.pddl create mode 100644 blackout/model/small-blackout-1.pddl create mode 100644 blackout/model/small-blackout-2.pddl create mode 100644 blackout/model/small-blackout-3.pddl create mode 100644 blackout/sokoban-sequential.pddl create mode 100644 blackout/trajectory/large-brief.log create mode 100644 blackout/trajectory/large-verbose.log create mode 100644 blackout/trajectory/medium-brief.log create mode 100644 blackout/trajectory/medium-verbose.log create mode 100644 blackout/trajectory/small-brief.log create mode 100644 blackout/trajectory/small-verbose.log create mode 100755 blackout/trajectory/strip-verbose.py diff --git a/.gitignore b/.gitignore index 38572a5..2259066 100644 --- a/.gitignore +++ b/.gitignore @@ -1,5 +1,5 @@ # Log files and solutions files -*.log +# *.log *.soln # Byte-compiled / optimized / DLL files @@ -60,7 +60,7 @@ cover/ *.pot # Django stuff: -*.log +# *.log local_settings.py db.sqlite3 db.sqlite3-journal diff --git a/README.md b/README.md index d09648a..b0dae28 100644 --- a/README.md +++ b/README.md @@ -22,4 +22,40 @@ Code repository for Expertise Estimation paper 4. Run FastDownward to generate the solution files for each instance using `./soln_file_gen.sh reference-sokoban.pddl instances solutions` 5. Generate trajectories for each solution using `./traj_file_gen.sh reference-sokoban.pddl instances solutions logs` 6. Run FAMA to obtain an action model for each trajectory using `./run_fama.py empty-sokoban.pddl logs models` -7. Run evaluation for each action model using `./trajectory/evaluation.py reference-sokoban.pddl [PATH/TO/MODEL]` \ No newline at end of file +7. Run evaluation for each action model using `./trajectory/evaluation.py reference-sokoban.pddl [PATH/TO/MODEL]` + +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 + diff --git a/blackout/PDDL.py b/blackout/PDDL.py new file mode 100755 index 0000000..769ca42 --- /dev/null +++ b/blackout/PDDL.py @@ -0,0 +1,228 @@ +#!/usr/bin/env python +# Four spaces as indentation [no tabs] + +import re +from action import Action + +class PDDL_Parser: + + SUPPORTED_REQUIREMENTS = [':strips', ':negative-preconditions', ':typing'] + + # ------------------------------------------ + # Tokens + # ------------------------------------------ + + 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] + + #----------------------------------------------- + # Parse domain + #----------------------------------------------- + + 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') + + #----------------------------------------------- + # Parse predicates + #----------------------------------------------- + + 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 + + #----------------------------------------------- + # Parse action + #----------------------------------------------- + + 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)) + + #----------------------------------------------- + # Parse problem + #----------------------------------------------- + + 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) + self.objects[group.pop(0)] = 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') + + #----------------------------------------------- + # Split predicates + #----------------------------------------------- + + 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) + +# ========================================== +# 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)) \ No newline at end of file diff --git a/blackout/README.md b/blackout/README.md new file mode 100644 index 0000000..7acb272 --- /dev/null +++ b/blackout/README.md @@ -0,0 +1,39 @@ + +# To reproduce our results, run these commands in your preferred UNIX terminal: + +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 + + diff --git a/blackout/action.py b/blackout/action.py new file mode 100755 index 0000000..e876959 --- /dev/null +++ b/blackout/action.py @@ -0,0 +1,69 @@ +#!/usr/bin/env python +# Four spaces as indentation [no tabs] + +import itertools + +class Action: + + def __init__(self, name, parameters, positive_preconditions, negative_preconditions, add_effects, del_effects): + self.name = name + self.parameters = parameters + self.positive_preconditions = positive_preconditions + self.negative_preconditions = negative_preconditions + self.add_effects = add_effects + self.del_effects = del_effects + + def __str__(self): + return 'action: ' + self.name + \ + '\n parameters: ' + str(self.parameters) + \ + '\n positive_preconditions: ' + str(self.positive_preconditions) + \ + '\n negative_preconditions: ' + str(self.negative_preconditions) + \ + '\n add_effects: ' + str(self.add_effects) + \ + '\n del_effects: ' + str(self.del_effects) + '\n' + + def __eq__(self, other): + return self.__dict__ == other.__dict__ + + def groundify(self, objects): + if not self.parameters: + yield self + return + type_map = [] + variables = [] + for var, type in self.parameters: + type_map.append(objects[type]) + variables.append(var) + for assignment in itertools.product(*type_map): + positive_preconditions = self.replace(self.positive_preconditions, variables, assignment) + negative_preconditions = self.replace(self.negative_preconditions, variables, assignment) + add_effects = self.replace(self.add_effects, variables, assignment) + del_effects = self.replace(self.del_effects, variables, assignment) + yield Action(self.name, assignment, positive_preconditions, negative_preconditions, add_effects, del_effects) + + def replace(self, group, variables, assignment): + g = [] + for pred in group: + pred = list(pred) + iv = 0 + for v in variables: + while v in pred: + pred[pred.index(v)] = assignment[iv] + iv += 1 + g.append(pred) + return g + +if __name__ == '__main__': + a = Action('move', [['?ag', 'agent'], ['?from', 'pos'], ['?to', 'pos']], + [['at', '?ag', '?from'], ['adjacent', '?from', '?to']], + [['at', '?ag', '?to']], + [['at', '?ag', '?to']], + [['at', '?ag', '?from']] + ) + print(a) + + objects = { + 'agent': ['ana','bob'], + 'pos': ['p1','p2'] + } + for act in a.groundify(objects): + print(act) \ No newline at end of file diff --git a/blackout/blackout1.py b/blackout/blackout1.py new file mode 100755 index 0000000..e6e72e1 --- /dev/null +++ b/blackout/blackout1.py @@ -0,0 +1,411 @@ +#!/usr/bin/env python + +from PDDL import PDDL_Parser +import pprint + +class trajectory: + def parseObjects(self, objTokens): + self.types2objs = {} # Map of types -> objects; useful when you need to know what objects have a specified type + self.objs2types = {} # Map of objects -> types; useful when you want to know what the type of a specific object is + objs = [] + isType = False + for token in objTokens[1:]: # Throw out objTokens[0], which will be the string ':objects' + if isType: + if token not in self.types2objs: + self.types2objs[token] = [] + self.types2objs[token].extend(objs) + for obj in objs: + self.objs2types[obj] = token + objs = [] + isType = False + elif token == '-': + isType = True + else: + objs.append(token) + + # Parses the :init and :state blocks in the trajectory file, and also makes a dictionary of all the predicates that appear in the states, along with the types of their peremeters + def parseStates(self, tokens): + self.states = [] + self.predicates = {} + for block in tokens: + if block[0] == ':state' or block[0] == ':init': + self.states.append(block[1:]) + for pred in block[1:]: + pName = pred[0] + pTypes = [] + for arg in pred[1:]: + pTypes.append([self.objs2types[arg]]) # Predicate type lists are now lists of lists of strings- each inner list representing the types observed for one parameter + if pName in self.predicates: + for oldParamTypes, newType in zip(self.predicates[pName], pTypes): + if newType[0] not in oldParamTypes: + oldParamTypes.append(newType[0]) + # if self.predicates[pName] != pTypes: + # raise TypeError('Predicate {} believed to have parameter types {}; inconsistent with observed parameters {}'.format(pName, self.predicates[pName], pTypes)) + else: + self.predicates[pName] = pTypes + + def parseActions(self, tokens): + self.actions = {} + for block in tokens: + if block[0] == ':action': + act_in = block[1] + # print('Parsing action {}'.format(act_in)) + parTypes = [] + for param in act_in[1:]: + parTypes.append(self.objs2types[param]) # Not doing list-of-lists here- that'll be handled in actionCandidate constructor + if act_in[0] in self.actions: + # print ('Found action with same name: {}'.format(act_in[0])) + for oldTypes, newType in zip(self.actions[act_in[0]].parameterTypes, parTypes): + if newType not in oldTypes: + oldTypes.append(newType) + self.actions[act_in[0]].updateParameterTypes(parTypes) + # if act.parameterTypes != parTypes: + # raise TypeError('Action {} found using parameters {}; inconsistent with earlier {}. Are you using type inheritance?'.format(act_in[0], parTypes, act.parameterTypes)) + else: + newAct = actionCandidate(act_in[0], parTypes, self) + self.actions[newAct.name] = newAct + + def refineActions(self, tokens): + assignments = [((n - 1) // 2 - 1, block[1]) for (n, block) in enumerate(tokens) if block[0] == ':action'] + # pprint.pprint(assignments) + for i, agmt in assignments: + assignedTypes = [self.objs2types[par] for par in agmt[1:]] + self.actions[agmt[0]].updateParameterTypes(assignedTypes) + for act in self.actions.values(): + act.createPrecons(self) + needsDoubleChecking = False + for i, agmt in assignments: + # print('State {}: {}'.format(i, self.states[i])) + # print('Action {}: {}'.format(i, agmt)) + # print('State {}: {}'.format(i+1, self.states[i+1])) + # print() + act = self.actions[agmt[0]] + assignment = agmt[1:] + # assignedTypes = [self.objs2types[par] for par in assignment] + act.prunePrecons(self.states[i], assignment) + needsDoubleChecking |= act.updateEffects(self.states[i], assignment, self.states[i + 1]) + if needsDoubleChecking: + # print('Double-checking action effects\n') + needsDoubleChecking = False + for i, agmt in assignments: + act = self.actions[agmt[0]] + assignment = agmt[1:] + # assignedTypes = [self.objs2types[par] for par in assignment] + needsDoubleChecking |= act.updateEffects(self.states[i], assignment, self.states[i + 1]) + if needsDoubleChecking: + raise ValueError("Some actions still had unexpected effects during the second pass. This shouldn't be possible. If you see this message, please let me know. --SE") + + def genTypeclasses(self): #TODO Add code to deal with deeper hierarchies + classList = [] + for typesOuter in self.predicates.values(): + for types in typesOuter: + # print(types) + sorTypes = list(sorted(types)) + if sorTypes not in classList: + classList.append(sorTypes) + for act in self.actions: + for types in self.actions[act].parameterTypes: + sorTypes = list(sorted(types)) + if sorTypes not in classList: + classList.append(sorTypes) + # print(classList) + self.typeclasses = {} + for tclass in classList: + self.typeclasses['_'.join(tclass)] = 'object' + for typ in self.types2objs.keys(): + container = 'object' + for tclass in classList: + if typ in tclass and typ != '_'.join(tclass): + container = '_'.join(tclass) + self.typeclasses[typ] = container + + def __init__(self, filename, domainName='reconstructed'): + self.domainName = domainName + self.parser = PDDL_Parser() + self.tokens = self.parser.scan_tokens(filename) + pprint.pprint(self.tokens) + print('=== Objects ===') + self.parseObjects(self.tokens[1]) + pprint.pprint(self.types2objs) + print('=== States ===') + self.parseStates(self.tokens) + pprint.pprint(self.states) + print('=== Predicates ===') + pprint.pprint(self.predicates) + print('=== Actions ===') + self.parseActions(self.tokens) + # print(self.tokens[3]) + # p, n = self.actions[0].assignPrecons(self.tokens[3][1][1:]) + # print('Grounded Positive preconditions') + # print(p) + # print('Grounded Negative preconditions') + # print(n) + # print('Before State') + # print(self.states[0]) + # self.actions[0].prunePrecons(self.states[0], self.tokens[3][1][1:]) + # print(self.actions[0]) + self.refineActions(self.tokens) + pprint.pprint(self.actions) + self.genTypeclasses() + + def __repr__(self): + fmtTypeclasses = ['{} - {}'.format(k, v) for k, v in self.typeclasses.items()] + fmtPredicates = [] + for name, types in self.predicates.items(): + fmtParams = [name] + for i, typ in enumerate(types): + fmtParams.append('?{} - {}'.format(i, '_'.join(typ))) + fmtPredicates.append('({})'.format(' '.join(fmtParams))) + fmtActions = [str(act) for act in self.actions.values()] + return '''(define (domain {}) +(:requirements :typing :negative-preconditions) +(:types {}) +(:predicates {}) +{}) +'''.format(self.domainName, ' '.join(fmtTypeclasses), ' '.join(fmtPredicates), ''.join(fmtActions)) + +# Given a list of lists, returns every possible result of taking one element from each sublist. +# Eg: explode([[1, 2], [3, 4]]) yields [1, 3], [1, 4], [2, 3], [2, 4] +def explode(params): + # print('Input: {}'.format(params)) + if len(params) == 1: + for elem in params[0]: + # print('Base case: Yielding {}'.format([elem])) + yield [elem] + else: + for elem in params[0]: + # print('Recurring on {}'.format(params[1:])) + for things in explode(params[1:]): + # print('Recursion yielded {}'.format(things)) + toYield = [elem] + toYield.extend(things) + # print('From recursive branch: Yielding {}'.format(toYield)) + yield toYield + +# Flatten a list of lists into a single set, removing duplicate entries in the process +def flattenNoRepeats(ll): + out = set() + for l in ll: + out.update(l) + return out + +class actionCandidate: + def __init__(self, name, parTypes, trajectory): + self.name = name + self.parameterTypes = [] + self.parNames = [] + self.types2pars = {} # Map from types to the names of the action parameters names that could be that type + for i, pType in enumerate(parTypes): + self.parameterTypes.append([pType]) # Other observed types will be added later, during successive iterations of trajectory.parseActions + parName = '?{}{}'.format(i, pType) # Parameter name format is '?' + if pType not in self.types2pars: + self.types2pars[pType] = [] + self.types2pars[pType].append(parName) + self.parNames.append(parName) + self.positivePreconditions = [] + self.negativePreconditions = [] + self.positiveEffects = set() + self.negativeEffects = set() + # print(self) + + def updateParameterTypes(self, parTypes): + for parName, oldTypes, newType in zip(self.parNames, self.parameterTypes, parTypes): + if newType not in oldTypes: + oldTypes.append(newType) + if parName not in self.types2pars[newType]: + self.types2pars[newType].append(parName) + + def createPrecons(self, trajectory): + # print('{} types2pars:'.format(self.name)) + # pprint.pprint(self.types2pars) + for predName, predTypes in trajectory.predicates.items(): + # print(' Predicate: {} {}'.format(predName, predTypes)) + for typeOrdering in explode(predTypes): + # print(' Type ordering: {}'.format(typeOrdering)) + toExplode = [] + canExplode = True + for predType in typeOrdering: + # print(' Predicate parameter type: {}'.format(predType)) + if predType in self.types2pars: + # print(' Keeping {}'.format(predType)) + toExplode.append(self.types2pars[predType]) + else: + canExplode = False + # print(' Dropping {}'.format(predType)) + if canExplode: + # print(' Will now explode {}'.format(toExplode)) + # toExplode = [self.types2pars[predType] for predType in predTypes] + exploded = explode(toExplode) + # print('Recieved {}'.format(list(exploded))) + for ordering in exploded: + # print(' From explosion: {}'.format(ordering)) + precon = [predName] + precon.extend(ordering) + self.positivePreconditions.append(precon) + self.negativePreconditions.append(precon) + + + def assignPrecons(self, assignment): + assignMap = dict(zip(self.parNames, assignment)) + # print(assignMap) + pos_out = [] + neg_out = [] + for prec in self.positivePreconditions: + grounded = [prec[0]] + grounded.extend([assignMap[p] for p in prec[1:]]) + pos_out.append(grounded) + for prec in self.negativePreconditions: + grounded = [prec[0]] + grounded.extend([assignMap[p] for p in prec[1:]]) + neg_out.append(grounded) + return pos_out, neg_out + + def prunePrecons(self, before, assignment): + pos, neg = self.assignPrecons(assignment) + new_pos = [] + new_neg = [] + # print('Assignment to {}: {}'.format(self.name, assignment)) + # print('Negative preconditions: {}'.format(neg)) + # print('Before state: {}'.format(before)) + for grounded, pred in zip(pos, self.positivePreconditions): + if grounded in before: # If the predicate is in the before state, it could be a positive precondition + new_pos.append(pred) # so keep it; otherwise, don't + for grounded, pred in zip(neg, self.negativePreconditions): + if grounded not in before: # If the predicate wasn't in the before state, it could be a negative precondition + new_neg.append(pred) # so keep it + # print('Keeping {}'.format(grounded)) + # else: + # print('Dropping {}'.format(grounded)) + self.positivePreconditions = new_pos + self.negativePreconditions = new_neg + # print('New negative preconditions: {}\n'.format(new_neg)) + + def updateEffects(self, before, assignment, after): + # Compute differences between before and after + pos = [pred for pred in after if pred not in before] + neg = [pred for pred in before if pred not in after] + # print('Updating effects of {} {}'.format(self.name, assignment)) + # print('Added predicates: {}'.format(pos)) + # print('Removed predicates: {}'.format(neg)) + # Check that the parameters of the predicates in the difference are a subset of the objects in assignment + for pred in pos + neg: + for param in pred[1:]: + if param not in assignment: + raise ValueError('Action {} seems to be affecting predicate {}, with parameters outside its assignment, {}! Are you using conditional effects or something?'.format( + self.name, pred, assignment)) + # Map predicate parameters to parNames + assignMap = dict(zip(assignment, self.parNames)) + reverseMap = dict(zip(self.parNames, assignment)) + new_pos = set() + new_neg = set() + # print('Assignment map: {}'.format(assignMap)) + for pred in pos: + new_pred = [pred[0]] + new_pred.extend([assignMap[param] for param in pred[1:]]) + new_pos.add(tuple(new_pred)) + for pred in neg: + new_pred = [pred[0]] + new_pred.extend([assignMap[param] for param in pred[1:]]) + new_neg.add(tuple(new_pred)) + # Check that the result matches the effects from the last run + # new_pos.sort() + # new_neg.sort() + # print('Sorted positive effects: {}'.format(new_pos)) + # print('Sorted negative effects: {}'.format(new_neg)) + # if len(self.positiveEffects) == 0: + # self.positiveEffects = new_pos + # elif new_pos != self.positiveEffects: + + needsDoubleChecking = False + # Find differences between new_pos and (old) self.positiveEffects + # For each effect in new_pos but not in self.positive_effects: + for novelEffect in new_pos - self.positiveEffects: + # print('Novel positive effect: {}'.format(novelEffect)) + # These effects were observed for the first time just now. + # Add them to self.positiveEffects + self.positiveEffects.add(novelEffect) + # They should have been present in both the before and after states of previous invocations of this action. + # Double-check that... somehow. + needsDoubleChecking = True + # For each effect in self.positive_effects but not in new_pos: + for missingEffect in self.positiveEffects - new_pos: + # print('Missing positive effect: {}'.format(missingEffect)) + # These effects have been observed in the past, but did not manifest this time. + # They should be present in both the before and after states of this action. + # Check that they are present. + predicateName = missingEffect[0] + predicateParams = [reverseMap[p] for p in missingEffect[1:]] + groundedEffect = [predicateName] + predicateParams + if groundedEffect not in before or groundedEffect not in after: + raise ValueError('Spurious lack of positive effect discovered in action {} {}!\nBefore: {}\nMissing effect: {}\nAfter: {}'.format(self.name, assignment, before, groundedEffect, after)) + # raise ValueError('Positive effects of action {} seem inconsistent! Are you using conditional effects?\nObserved: {}\nNew: {}'.format(self.name, self.positiveEffects, new_pos)) + + # if len(self.negativeEffects) == 0: + # self.negativeEffects = new_neg + # elif new_neg != self.negativeEffects: + + # Find differences between new_neg and (old) self.negativeEffects + # For each effect in new_neg but not in self.negative_effects: + for novelEffect in new_neg - self.negativeEffects: + # print('Novel negative effect: {}'.format(novelEffect)) + # These effects were observed for the first time just now. + # Add them to self.negativeEffects + self.negativeEffects.add(novelEffect) + # They should have been absent in both the before and after states of previous invocations of this action. + # Double-check that... somehow. + needsDoubleChecking = True + # For each effect in self.negative_effects but not in new_neg: + for missingEffect in self.negativeEffects - new_neg: + # print('Missing negative effect: {}'.format(missingEffect)) + # These effects have been observed in the past, but did not manifest this time. + # These predicates should be absent in both the before and after states of this action. + # Check that they are absent. + predicateName = missingEffect[0] + predicateParams = [reverseMap[p] for p in missingEffect[1:]] + groundedEffect = [predicateName] + predicateParams + if groundedEffect in before or groundedEffect in after: + raise ValueError('Spurious lack of negative effect discovered in action {} {}!\nBefore: {}\nMissing effect: {}\nAfter: {}'.format(self.name, assignment, before, groundedEffect, after)) + # raise ValueError('Negative effects of action {} seem inconsistent! Are you using conditional effects?\nObserved: {}\nNew: {}'.format(self.name, self.negativeEffects, new_neg)) + # print() + return needsDoubleChecking + + def __repr__(self): + return '''Action Candidate Name: {} +Parameters: {} +Positive preconditions: {} +Negative preconditions: {} +Positive effects: {} +Negative effects: {} +'''.format(self.name, self.types2pars, self.positivePreconditions, self.negativePreconditions, self.positiveEffects, self.negativeEffects) + + def __str__(self): + params = ['{} - {}'.format(par, '_'.join(typ)) for par, typ in zip(self.parNames, self.parameterTypes)] + posiPrecons = ['({})'.format(' '.join(pred)) for pred in self.positivePreconditions] + negaPrecons = ['(not ({}))'.format(' '.join(pred)) for pred in self.negativePreconditions] + posEffects = ['({})'.format(' '.join(pred)) for pred in self.positiveEffects] + negEffects = ['(not ({}))'.format(' '.join(pred)) for pred in self.negativeEffects] + return '''(:action {} +:parameters ({}) +:precondition (and {} +{}) +:effect (and {} +{})) +'''.format(self.name, ' '.join(params), ' '.join(posiPrecons), ' '.join(negaPrecons), ' '.join(posEffects), ' '.join(negEffects)) + + + +# Main +if __name__ == '__main__': + import sys + filename = sys.argv[1] + if len(sys.argv) > 3: + traj = trajectory(filename, sys.argv[3]) + else: + traj = trajectory(filename) + if len(sys.argv) > 2: + fout = open(sys.argv[2], 'w') + else: + fout = sys.stdout + fout.write(str(traj)) + + diff --git a/blackout/blackout2.py b/blackout/blackout2.py new file mode 100755 index 0000000..63c94eb --- /dev/null +++ b/blackout/blackout2.py @@ -0,0 +1,217 @@ +#!/usr/bin/env python + +from PDDL import PDDL_Parser +import pprint +import blackout1 + +# OK, so the goal here is to compute the minimum set of preconditions to account for all the actions which the player was not allowed to take. +# Time to classify preconditions. +# Predicate (present | absent) in (none | some | all) states before (successful | failed) actions + +# A predicate always present is one that's never absent, and vice versa. +# And by "some" I mean "some but not all", so it's its own negation. +# So that simplifies things. I can just talk about the presence of a predicate, without separately considering its absence. + +# If Predicate P is present in the states preceding S successful actions and U unsuccessful actions, we call it this: +# U\S all some none <- Successful attempts of this action +# all omnipresent failure-necessary dealbreaker +# some necessary independent failure-sufficient +# none nec+suf sufficient unseen +# ^Unsuccessful attempts of this action + +# Some examples for trajectories generated by engine3.py on the soko3 domain: +# For all actions, cells being connected the right way is onmipresent (engine3.py doesn't attempt actions on disconnected cells) +# For push-to-goal, the third cell being a goal is necessary (third cell has to be a goal, but if it's occupied by a stone, the action will fail) +# For move, the second cell being clear is necessary and sufficient (moves can only fail if the second cell is occupied, as the engine will ensure the other preconditions are met) +# Can't think of any predicates necessary for any of the moves to fail +# For move, the first cell being a goal is independent (moves onto and off of a goal can fail) +# For all actions, the cells being connected the right way should be necessary (though the engine will never attempt moves where this isn't met) +# Can't think of any predicates that guarantee failure and are the only way the action can fail (which would make them dealbreakers) +# For push-to-goal, the third cell being nongoal is failure-sufficient (guarantees failure, but so does the presence of a rock on the third cell) +# For all moves, a player on the second or third cells is unseen (since the engine always makes the first cell the one with the player) + +# I'm not actually sure any of that was useful. + +# Anyway, from each action (failed or otherwise), we can compute two things: +# 1. The set of all predicates in the before state attached to the action parameters +# 2. The set of all predicates that could have been in the before state (and would be attached to the action parameters), but weren't. +# If the action succeeded, all predicates in set 1 are allowed to be in the before state. They cannot be negative preconditions. +# Also, all prediates in set 2 do not need to be in the before state. They aren't positive preconditions. +# On the other hand, if the action failed, then either set 1 contains a negative precondition, or set 2 contains a positive precondition. + +# My existing code computes all predicates seen before every single successful action (i.e. that could be positive preconditions) +# and all the predicates absent before every single successful action (i.e. that could be negative preconditions). +# I'm now interesred in what predicates definitely are NOT positive/negative preconditions. +# That is, which ones were absent from the before state on at least one successful invocation of the action +# and which ones were present in the before state on at least one successful invocation of the action. +# To get that, I can just take the inverse of the precondition sets generated by my existing code with respect to the set of all concievable predicates matching the type system. + +# Lemme name some things. +# U = "Universe": Set of all concievable predicates that could be relevant to an action, given the types of its parameters. Computed, but not stored, by my earlier code. +# PC = "Positive Candidates": Set of all predicates present before all successful invocations of the action. Could be genuine positive preconditions. Computed and stored by my earlier code. +# NC = "Negative Candidates": Set of all predicates absent before all successful invocations of the action. Could be genuine negative preconditions. Computed and stored by my earlier code. +# B = "Before": Set of all predicates in U that were actually present in the state before this particular failed invocation of the action. +# A = U-B = "Absences": Set of all predicates in U not present before this particular failed invocation of the action. +# P = "Positive" The genuine positive preconditions. +# N = "Nagative" The genuine negative preconditions. These are out ultimate goal. +# PD = "Positive, Definitely" All predicates that are definitely a positive precondition, based on what information is available. +# ND = "Negative, Definitely" All predicates that are definitely a negative precondition, based on what information is available. We're trying to compute these right now. + +# PD <= P <= PC +# ND <= N <= NC + +# For every successful action invocation, P <= B and N <= A. Since this invocation failed, though, something in either A or B must break one of those relations. +# Either A lacks a predicate in N, or B lacks a predicate in P. +# Equivalently, B has a predicate in N, or A has a predicate in P. +# More concisely, either B*N is non-empty, or A*P is non-empty, +# Since I don't have P or N, though, I'll have to make do with what I have: PC and NC. +# B*NC = set of all predicates in the before state that could be negative preconditions +# A*PC = set of all predicates absent in the before state that could be positive preconditions +# A*PC should also equal PC - B, which allows me to avoid computing A or U. +# That's a set-theory identity, right? +# How's set subtraction defined? +# S - T = the things that are in S, but not in T +# S - T = the intersection of S and the complement of T +# S - T = S * !T +# So since A = !B, then PC * A = PC - B +# So, yes, the following comment block is accurate. + +# So I'll start by running my existing code on all the successul actions. +# Then, for each failed action, I can +# [B] Compute set of before-state predicates compatible with action parameters (one of which must be a negative precondition, unless the action actually failed because of a positive precondition) +# [B*NC] Intersect with the previously-computed negative preconditions of the action (the set of all possible negative preconditions compatible with the successful actions) +# Store the intersection somewhere. +# [PC] Take a copy of the prefiously-computed positive preconditions +# [PC-B = PC*A]Subtract the set from the first indented line (the predicates that were in the before state) +# Store that difference in a tuple alongside the previously-stored set +# Now, I've got a list of pairs, each containing the predicate that's the reason why a particular action failed mixed in with some superfluous info. + +# So, how to sort out the important information from the superfluous? +# I want to err on the side of including too few rules. If I cannot conclude with certainty that a particular predicate caused an action to fail, I should not include it. +# So, for each pair, if one set is empty and the other is a singleton, then the predicate in that singleton is the cause. It is either necessary or failure-sufficient. Write it down. +# Go back through the pairs. Most of them should contain at least one precondition written down in the previous step. +# Those that don't must contain at least two preconditions, none of which we've concluded anything about so far. +# I don't think we can conclude anything about them. +# We could look for a single predicate present in all such pairs, but it's concievable that the actual preconditions will be everything but that one. +# So, print them to the screen, say "Hey, we know some of these predicates are preconditions, but we can't tell which ones", and then forget about them. + +# Finally, construct ActionCandidate-like objects using the written-down preconditions and the effects from my current code, and print. + + + +class trajectoryRevised(blackout1.trajectory): + def reviseActions(self): + for k, v in self.actions.items(): + self.actions[k] = actionRevised(v) + assignments = [((n - 1) // 2 - 1, block[1]) for (n, block) in enumerate(self.tokens) if block[0] == ':action-failed'] + for i, agmt in assignments: + act = self.actions[agmt[0]] + assignment = agmt[1:] + before = self.states[i] + print('Failed Action: [{}] {}'.format(i, agmt)) + # print('State: [{}] {}'.format(i, before)) + B = set() + for pred in before: + compatible = True + for arg in pred[1:]: + # arg is the actual, grounded argument attached to the predicate. E.g. pos-02-04. + # If that's in assignment (also consisting of actual, grounded arguments) + # and all the other arguments of pred are as well + if arg not in assignment: + compatible = False + break + if compatible: + # then I need to translate them into the argument names the actionCandidate objects use + translated = [pred[0]] + for arg in pred[1:]: + translated.append(act.parNames[assignment.index(arg)]) + # and add the result to B + B.add(tuple(translated)) + print('Relevant Before-state Predicates: {}'.format(B)) + BNC = B.intersection(act.negativePreconditions) + PCB = act.positivePreconditions.difference(B) + act.counterexamples.append((PCB, BNC)) + print('Possible Absent Positive Preconditions: {}'.format(PCB)) + print('Possible Present Negative Preconditions: {}'.format(BNC)) + print() + self.ambiguities = [] + for name, act in self.actions.items(): + for pos, neg in act.counterexamples: + if len(pos) == 0 and len(neg) == 1: + act.defNegPrecons.add(next(iter(neg))) + elif len(pos) == 1 and len(neg) == 0: + act.defPosPrecons.add(next(iter(pos))) + print('{} definite positive preconditions: {}'.format(name, act.defPosPrecons)) + print('{} definite negative preconditions: {}'.format(name, act.defNegPrecons)) + print() + for pos, neg in act.counterexamples: + if len(pos) + len(neg) >= 2: # For every counterexample pair with at least two entries between its sets + # if none of those entries are definitely preconditions + if len(pos.intersection(act.defPosPrecons)) + len(neg.intersection(act.defNegPrecons)) == 0: + posCan = pos.difference(act.defPosPrecons) + negCan = neg.difference(act.defNegPrecons) + # at least one of those counterexamples must be a precondition, but we don't know which + print('Warning: Not enough information to determine if {} failed due to lack of {} or presence of {}!'.format(name, posCan, negCan)) + ambig = (name, posCan, negCan) + if ambig not in self.ambiguities: + self.ambiguities.append(ambig) + print() + + + + + def __init__(self, filename, domain='reconstructed'): + super().__init__(filename, domain) # Run all the code from my previous trajectory script + print('\n=========== Failed Action Analysis ==============\n') + self.reviseActions() + + +class actionRevised(blackout1.actionCandidate): + def __init__(self, candidate): + c = self.__class__ + for att in dir(candidate): + try: + setattr(self, att, getattr(candidate, att)) + except AttributeError: + pass + self.__class__ = c + self.positivePreconditions = set(map(tuple, self.positivePreconditions)) + self.negativePreconditions = set(map(tuple, self.negativePreconditions)) + self.counterexamples = [] + self.defPosPrecons = set() + self.defNegPrecons = set() + + def __str__(self): + params = ['{} - {}'.format(par, '_'.join(typ)) for par, typ in zip(self.parNames, self.parameterTypes)] + posiPrecons = ['({})'.format(' '.join(pred)) for pred in self.defPosPrecons] + negaPrecons = ['(not ({}))'.format(' '.join(pred)) for pred in self.defNegPrecons] + posEffects = ['({})'.format(' '.join(pred)) for pred in self.positiveEffects] + negEffects = ['(not ({}))'.format(' '.join(pred)) for pred in self.negativeEffects] + return '''(:action {} +:parameters ({}) +:precondition (and {} +{}) +:effect (and {} +{})) +'''.format(self.name, ' '.join(params), ' '.join(posiPrecons), ' '.join(negaPrecons), ' '.join(posEffects), ' '.join(negEffects)) + + + + + + +# Main +if __name__ == '__main__': + import sys + filename = sys.argv[1] + if len(sys.argv) > 3: + traj = trajectoryRevised(filename, sys.argv[3]) + else: + traj = trajectoryRevised(filename) + if len(sys.argv) > 2: + fout = open(sys.argv[2], 'w') + else: + fout = sys.stdout + fout.write(str(traj)) + + diff --git a/blackout/blackout3.py b/blackout/blackout3.py new file mode 100755 index 0000000..b73b4f6 --- /dev/null +++ b/blackout/blackout3.py @@ -0,0 +1,185 @@ +#!/usr/bin/env python + +from PDDL import PDDL_Parser +import pprint +import blackout2 +import invariants + +class trajectory3(blackout2.trajectoryRevised): + + + def __init__(self, filename, domain='reconstructed'): + super().__init__(filename, domain) # Run all the code from my previous trajectory scripts + print('\n=========== Compute Invariants ==============\n') + self.invariantsObject = invariants.invariants(self) + self.invariantsList = self.invariantsObject.invariantList + print('\n=========== Those Ambiguous Failed Actions Again ==============\n') + pprint.pprint(self.ambiguities) + print('\n=========== Find invariants that apply those ambiguities ==============\n') + for actName, posCan, negCan in self.ambiguities: + act = self.actions[actName] + print('Analyzing action', actName) + # posCan and negCan are sets of tuples, formatted as (predName, arg0, arg1...), where the arguments are formatted as action parameter names (e.g. ?4location). + # Translate the two sets of tuples into a list of triples, formatted like this: (predName, isPresent, (arg0, arg1...)) where isPresent is a boolean + # describing whether the predicate was present in the game state before the action was attempted. + # posCan is a set of candidates for the positive precondition which caused the action to fail, i.e. predicates ABSENT in the before state + # thus, that boolean in the second entry in the tuple is False + candidates = [(p[0], False, p[1:]) for p in posCan] + # conversely, for negCan, the boolean should be True + candidates.extend([(p[0], True, p[1:]) for p in negCan]) + # Now, for every pair of different predicates in this combined candidates list + for i in range(len(candidates)): + for j in tuple(range(i)) + tuple(range(i+1, len(candidates))): + pname, ppresent, pargs = candidates[i] + qname, qpresent, qargs = candidates[j] + # For each argument of each of these predicates: + for parg, pargName in enumerate(pargs): + for qarg, qargName in enumerate(qargs): + print(" Analyzing ", pname, ppresent, parg, pargName, "with", qname, qpresent, qarg, qargName) + # If the chosen arguments refer to the same object (equivalently, they refer to the same parameter to the action on the same invocation of that action) + if pargName == qargName: + # Determine if there's an invariant that relates the selected predicates and arguments + for invariant in self.invariantsList: + if (invariant.pname == pname + and invariant.parg == parg + and invariant.qname == qname + and invariant.qarg == qarg): + print(" Found matching invariant! ", invariant) + # Now, what the heck do I do with this invariant? + # The MUTUALLY EXCLUSIVE op_tuple ((False, True ), (True , False)) indicates that both-preds-present and both-preds-absent are forbidden states + # I've got two candidates for a precondition, one saying "this predicate should be present" and the other saying "that predicate should be absent" + # and I know that at least one of them must be factual, but I don't know which + # Since the predicates are mutually exclusive, the presence of one implies the absence of the other + # therefore, "this predicate is present" is equivalent to "that predicate is absent" + # thus, either or both candidate preconditions could be included in the reconstructed domain file, and it would work the same + # How to generalize? + # I'll figure out how to handle each case individually, then look for a pattern + # 'NONE' : ((False, False), (False, False)) don't worry about this one; throw error + # 'AND' : ((False, False), (False, True )) uninformative and probably impossible if the original domain was configured sensibly; throw error + # 'RNIM' : ((False, False), (True , False)) similarly unlikely; throw error + # 'FST' : ((False, False), (True , True )) first predicate is irrelevant; confirm second precondition + # 'NIMP' : ((False, True ), (False, False)) throw error + # 'SEC' : ((False, True ), (False, True )) second predicate is irrelevant; confirm first precondition + # 'XOR' : ((False, True ), (True , False)) mutually exclusive; can only occur w/ one posCan and one negCan; confirm both preconditions + # 'OR' : ((False, True ), (True , True )) + # 'NOR' : ((True , False), (False, False)) throw error + # 'XNOR' : ((True , False), (False, True )) predicates are equivalent; confirm both preconditions + # 'NSEC' : ((True , False), (True , False)) second predicate is irrelevant; confirm first precondition + # 'REVI' : ((True , False), (True , True )) + # 'NFST' : ((True , True ), (False, False)) first predicate is irrelevant; confirm second precondition + # 'IMPL' : ((True , True ), (False, True )) + # 'NAND' : ((True , True ), (True , False)) + # 'ALL' : ((True , True ), (True , True )) no correlation; must let ambiguity continue; print warning + # IMPL and its rotations are gonna take some more thought. + # There are four cases when the invariant A ---> B appears: + # A B + # present present one must be a negative precondition + # present absent impossible; ignore + # absent present either A is a positive precon, or B is a negative + # absent absent one must be a positive precondition + # ... This is going nowhere. + # Need more what-if cases. + # Aprecon Bprecon Astatus Bstatus OK? A-->B ok&True bad&True + # Required Required Present Present OK True Yes + # Required Required Present Absent bad + # Required Required Absent Present bad True Yes + # Required Required Absent Absent bad True Yes + # Required Present Present OK True Yes + # Required Present Absent OK + # Required Absent Present bad True Yes + # Required Absent Absent bad True Yes + # Required Forbidden Present Present bad True Yes + # Required Forbidden Present Absent OK + # Required Forbidden Absent Present bad True Yes + # Required Forbidden Absent Absent bad True Yes + # Required Present Present OK True Yes + # Required Present Absent bad + # Required Absent Present OK True Yes + # Required Absent Absent bad True Yes + # Present Present OK True Yes + # Present Absent OK + # Absent Present OK True Yes + # Absent Absent OK True Yes + # Forbidden Present Present bad True Yes + # Forbidden Present Absent OK + # Forbidden Absent Present bad True Yes + # Forbidden Absent Absent OK True Yes + # Forbidden Required Present Present bad True Yes + # Forbidden Required Present Absent bad + # Forbidden Required Absent Present OK True Yes + # Forbidden Required Absent Absent bad True Yes + # Forbidden Present Present bad True Yes + # Forbidden Present Absent bad + # Forbidden Absent Present OK True Yes + # Forbidden Absent Absent OK True Yes + # Forbidden Forbidden Present Present bad True Yes + # Forbidden Forbidden Present Absent bad + # Forbidden Forbidden Absent Present bad True Yes + # Forbidden Forbidden Absent Absent OK True Yes + # ... Okay, if I'm at this point in the code, and I have an IMPLIES invariant + # then I have to be in one of the rown with a True in the second-tolast column. + # I also know what Astatus and Bstatus are. So let's make another table with the four possibilities for those. + # Astatus Bstatus Aprecon Bprecon + # Present Present R_ R_ + # Present Absent + # Absent Present _F R_ + # Absent Absent _F _F + # ... So, what's this mean? + # If both predicates are present, and the action succeeded, then neither precivate can be forbidden. + # But I don't care about the times when the action succeeded. + # So, let's do the same thing with the last column. + # Astatus Bstatus Aprecon Bprecon + # Present Present R_F R_F + # Present Absent + # Absent Present R_F R_F + # Absent Absent R_F R_F + # ... So the presence or absence of the predicates prior to the failed action tells me NOTHING AT ALL! + # I've just wasted an hour and a half proving to myself that disambiguating three-True invariant matrices is totally impossible. Great. Just fantastic. + # So there's just six cases I actually need to worry about: + # XOR, XNOR, FST, NFST, SEC, NSEC + toAdd = set() + if invariant.op_str in {'XOR', 'XNOR'}: + print(' Confirming both precondition candidates') + toAdd.add(candidates[i]) + toAdd.add(candidates[j]) + elif invariant.op_str in {'FST', 'NFST'}: + print(' Confirming second precondition candidate') + toAdd.add(candidates[j]) + elif invariant.op_str in {'SEC', 'NSEC'}: + print(' Confirming first precondition candidate') + toAdd.add(candidates[i]) + elif invariant.op_str in {'NONE', 'AND', 'RNIM', 'NIMP', 'NOR'}: + print(' Before-state appears to break invariant; this is probably an error') + elif invariant.op_str in {'OR', 'REVI', 'IMPL', 'NAND', 'ALL'}: + print(" Cannot confirm either precondition because the predicates aren't sufficiently tightly correlated with each other") + else: + print(' Invariant operator code did not match any on file; this is definitely an error') + for name, present, args in toAdd: + precon = (name,) + args + if not present: + # If the predicate was absent, and the action failed, then it must be a positive precondition + print(' Confirming positive precondition:', precon) + act.defPosPrecons.add(precon) + else: + print(' Confirming negative precondition:', precon) + act.defNegPrecons.add(precon) + + + +# Main +if __name__ == '__main__': + import sys + filename = sys.argv[1] + if len(sys.argv) > 3: + traj = trajectory3(filename, sys.argv[3]) + else: + traj = trajectory3(filename) + if len(sys.argv) > 2: + fout = open(sys.argv[2], 'w') + else: + print('\n=========== Reconstructed PDDL Domain ==============\n') + fout = sys.stdout + print() + fout.write(str(traj)) + + diff --git a/blackout/engine.py b/blackout/engine.py new file mode 100755 index 0000000..d810d02 --- /dev/null +++ b/blackout/engine.py @@ -0,0 +1,372 @@ +#!/usr/bin/env python + +from PDDL import PDDL_Parser +from planner import Planner +from action import Action + +import datetime +# from pynput import keyboard + +# def on_press(key): +# try: +# print('alphanumeric key {0} pressed'.format( +# key.char)) +# except AttributeError: +# print('special key {0} pressed'.format( +# key)) + +# def on_release(key): +# print('{0} released'.format( +# key)) +# if key == keyboard.Key.esc: +# # Stop listener +# return False + +# # Collect events until released +# # with keyboard.Listener( +# # on_press=on_press, +# # on_release=on_release) as listener: +# # listener.join() + +# # ...or, in a non-blocking fashion: +# listener = keyboard.Listener( +# on_press=on_press, +# on_release=on_release) +# listener.start() +# listener.join + +class Engine: + + # Params: + # domain: Name of domain file; should be 'soko3/soko3/pddl' + # problem: Name of problem file encoding the level to be played, e.g. soko3/levelp3.pddl + # logfile: Name of file the trajectory should be written to; defaults to /dev/null + # verbose: If true, will write restarts, undoes, and failed moves to the trajectory file + def __init__(self, domain, problem, logfile='/dev/null', verbose=False): + # Parser + self.parser = PDDL_Parser() + self.parser.parse_domain(domain) + self.parser.parse_problem(problem) + # Parsed data + self.state = self.parser.state + self.goal_pos = self.parser.positive_goals + self.goal_not = self.parser.negative_goals + + self.history = [] + self.movelog = [] + + self.logfile = logfile + self.verbose = verbose + + self.planner = Planner() + # Do nothing + if self.planner.applicable(self.state, self.goal_pos, self.goal_not): + print('Puzzle is already solved! Double-check your problem file!') + + def parseCellName(self, cellName): + _, x, y = cellName.split('-') + # print(cellName) + # print(out) + return int(x), int(y) + + def findPlayer(self): + for pred in self.state: + if pred[0] == 'at' and pred[1] == 'player-01': + return self.parseCellName(pred[2]) + raise ValueError('Player not found!') + + def formatPos(self, coords): + return 'pos-{:02}-{:02}'.format(coords[0], coords[1]) + + def groundAction(self, act, assignment): + variables = [] + for v, _ in act.parameters: + variables.append(v) + pps = act.replace(act.positive_preconditions, variables, assignment) + nps = act.replace(act.negative_preconditions, variables, assignment) + aes = act.replace(act.add_effects, variables, assignment) + des = act.replace(act.del_effects, variables, assignment) + return Action(act.name, assignment, pps, nps, aes, des) + + def addVec(self, *vecs): + x = 0 + y = 0 + for u, v in vecs: + x += u + y += v + return (x, y) + + # act must already be grounded (e.g. by self.groundAction) + def tryAction(self, act, log): + # print(self.state) + # print(act.positive_preconditions) + # print(act.negative_preconditions) + # print(self.planner.applicable(self.state, act.positive_preconditions, act.negative_preconditions)) + if self.planner.applicable(self.state, act.positive_preconditions, act.negative_preconditions): + success = True + suffix = '' + else: + success = False + suffix = '-failed' + if success or self.verbose: + # log.write(str(self.state) + '\n') + # log.write(str(act)) + print('Action: {} {}'.format(act.name, act.parameters)) + try: + act_str = '(:action{} ({}))'.format(suffix, ' '.join([act.name, *act.parameters])) + if success: + self.history.append(self.state) + self.state = self.planner.apply(self.state, act.add_effects, act.del_effects) + # log.write(self.lispState() + '\n\n') + self.movelog.append('{}\n\n{}\n\n'.format(act_str, self.lispState())) + except TypeError: + # Tried to move or push a boulder off the grid or into a wall (in sokoban-sequential, those are the same thing). + # This can only be a failed action, but trying to log it crashes this script (hence this try-except block), and would cause problems for trajectory.py down the line. + # So, don't attempt to log this action. + # This might come back to bite me later, but I'll cross that bridge when I get there. + pass + return success + + def lookupAction(self, actName): + for act in self.parser.actions: + if act.name == actName: + return act + return None + + # Finds the next cell adjacent to curCell in direction direc + def findNextCell(self, curCell, direc): + for cell in self.parser.objects['location']: + if self.planner.applicable(self.state, [['move-dir', curCell, cell, direc]], []): + return cell + return None + + def getStone(self, cell): + for stone in self.parser.objects['stone']: + if self.planner.applicable(self.state, [['at', stone, cell]], []): + return stone + return None + + def doMove(self, key, log): + direc = None + if key == 'u': + if len(self.history) >= 1: + self.state = self.history.pop() + if self.verbose: + self.movelog.append('(:undo)\n\n{}\n\n'.format(self.lispState())) + else: + self.movelog.pop() + return True + elif key == 'r': + self.state = self.parser.state + # self.history.append(self.state) + self.history = [self.state] + if self.verbose: + self.movelog.append('(:restart)\n\n{}\n\n'.format(self.lispState())) + else: + self.movelog = [] + return True + elif key == 'w': + direc = 'dir-up' + elif key == 's': + direc = 'dir-down' + elif key == 'a': + direc = 'dir-left' + elif key == 'd': + direc = 'dir-right' + else: + # log.write('Unparseable input: {}\n\n'.format(key)) + return False + # print(key, delta, actions) + playerPos = self.findPlayer() + # print(key, currentCell) + + # Put player's cell, next cell, and cell after in a list + cells = [self.formatPos(playerPos)] + cells.append(self.findNextCell(cells[0], direc)) + cells.append(self.findNextCell(cells[1], direc)) + + # Try move action + assignment = ['player-01'] + assignment.extend(cells[0:2]) + assignment.append(direc) + gact = self.groundAction(self.lookupAction('move'), assignment) + if self.tryAction(gact, log): + return True + # If that failed, try push-to-nongoal + assignment.insert(1, self.getStone(cells[1])) + assignment.insert(4, cells[2]) + gact = self.groundAction(self.lookupAction('push-to-goal'), assignment) + if self.tryAction(gact, log): + return True + # And if that failed, try push-to-goal + gact = self.groundAction(self.lookupAction('push-to-nongoal'), assignment) + if self.tryAction(gact, log): + return True + return False + + # for act in self.parser.actions: + # currentCell = self.formatPos(playerPos) + # assignment = [key] + # while len(assignment) < len(act.parameters): + # assignment.append(currentCell) + # currentCell = self.findNextCell(currentCell, key) # Having to do this for every cell parameter in every action is inefficient; maybe improve later? + # gact = self.groundAction(act, assignment) + # # print(gact) + # if self.tryAction(gact, log): + # return True + # return False + + # nextCell = self.formatPos(self.addVec(playerPos, delta)) + # afterCell = self.formatPos(self.addVec(playerPos, delta, delta)) + # # print(playerPos, playerCell, nextCell, afterCell) + # act = self.lookupAction(actions[0]) + # gact = self.groundAction(act, [playerCell, nextCell]) + # # print(gact) + # if self.tryAction(gact, log): + # return True + # else: + # act = self.lookupAction(actions[1]) + # gact = self.groundAction(act, [playerCell, nextCell, afterCell]) + # # print(gact) + # if self.tryAction(gact, log): + # return True + # # log.write('Blocked move: {}\n\n'.format(actions)) + # return False + + predIDs = {'wall' : 1, + 'player' : 2, + 'ball' : 4, + 'pit' : 8, + 'goal' : 16} + + tiles = {0: ' ', # Floor + 1: '[]', # Wall + 2: ':)', # Player + 4: '()', # Boulder + 8: '\/', # Pit + 16: '//', # Goal + 18: '%)', # Goal and player + 20: '{}'} # Goal and boulder + + nonwalls = set() + + def findNonWalls(self): + for pred in self.state: + # print('Checking {}'.format(pred)) + if pred[0] == 'move-dir': + self.nonwalls.add(pred[1]) + self.nonwalls.add(pred[2]) + + def renderCell(self, cell): + if cell not in self.nonwalls: + return '[]' + elif self.formatPos(self.findPlayer()) == cell: + if self.planner.applicable(self.state, [['is-goal', cell]], []): + return '%)' + else: + return ':)' + elif self.getStone(cell) is not None: + if self.planner.applicable(self.state, [['is-goal', cell]], []): + return '{}' + else: + return '()' + else: + if self.planner.applicable(self.state, [['is-goal', cell]], []): + return '//' + else: + return ' ' + + def render(self): + w, h = 0, 0 + for cell in self.parser.objects['location']: + x, y = self.parseCellName(cell) + w = max(w, x+1) + h = max(h, y+1) + for y in range(1, h): + for x in range(1, w): + cell = self.formatPos((x, y)) + # code = 0 + # # print(cell) + # # print(self.state) + # for pred, pid in self.predIDs.items(): + # if self.planner.applicable(self.state, [[pred, cell]], []): + # code += pid + # if self.planner.applicable(self.goal_pos, [['ball', cell]], []): + # code += self.predIDs['goal'] + print(self.renderCell(cell), end='') + # if self.planner.applicable(self.state, [['wall', cell]], []): + # code = -1 + # else: + # if self.planner.applicable(self.state, [['floor', cell]], []): + # code = 1 + # if self.planner.applicable(self.state, [['ball', cell]], []): + # code += 2 + # if self.planner.applicable(self.goal_pos, [['ball', cell]], []): + # code += 4 + # if self.planner.applicable(self.state, [['player', cell]], []): + # code += 8 + print() + + def lispState(self, word=':state'): + out = [] + out.append('({}'.format(word)) + for pred in self.state: + out.append(' (') + out.append(' '.join(pred)) + out.append(')') + out.append(')') + return ''.join(out) + + def gameloop(self): + with open(self.logfile, 'w') as log: + # log.write('{}\n\n'.format(datetime.datetime.now())) + log.write('(trajectory\n\n') + log.write('(:objects ') + for t, os in self.parser.objects.items(): + for o in os: + log.write('{} - {} '.format(o, t)) + log.write(')\n\n') + log.write(self.lispState(':init')) + log.write('\n\n') + self.findNonWalls() + while True: + self.render() + if self.planner.applicable(self.state, self.goal_pos, self.goal_not): + print('Winningness!') + log.write(''.join(self.movelog)) + log.write(')') + return + prevTime = time.time() + key = input('Choose direction (wasdur, followed by Enter): ') + # log.write('{}\n\n'.format(time.time() - prevTime)) + self.doMove(key, log) + + +# ========================================== +# Main +# ========================================== +if __name__ == '__main__': + import sys, time + start_time = time.time() + domain = sys.argv[1] + problem = sys.argv[2] + try: + logfile = sys.argv[3] + except IndexError: + logfile = '/dev/null' + if len(sys.argv) > 4 and sys.argv[4] == '--verbose': + verbose = True + else: + verbose = False + engine = Engine(domain, problem, logfile, verbose=verbose) + engine.gameloop() + print('Time: ' + str(time.time() - start_time) + 's') + # if plan: + # print('plan:') + # for act in plan: + # print(act) + # else: + # print('No plan was found') + + + diff --git a/blackout/invariants.py b/blackout/invariants.py new file mode 100755 index 0000000..159f3be --- /dev/null +++ b/blackout/invariants.py @@ -0,0 +1,486 @@ +#!/usr/bin/env python + +# Okay... My goal here is to take the information available after execution of trajectory2, and generate a set of invariants. +# Rules about what predicates can and cannot coexist on what kinds of objects. +# As an example invariant, consider the "at-goal" and "at-nongoal" predicates in soko3. +# Every stone has exactly one of those predicates at any given time. Always one or the other; never both or neither. That's an invariant. +# And it's an invariant because that condition ("exactly one") is true in the initial state ov every soko3 level, and none of the soko3 actions can make it false if it wasn't true to begin with. +# Move doesn't change the predicates of any stone; push-to-goal adds at-goal and removes at-nongoal; and push-to-nongoal does the reverse. +# Another example would be the in-dir predicates in soko2, which cannot be added or removed by any action. + +# So, I'm thinking I'll start by analyzing the action effects. I'll look for patterns like this: +# P and Q are always added together +# P and Q are always removed together +# P and Q are never both added at once +# P and Q are never both removed at once +# P is only added when Q is removed ('only' meaning that there are no actions that add P without also removing Q, but there may be actions that remove Q without adding P) +# P is always added when Q is removed +# P is only removed when Q is added +# Etc +# Which I can condense into this: +# P is (only | always) (added | removed) when Q is (added | removed) +# So I could express the at-goal/at-nongoal invariant like this: +# at-goal is only added when at-nongoal is removed +# AND at-goal is always added when at-nongoal is removed +# AND at-nongoal is only added when at-goal is removed +# AND at-nongoal is always added when at-goal is removed +# AND at-goal is only removed when at-nongoal is added +# AND at-goal is always removed when at-nongoal is added +# AND at-nongoal is only removed when at-goal is added +# AND at-nongoal is always removed when at-goal is added +# There's some redundancy there, right? +# If P is always added when Q is removed, then that means that the only actions that remove Q are the ones that also add P. +# [P is always added when Q is removed] <==> [Q is only removed when P is added] +# So maybe I should find a way to give those two contrapositives the same representation in the data structures? Don't know how, though. +# Factoring that into the equality operator should be simple enough, though. +# Also, maybe I should consider invariants on a variable number of predicates? That'd cover the never-added, never-removed constants, and more complex things like "only one or two of these three", +# but permitting consideration of arbitrary-length rules sounds like it'd get computationally intractable super fast. +# I'll deal with that mess later on, if I determine I need to. +# In the meantime, I'll separately consider constants and 2-predicate-one-object rules. + +# Ooh, what about predicates that are only removed and never added? Like the pellets in Pacman. +# Maybe I'll just ignore length-1 rules entirely for now. + +# And when should I look at the preconditions of the actions? +# This'd allow statements like "P is only added if Q is present" +# and "Q is never removed if P is present" +# their combination implying that objects with P and Q are a subset of those with only Q, and none can be created with only P +# But the whole purpose of this exercise is to give trajectory2 more accurate preconditions +# (specifically to help it make up its mine on this like "Should the precondition for this action be is-goal or NOT is-nongoal?") +# so let's ignore this for now, too. + +# Hmm...is-goal and is-nongoal are both constants. Maybe I should put some code into identifying those. + +# Regardless, th next step is to combine the weak rules formatted above into stronger rules. +# How to represent these? +# Maybe with three booleans, indicating whether or not a given object can have zero, one, or two of the given predicates at the same time? +# So goal/nongoal would be [0 1 0], meaning that there can only ever be one of those predicates on an object at a time after it's been touched by an action; never none or both. +# And two predicates that are always added and removed together would be [1 0 1] +# What are all eight possibilities? +# [0 0 0] is flat-out impossible +# [1 0 0] means neither predicate ever shows up, so they may as well not even exist +# [0 1 0] means they're mutually exclusive and exhaustive, as previously discussed +# [1 1 0] means an object can have zero or one predicate: One or the other, or neother of them, but not both at one. "Mutually exclusive, but not exhaustive". +# Recognizing this one would require elementary rules for "P is never added if Q present to begin with and not simultaneously being removed" +# which I don't have plans for at the moment +# [0 0 1] means both always exist, and are never removed +# [1 0 1] means they're always added and removed together, as mentioned above +# [0 1 1] means one or two always exist, but neither can be removed if the other is already present +# [1 1 1] mwans each can exist with or without the other. Maybe there's restrictions on the order in which they can be added and removed, but they're pretty much independent. +# So... of those eight options, four are useless, and two of the rest require information that I'm currently not giving myself access to. +# Nonetheless, I think I'll stick with this representation until I think of something better. + +# So... the next step would be to check the initial state, and see if conditions present there are maintained by the refined rules described above. +# Or, rather, if the refined rules described above maintain conditions that happen to be present in the initial state. +# This'd be real simple; for each "mutually exclusive and exhaustive" condition, check every object it could apply to in the initial state, +# and if each object has exactly one of the associated predicates in the initial state, mark the rule as verified. A proper Invariant. +# And ditto for the "both or neither" rules. +# And for the "zero or one" and "one or two" rules. It shouldn't be hard to write code that'll work for all eight options. + +# Then, once I've got the invariants sorted out, go back to trajectory2 (or, more likeky, go forward to trajectory3, which'll be a new trajectory script designed to take this info into account) +# and find a way for it to, well, account for this info. +# Look at the list of "I couldn't decide if some action failed because of this or that", look up 'this' and 'that' in the invariants, +# and if 'this' and 'that' turn out to be equivalent, then include both as preconditions. +# I'll include both, and not pick one at random, because that might give more information to code I may write in the future. +# And picking one arbitrarily seems wrong, somehow. + +# I think that's about as far as I can get with this for now. I'll imlpement all that, then run it a few times and see what comes out. +# That'll help inform where I need to make improvements. + +import pprint + +def flattenEffects(act): + for pos in act.positiveEffects: + yield (pos, True) + for neg in act.negativeEffects: + yield (neg, False) + +class invariants: + def __init__(self, traj): + print ('=== Candidate Primitive Rules ===') + self.candidatePRs = {} + self.PRs = set() + self.mutablePredicates = set() + for act in traj.actions.values(): + self.candidatePRs[act.name] = set() + print('Action: {}'.format(act.name)) + for p, pAdds in flattenEffects(act): + self.mutablePredicates.add(p[0]) + for q, qAdds in flattenEffects(act): + if p != q: + # At this point, p and q are two different effects of the same action. + # Should be, anyway. + # print(' {} {} and {} {}'.format(pAdds, p, qAdds, q)) + for i, arg in enumerate(p[1:]): + try: + j = q.index(arg, 1) - 1 + print(' {} {}[{}] and {} {}[{}] {}'.format(pAdds, p, i, qAdds, q, j, arg)) + # Aight, here we're iterating through each pair of effects that share an argument + # So now we... what, write them down and then cross off the ones that aren't consistent across all the actions? + pr = primitiveRule(p[0], i, pAdds, q[0], j, qAdds) + self.candidatePRs[act.name].add(pr) + self.PRs.add(pr) + except ValueError: + continue + for actL, rulesL in self.candidatePRs.items(): + for actR, rulesR in self.candidatePRs.items(): + if actL != actR: + # Here I'm iterating through each non-repeating ordered pair of actions, with the previously-computed rules of each available + for ruleL in rulesL: + if ruleL in rulesR: + # Both actions have this same rule, so it's still a candidate for that 'always' classification + continue + else: + # If any rules in rulesR match the 'q' part of ruleL (and we already know none of these also match the 'p' part), ruleL is not always true + ruleBroken = False + for ruleR in rulesR: + if ruleL.qname == ruleR.qname and ruleL.qarg == ruleR.qarg and ruleL.qadded == ruleR.qadded: + ruleBroken = True + break + if ruleBroken: + self.PRs.discard(ruleL) + # Now, the things in self.PRs should only be the ones that are true for all actions + print() + print('=== Primitive Rules ===') + for rule in self.PRs: + print() + print(rule) + print(rule.matrix()) + # Now... I think I want to tackle constants next + print() + print('=== Constants ===') + print() + self.constants = set(traj.predicates.keys()).difference(self.mutablePredicates) + print(self.constants) + # Determine what invariant holds for each pair of constants + initialState = traj.states[0] + initialGroundedConstants = set() + initialGroundedVariables = set() + for pred in initialState: + if pred[0] in self.constants: + initialGroundedConstants.add(tuple(pred)) + else: + initialGroundedVariables.add(tuple(pred)) + print('\nGrounded Constants:\n') + pprint.pprint(initialGroundedConstants) + print('\nGrounded Variables:\n') + pprint.pprint(initialGroundedVariables) + # For each constant + # consideredConstants = self.constants.copy() + # for p in self.constants: + # consideredConstants.remove(p) + # # For each other constant in that set listed after it + # for q in consideredConstants: + # print(p, q) + # # For each argument of the first constant + # for pi, parg in enumerate(traj.predicates[p]): + # # For each argument of the second + # for qi, qarg in enumerate(traj.predicates[q]): + # print(parg, pi, ', ', qarg, qi) + # # If the arguments have the same type list + # if parg == qarg: + # print(parg) + # # For each object of any of those types + # mat = ((False, False), (False, False)) + # for typ in parg: + # for obj in traj.types2objs[typ]: + # print(obj) + # # Determine if the object has the first constant + # hasP = any([pred[0] == p and pred[pi+1] == obj for pred in initialGroundedConstants]) + # # Determine if the object has the second constant + # hasQ = any([pred[0] == q and pred[qi+1] == obj for pred in initialGroundedConstants]) + # # Note whether the first and second constants are present on it in the initial state in the form of a matrix + # mat = matrixOr(mat, genSingletonMat(hasP, hasQ)) + # # OR all those matrices together + # print(mat) + # # Record an invariant using the OR'd matrix + # print(invariant(p, pi, q, qi, mat)) + self.initialStateAnalysis = analyzeState(initialState, set(traj.predicates.keys()), traj) + + + # Next, sort through those primitive rules, and find the ones that add up to a proper invariant + print() + print('=== Invariants ===') + # OK, I've got my primitive rules, I've got my invariant data structure; how to get from one to the other? + # The only invariant operators I can get from the info I have are XOR and XNOR + # And those each require the same two predicates and the same two arguments in four separate primitive rules. + # So that's what I'll look for. + matchedPreds = [] + self.actionInvariants = [] + for p in self.PRs: + if p not in matchedPreds: + matches = [p] + for q in self.PRs: + if q is not p and q not in matchedPreds: + if p.matches(q): + matches.append(q) + print() + if len(matches) == 4: + print('Found tetra-match!') + matchedPreds.extend(matches) + first = matches[0] + pname = first.pname + matrix = ((False, False), (False, False)) + for m in matches: + for n in matches: + if n is not m: + if m.equalsReversed(n): + tmp = m.matrix() if m.pname == pname else m.matrixTransposed() + matrix = matrixOr(matrix, tmp) + inv = invariant(first.pname, first.parg, first.qname, first.qarg, matrix) + self.actionInvariants.append(inv) + for match in matches: + print(match) + for match in matches: + print(match.matrix()) + print(inv) + else: + print('Found set of {} matches'.format(len(matches))) + for match in matches: + print(match) + for match in matches: + print(match.matrix()) + # Compare the invariants divined from the action effects to those taken from the initial state + self.invariantList = [] + for actInv in self.actionInvariants: + for stateInv in self.initialStateAnalysis: + modifiedStateInv = actInv.match(stateInv) + if modifiedStateInv is not None: + print() + print('From action analysis: ', actInv) + print('From initial state analysis: ', modifiedStateInv) + inv = invariant(actInv.pname, actInv.parg, actInv.qname, actInv.qarg, matrixOr(actInv.op_tuple, modifiedStateInv.op_tuple)) + print('Recording: ', inv) + self.invariantList.append(inv) + # Filter the invariants from the initial state analysis for those that only describe constants + for stateInv in self.initialStateAnalysis: + if stateInv.pname in self.constants and stateInv.qname in self.constants: + self.invariantList.append(stateInv) + print('\n=========== Got The Invariants ==============\n') + pprint.pprint(self.invariantList) + +def analyzeState(state, preds, traj): + out = [] + consideredPreds = preds.copy() + for p in preds: + consideredPreds.remove(p) + # For each other constant in that set listed after it + for q in consideredPreds: + print(p, q) + # For each argument of the first constant + for pi, parg in enumerate(traj.predicates[p]): + # For each argument of the second + for qi, qarg in enumerate(traj.predicates[q]): + print(parg, pi, ', ', qarg, qi) + # If the arguments have the same type list + if parg == qarg: + print(parg) + # For each object of any of those types + mat = ((False, False), (False, False)) + for typ in parg: + for obj in traj.types2objs[typ]: + # Determine if the object has the first constant + hasP = any([pred[0] == p and pred[pi+1] == obj for pred in state]) + # Determine if the object has the second constant + hasQ = any([pred[0] == q and pred[qi+1] == obj for pred in state]) + # Note whether the first and second constants are present on it in the initial state in the form of a matrix + newMat = genSingletonMat(hasP, hasQ) + mat = matrixOr(mat, newMat) + print(obj, hasP, hasQ) + # OR all those matrices together + print(mat) + # Record an invariant using the OR'd matrix + inv = invariant(p, pi, q, qi, mat) + print(inv) + out.append(inv) + return out + + +def matrixOr(a, b): + c = a[0][0] or b[0][0] + d = a[0][1] or b[0][1] + e = a[1][0] or b[1][0] + f = a[1][1] or b[1][1] + return ((c, d), (e, f)) + +def matrixTranspose(a): + c = a[0][0] + d = a[1][0] + e = a[0][1] + f = a[1][1] + return ((c, d), (e, f)) + +def genSingletonMat(a, b): + out = [[False, False], [False, False]] + a = 1 if a else 0 + b = 1 if b else 0 + out[a][b] = True + return tuple(map(tuple, out)) + +class primitiveRule: + # Encodes statements like this: + # P is (only | always) (added | removed) when Q is (added | removed) + # Actually, since this is true: + # [P is always added when Q is removed] <==> [Q is only removed when P is added] + # I can drop the (only | always) bit, and just use 'always' for everything, since an 'only' can be turned into an 'always' by swapping the order of the predicates. + # And I also need to specify what object the predicates are being added to or removed from. + + def __init__(self, pname, parg, padded, qname, qarg, qadded): + self.pname = pname + self.parg = parg + self.padded = padded + self.qname = qname + self.qarg = qarg + self.qadded = qadded + + def __str__(self): + pverb = 'added to' if self.padded else 'removed from' + qverb = 'added to' if self.qadded else 'removed from' + return 'Predicate {} is always {} its {}th argument when {} is {} its {}th.'.format(self.pname, pverb, self.parg, self.qname, qverb, self.qarg) + + def __eq__(self, other): + return (self.pname == other.pname + and self.parg == other.parg + and self.padded == other.padded + and self.qname == other.qname + and self.qarg == other.qarg + and self.qadded == other.qadded) + + def __hash__(self): + return hash((self.pname, self.parg, self.padded, self.qname, self.qarg, self.qadded)) + + # Returns true iff self and other apply to the same arguments of the same predicates + # Four primitive rules that mutually match by this function make an invariant + def matches(self, other): + return ((self.pname == other.pname and self.qname == other.qname + and self.parg == other.parg and self.qarg == other.qarg) + or (self.pname == other.qname and self.qname == other.pname + and self.parg == other.qarg and self.qarg == other.parg)) + + # Returns a pair of pairs of booleans; three False, one True; with the True representing the present/absent state of the two predicates + # after an action conforming to this primitive rule is triggered + # Format is the same as that used by invariant operators, as shown below + def matrix(self): + out = [[False, False], [False, False]] + a = 1 if self.padded else 0 + b = 1 if self.qadded else 0 + out[a][b] = True + return tuple(map(tuple, out)) + + def matrixTransposed(self): + out = [[False, False], [False, False]] + a = 1 if self.padded else 0 + b = 1 if self.qadded else 0 + out[b][a] = True + return tuple(map(tuple, out)) + + # Return true iff this rule's p fields equal the other's q fields, and vice versa, meaning they together describe an "always and only" relationship + def equalsReversed(self, other): + return (self.pname == other.qname + and self.parg == other.qarg + and self.padded == other.qadded + and self.qname == other.pname + and self.qarg == other.parg + and self.qadded == other.padded) + + +# ops[0][0]: Both absent +# ops[0][1]: Second present, first absent +# ops[1][0]: First present, second absent +# ops[1][1]: Both present + +# [[AA, AP],[PA, PP]] + +ops = {'NONE' : ((False, False), (False, False)), # Neither predicate is allowed to be present or absent... which is impossible + 'AND' : ((False, False), (False, True )), # AND operator && Both predicates must be present at all times, for all applicable objects + 'RNIM' : ((False, False), (True , False)), # reversed NIMP <-/- First predicate must be present, second must be absent + 'FST' : ((False, False), (True , True )), # First predicate must be present, disregard second + 'NIMP' : ((False, True ), (False, False)), # negated IMPLIES -/-> First predicate must be absent, second must be present + 'SEC' : ((False, True ), (False, True )), # Second predicate must be present, disregard first + 'XOR' : ((False, True ), (True , False)), # XOR operator != Exactly one predicate must be present at all times, and not both + 'OR' : ((False, True ), (True , True )), # OR operator || At least one predicate must be present at all times (or both) + 'NOR' : ((True , False), (False, False)), # NOR operator Neither predicate is ever allowed to be present + 'XNOR' : ((True , False), (False, True )), # XNOR operator == Either both predicates are mresent, or both are absent + 'NSEC' : ((True , False), (True , False)), # Second predicate must be absent; disregard first + 'REVI' : ((True , False), (True , True )), # reversed IMPLIES <-- Like IMPL, but with the arguments reversed. If the second is present, the first must also be present. + 'NFST' : ((True , True ), (False, False)), # First predicate must be absent, disregard second + 'IMPL' : ((True , True ), (False, True )), # IMPLIES operator --> If the first rpedicate is present, then the second must also be present (but if the first is absent, anything goes) + 'NAND' : ((True , True ), (True , False)), # NAND operator At least one predicate must always be absent (though the both can be at once) + 'ALL' : ((True , True ), (True , True ))} # Predicates are entirely independent of each other + +rev_ops = {} +for k, v in ops.items(): + rev_ops[v] = k + +inv_fmt = {'NONE' : "{0}[{1}] and {2}[{3}] are PARADOXICAL (meaning they're not allowed to be present, and they're not allowed to be absent... if you ever see this message, something's gone wrong)", + 'AND' : '{0}[{1}] and {2}[{3}] are BOTH MANDATORY', + 'RNIM' : '{0}[{1}] is MANDATORY; {2}[{3}] is FORBIDDEN', + 'FST' : '{0}[{1}] is MANDATORY; {2}[{3}] is IRRELEVANT', + 'NIMP' : '{0}[{1}] is FORBIDDEN; {2}[{3}] is MANDATORY', + 'SEC' : '{0}[{1}] is IRRELEVANT; {2}[{3}] is MANDATORY', + 'XOR' : '{0}[{1}] and {2}[{3}] are MUTUALLY EXCLUSIVE', + 'OR' : 'AT LEAST ONE of {0}[{1}] and {2}[{3}] must be PRESENT', + 'NOR' : '{0}[{1}] and {2}[{3}] are BOTH FORBIDDEN', + 'XNOR' : '{0}[{1}] and {2}[{3}] are EQUIVALENT', + 'NSEC' : '{0}[{1}] is IRRELEVANT; {2}[{3}] is FORBIDDEN', + 'REVI' : '{0}[{1}] IS IMPLIED BY {2}[{3}]', + 'NFST' : '{0}[{1}] is FORBIDDEN; {2}[{3}] is IRRELEVANT', + 'IMPL' : '{0}[{1}] IMPLIES {2}[{3}]', + 'NAND' : 'AT LEAST ONE of {0}[{1}] and {2}[{3}] must be ABSENT', + 'ALL' : '{0}[{1}] and {2}[{3}] are INDEPENDENT'} + +class invariant: + # Not to be confused with the invariants class (note the plural), which analyzes invariants. + # This class represents a single invariant. + # Something like "any object of this type always has exactly one of these two predicates" + # More generally, this class encodes what combinations of present and absent are permitted for two predicates attached to the same object. + + def __init__(self, pname, parg, qname, qarg, op): + self.pname = pname + self.qname = qname + self.parg = parg + self.qarg = qarg + if op in ops: + self.op_str = op + self.op_tuple = ops[op] + else: + self.op_tuple = op + self.op_str = rev_ops[op] + + # Apply this invariant's operator to two booleans + def apply(self, p, q): + a = 1 if p else 0 + b = 1 if q else 0 + return self.op_tuple[a][b] + + def match(self, other): + if (self.pname == other.pname + and self.parg == other.parg + and self.qname == other.qname + and self.qarg == other.qarg): + return other + elif (self.pname == other.qname + and self.parg == other.qarg + and self.qname == other.pname + and self.qarg == other.parg): + return invariant(other.qname, other.qarg, other.pname, other.parg, matrixTranspose(other.op_tuple)) + else: + return None + + def __str__(self): + return inv_fmt[self.op_str].format(self.pname, self.parg, self.qname, self.qarg) + + __repr__ = __str__ + +# Main +if __name__ == '__main__': + import sys + from blackout1 import trajectory + filename = sys.argv[1] + if len(sys.argv) > 3: + traj = trajectory(filename, sys.argv[3]) + else: + traj = trajectory(filename) + invariants(traj) + + diff --git a/blackout/levels/level-large.pddl b/blackout/levels/level-large.pddl new file mode 100644 index 0000000..5039332 --- /dev/null +++ b/blackout/levels/level-large.pddl @@ -0,0 +1,359 @@ +;; ########### +;; ##....... # +;; # $$$$$$$@ # +;; # # # # ## +;; # # # # +;; # ####### +;; ##### + +(define (problem p126-microban-sequential) + (:domain sokoban-sequential) + (:objects + dir-down + dir-left + dir-right + dir-up - direction + player-01 - player + pos-01-01 + pos-01-02 + pos-01-03 + pos-01-04 + pos-01-05 + pos-01-06 + pos-01-07 + pos-02-01 + pos-02-02 + pos-02-03 + pos-02-04 + pos-02-05 + pos-02-06 + pos-02-07 + pos-03-01 + pos-03-02 + pos-03-03 + pos-03-04 + pos-03-05 + pos-03-06 + pos-03-07 + pos-04-01 + pos-04-02 + pos-04-03 + pos-04-04 + pos-04-05 + pos-04-06 + pos-04-07 + pos-05-01 + pos-05-02 + pos-05-03 + pos-05-04 + pos-05-05 + pos-05-06 + pos-05-07 + pos-06-01 + pos-06-02 + pos-06-03 + pos-06-04 + pos-06-05 + pos-06-06 + pos-06-07 + pos-07-01 + pos-07-02 + pos-07-03 + pos-07-04 + pos-07-05 + pos-07-06 + pos-07-07 + pos-08-01 + pos-08-02 + pos-08-03 + pos-08-04 + pos-08-05 + pos-08-06 + pos-08-07 + pos-09-01 + pos-09-02 + pos-09-03 + pos-09-04 + pos-09-05 + pos-09-06 + pos-09-07 + pos-10-01 + pos-10-02 + pos-10-03 + pos-10-04 + pos-10-05 + pos-10-06 + pos-10-07 + pos-11-01 + pos-11-02 + pos-11-03 + pos-11-04 + pos-11-05 + pos-11-06 + pos-11-07 + pos-12-01 + pos-12-02 + pos-12-03 + pos-12-04 + pos-12-05 + pos-12-06 + pos-12-07 - location + stone-01 + stone-02 + stone-03 + stone-04 + stone-05 + stone-06 + stone-07 - stone + ) + (:init + (IS-GOAL pos-03-02) + (IS-GOAL pos-04-02) + (IS-GOAL pos-05-02) + (IS-GOAL pos-06-02) + (IS-GOAL pos-07-02) + (IS-GOAL pos-08-02) + (IS-GOAL pos-09-02) + (IS-NONGOAL pos-01-01) + (IS-NONGOAL pos-01-02) + (IS-NONGOAL pos-01-03) + (IS-NONGOAL pos-01-04) + (IS-NONGOAL pos-01-05) + (IS-NONGOAL pos-01-06) + (IS-NONGOAL pos-01-07) + (IS-NONGOAL pos-02-01) + (IS-NONGOAL pos-02-02) + (IS-NONGOAL pos-02-03) + (IS-NONGOAL pos-02-04) + (IS-NONGOAL pos-02-05) + (IS-NONGOAL pos-02-06) + (IS-NONGOAL pos-02-07) + (IS-NONGOAL pos-03-01) + (IS-NONGOAL pos-03-03) + (IS-NONGOAL pos-03-04) + (IS-NONGOAL pos-03-05) + (IS-NONGOAL pos-03-06) + (IS-NONGOAL pos-03-07) + (IS-NONGOAL pos-04-01) + (IS-NONGOAL pos-04-03) + (IS-NONGOAL pos-04-04) + (IS-NONGOAL pos-04-05) + (IS-NONGOAL pos-04-06) + (IS-NONGOAL pos-04-07) + (IS-NONGOAL pos-05-01) + (IS-NONGOAL pos-05-03) + (IS-NONGOAL pos-05-04) + (IS-NONGOAL pos-05-05) + (IS-NONGOAL pos-05-06) + (IS-NONGOAL pos-05-07) + (IS-NONGOAL pos-06-01) + (IS-NONGOAL pos-06-03) + (IS-NONGOAL pos-06-04) + (IS-NONGOAL pos-06-05) + (IS-NONGOAL pos-06-06) + (IS-NONGOAL pos-06-07) + (IS-NONGOAL pos-07-01) + (IS-NONGOAL pos-07-03) + (IS-NONGOAL pos-07-04) + (IS-NONGOAL pos-07-05) + (IS-NONGOAL pos-07-06) + (IS-NONGOAL pos-07-07) + (IS-NONGOAL pos-08-01) + (IS-NONGOAL pos-08-03) + (IS-NONGOAL pos-08-04) + (IS-NONGOAL pos-08-05) + (IS-NONGOAL pos-08-06) + (IS-NONGOAL pos-08-07) + (IS-NONGOAL pos-09-01) + (IS-NONGOAL pos-09-03) + (IS-NONGOAL pos-09-04) + (IS-NONGOAL pos-09-05) + (IS-NONGOAL pos-09-06) + (IS-NONGOAL pos-09-07) + (IS-NONGOAL pos-10-01) + (IS-NONGOAL pos-10-02) + (IS-NONGOAL pos-10-03) + (IS-NONGOAL pos-10-04) + (IS-NONGOAL pos-10-05) + (IS-NONGOAL pos-10-06) + (IS-NONGOAL pos-10-07) + (IS-NONGOAL pos-11-01) + (IS-NONGOAL pos-11-02) + (IS-NONGOAL pos-11-03) + (IS-NONGOAL pos-11-04) + (IS-NONGOAL pos-11-05) + (IS-NONGOAL pos-11-06) + (IS-NONGOAL pos-11-07) + (IS-NONGOAL pos-12-01) + (IS-NONGOAL pos-12-02) + (IS-NONGOAL pos-12-03) + (IS-NONGOAL pos-12-04) + (IS-NONGOAL pos-12-05) + (IS-NONGOAL pos-12-06) + (IS-NONGOAL pos-12-07) + (MOVE-DIR pos-02-03 pos-02-04 dir-down) + (MOVE-DIR pos-02-03 pos-03-03 dir-right) + (MOVE-DIR pos-02-04 pos-02-03 dir-up) + (MOVE-DIR pos-02-04 pos-02-05 dir-down) + (MOVE-DIR pos-02-04 pos-03-04 dir-right) + (MOVE-DIR pos-02-05 pos-02-04 dir-up) + (MOVE-DIR pos-02-05 pos-02-06 dir-down) + (MOVE-DIR pos-02-06 pos-02-05 dir-up) + (MOVE-DIR pos-02-06 pos-03-06 dir-right) + (MOVE-DIR pos-03-02 pos-03-03 dir-down) + (MOVE-DIR pos-03-02 pos-04-02 dir-right) + (MOVE-DIR pos-03-03 pos-02-03 dir-left) + (MOVE-DIR pos-03-03 pos-03-02 dir-up) + (MOVE-DIR pos-03-03 pos-03-04 dir-down) + (MOVE-DIR pos-03-03 pos-04-03 dir-right) + (MOVE-DIR pos-03-04 pos-02-04 dir-left) + (MOVE-DIR pos-03-04 pos-03-03 dir-up) + (MOVE-DIR pos-03-04 pos-04-04 dir-right) + (MOVE-DIR pos-03-06 pos-02-06 dir-left) + (MOVE-DIR pos-03-06 pos-04-06 dir-right) + (MOVE-DIR pos-04-02 pos-03-02 dir-left) + (MOVE-DIR pos-04-02 pos-04-03 dir-down) + (MOVE-DIR pos-04-02 pos-05-02 dir-right) + (MOVE-DIR pos-04-03 pos-03-03 dir-left) + (MOVE-DIR pos-04-03 pos-04-02 dir-up) + (MOVE-DIR pos-04-03 pos-04-04 dir-down) + (MOVE-DIR pos-04-03 pos-05-03 dir-right) + (MOVE-DIR pos-04-04 pos-03-04 dir-left) + (MOVE-DIR pos-04-04 pos-04-03 dir-up) + (MOVE-DIR pos-04-04 pos-04-05 dir-down) + (MOVE-DIR pos-04-05 pos-04-04 dir-up) + (MOVE-DIR pos-04-05 pos-04-06 dir-down) + (MOVE-DIR pos-04-06 pos-03-06 dir-left) + (MOVE-DIR pos-04-06 pos-04-05 dir-up) + (MOVE-DIR pos-05-02 pos-04-02 dir-left) + (MOVE-DIR pos-05-02 pos-05-03 dir-down) + (MOVE-DIR pos-05-02 pos-06-02 dir-right) + (MOVE-DIR pos-05-03 pos-04-03 dir-left) + (MOVE-DIR pos-05-03 pos-05-02 dir-up) + (MOVE-DIR pos-05-03 pos-06-03 dir-right) + (MOVE-DIR pos-06-02 pos-05-02 dir-left) + (MOVE-DIR pos-06-02 pos-06-03 dir-down) + (MOVE-DIR pos-06-02 pos-07-02 dir-right) + (MOVE-DIR pos-06-03 pos-05-03 dir-left) + (MOVE-DIR pos-06-03 pos-06-02 dir-up) + (MOVE-DIR pos-06-03 pos-06-04 dir-down) + (MOVE-DIR pos-06-03 pos-07-03 dir-right) + (MOVE-DIR pos-06-04 pos-06-03 dir-up) + (MOVE-DIR pos-06-04 pos-06-05 dir-down) + (MOVE-DIR pos-06-05 pos-06-04 dir-up) + (MOVE-DIR pos-06-05 pos-07-05 dir-right) + (MOVE-DIR pos-06-07 pos-07-07 dir-right) + (MOVE-DIR pos-07-02 pos-06-02 dir-left) + (MOVE-DIR pos-07-02 pos-07-03 dir-down) + (MOVE-DIR pos-07-02 pos-08-02 dir-right) + (MOVE-DIR pos-07-03 pos-06-03 dir-left) + (MOVE-DIR pos-07-03 pos-07-02 dir-up) + (MOVE-DIR pos-07-03 pos-08-03 dir-right) + (MOVE-DIR pos-07-05 pos-06-05 dir-left) + (MOVE-DIR pos-07-05 pos-08-05 dir-right) + (MOVE-DIR pos-07-07 pos-06-07 dir-left) + (MOVE-DIR pos-07-07 pos-08-07 dir-right) + (MOVE-DIR pos-08-02 pos-07-02 dir-left) + (MOVE-DIR pos-08-02 pos-08-03 dir-down) + (MOVE-DIR pos-08-02 pos-09-02 dir-right) + (MOVE-DIR pos-08-03 pos-07-03 dir-left) + (MOVE-DIR pos-08-03 pos-08-02 dir-up) + (MOVE-DIR pos-08-03 pos-08-04 dir-down) + (MOVE-DIR pos-08-03 pos-09-03 dir-right) + (MOVE-DIR pos-08-04 pos-08-03 dir-up) + (MOVE-DIR pos-08-04 pos-08-05 dir-down) + (MOVE-DIR pos-08-05 pos-07-05 dir-left) + (MOVE-DIR pos-08-05 pos-08-04 dir-up) + (MOVE-DIR pos-08-05 pos-09-05 dir-right) + (MOVE-DIR pos-08-07 pos-07-07 dir-left) + (MOVE-DIR pos-08-07 pos-09-07 dir-right) + (MOVE-DIR pos-09-02 pos-08-02 dir-left) + (MOVE-DIR pos-09-02 pos-09-03 dir-down) + (MOVE-DIR pos-09-02 pos-10-02 dir-right) + (MOVE-DIR pos-09-03 pos-08-03 dir-left) + (MOVE-DIR pos-09-03 pos-09-02 dir-up) + (MOVE-DIR pos-09-03 pos-10-03 dir-right) + (MOVE-DIR pos-09-05 pos-08-05 dir-left) + (MOVE-DIR pos-09-05 pos-10-05 dir-right) + (MOVE-DIR pos-09-07 pos-08-07 dir-left) + (MOVE-DIR pos-09-07 pos-10-07 dir-right) + (MOVE-DIR pos-10-02 pos-09-02 dir-left) + (MOVE-DIR pos-10-02 pos-10-03 dir-down) + (MOVE-DIR pos-10-02 pos-11-02 dir-right) + (MOVE-DIR pos-10-03 pos-09-03 dir-left) + (MOVE-DIR pos-10-03 pos-10-02 dir-up) + (MOVE-DIR pos-10-03 pos-10-04 dir-down) + (MOVE-DIR pos-10-03 pos-11-03 dir-right) + (MOVE-DIR pos-10-04 pos-10-03 dir-up) + (MOVE-DIR pos-10-04 pos-10-05 dir-down) + (MOVE-DIR pos-10-05 pos-09-05 dir-left) + (MOVE-DIR pos-10-05 pos-10-04 dir-up) + (MOVE-DIR pos-10-07 pos-09-07 dir-left) + (MOVE-DIR pos-10-07 pos-11-07 dir-right) + (MOVE-DIR pos-11-02 pos-10-02 dir-left) + (MOVE-DIR pos-11-02 pos-11-03 dir-down) + (MOVE-DIR pos-11-03 pos-10-03 dir-left) + (MOVE-DIR pos-11-03 pos-11-02 dir-up) + (MOVE-DIR pos-11-07 pos-10-07 dir-left) + (MOVE-DIR pos-11-07 pos-12-07 dir-right) + (MOVE-DIR pos-12-05 pos-12-06 dir-down) + (MOVE-DIR pos-12-06 pos-12-05 dir-up) + (MOVE-DIR pos-12-06 pos-12-07 dir-down) + (MOVE-DIR pos-12-07 pos-11-07 dir-left) + (MOVE-DIR pos-12-07 pos-12-06 dir-up) + (at player-01 pos-10-03) + (at stone-01 pos-03-03) + (at stone-02 pos-04-03) + (at stone-03 pos-05-03) + (at stone-04 pos-06-03) + (at stone-05 pos-07-03) + (at stone-06 pos-08-03) + (at stone-07 pos-09-03) + (clear pos-01-01) + (clear pos-02-03) + (clear pos-02-04) + (clear pos-02-05) + (clear pos-02-06) + (clear pos-03-02) + (clear pos-03-04) + (clear pos-03-06) + (clear pos-04-02) + (clear pos-04-04) + (clear pos-04-05) + (clear pos-04-06) + (clear pos-05-02) + (clear pos-06-02) + (clear pos-06-04) + (clear pos-06-05) + (clear pos-06-07) + (clear pos-07-02) + (clear pos-07-05) + (clear pos-07-07) + (clear pos-08-02) + (clear pos-08-04) + (clear pos-08-05) + (clear pos-08-07) + (clear pos-09-02) + (clear pos-09-05) + (clear pos-09-07) + (clear pos-10-02) + (clear pos-10-04) + (clear pos-10-05) + (clear pos-10-07) + (clear pos-11-02) + (clear pos-11-03) + (clear pos-11-07) + (clear pos-12-05) + (clear pos-12-06) + (clear pos-12-07) + ) + (:goal (and + (at-goal stone-01) + (at-goal stone-02) + (at-goal stone-03) + (at-goal stone-04) + (at-goal stone-05) + (at-goal stone-06) + (at-goal stone-07) + )) +) diff --git a/blackout/levels/level-medium.pddl b/blackout/levels/level-medium.pddl new file mode 100644 index 0000000..3afe7ff --- /dev/null +++ b/blackout/levels/level-medium.pddl @@ -0,0 +1,74 @@ +;; ##@## +;; ## ## +;; .$ $. + +(define (problem levels/level-2.lvl) + (:domain sokoban-sequential) + + (:objects + dir-down + dir-left + dir-right + dir-up - direction + pos-01-01 + pos-02-01 + pos-03-01 + pos-04-01 + pos-05-01 + pos-01-02 + pos-02-02 + pos-03-02 + pos-04-02 + pos-05-02 + pos-01-03 + pos-02-03 + pos-03-03 + pos-04-03 + pos-05-03 - location + player-01 - player + stone-01 + stone-02 - stone + ) + + (:init + (IS-GOAL pos-01-03) + (IS-GOAL pos-05-03) + (IS-NONGOAL pos-01-01) + (IS-NONGOAL pos-01-02) + (IS-NONGOAL pos-02-01) + (IS-NONGOAL pos-02-02) + (IS-NONGOAL pos-02-03) + (IS-NONGOAL pos-03-01) + (IS-NONGOAL pos-03-02) + (IS-NONGOAL pos-03-03) + (IS-NONGOAL pos-04-01) + (IS-NONGOAL pos-04-02) + (IS-NONGOAL pos-04-03) + (IS-NONGOAL pos-05-01) + (IS-NONGOAL pos-05-02) + (MOVE-DIR pos-01-03 pos-02-03 dir-right) + (MOVE-DIR pos-02-03 pos-01-03 dir-left) + (MOVE-DIR pos-02-03 pos-03-03 dir-right) + (MOVE-DIR pos-03-01 pos-03-02 dir-down) + (MOVE-DIR pos-03-02 pos-03-01 dir-up) + (MOVE-DIR pos-03-02 pos-03-03 dir-down) + (MOVE-DIR pos-03-03 pos-02-03 dir-left) + (MOVE-DIR pos-03-03 pos-03-02 dir-up) + (MOVE-DIR pos-03-03 pos-04-03 dir-right) + (MOVE-DIR pos-04-03 pos-03-03 dir-left) + (MOVE-DIR pos-04-03 pos-05-03 dir-right) + (MOVE-DIR pos-05-03 pos-04-03 dir-left) + (at player-01 pos-03-01) + (at stone-01 pos-02-03) + (at stone-02 pos-04-03) + (clear pos-01-03) + (clear pos-03-02) + (clear pos-03-03) + (clear pos-05-03) + ) + + (:goal (and + (at-goal stone-01) + (at-goal stone-02) + )) +) diff --git a/blackout/levels/level-small.pddl b/blackout/levels/level-small.pddl new file mode 100644 index 0000000..c2f4fa7 --- /dev/null +++ b/blackout/levels/level-small.pddl @@ -0,0 +1,62 @@ +;; %)[] ;; +;; () ;; +;; ;; +;; ;; + +(define (problem level1-sequential) + (:domain sokoban-sequential) + (:objects + dir-down + dir-left + dir-right + dir-up - direction + player-01 - player + pos-01-01 + pos-02-01 + pos-01-02 + pos-02-02 + pos-01-03 + pos-02-03 + pos-01-04 + pos-02-04 - location + stone-01 - stone + ) + (:init + (IS-GOAL pos-01-01) + (IS-NONGOAL pos-02-01) + (IS-NONGOAL pos-01-02) + (IS-NONGOAL pos-02-02) + (IS-NONGOAL pos-01-03) + (IS-NONGOAL pos-02-03) + (IS-NONGOAL pos-01-04) + (IS-NONGOAL pos-02-04) + (MOVE-DIR pos-01-01 pos-01-02 dir-down) + (MOVE-DIR pos-01-02 pos-01-03 dir-down) + (MOVE-DIR pos-01-03 pos-01-04 dir-down) + (MOVE-DIR pos-02-02 pos-02-03 dir-down) + (MOVE-DIR pos-02-03 pos-02-04 dir-down) + (MOVE-DIR pos-01-02 pos-01-01 dir-up) + (MOVE-DIR pos-01-03 pos-01-02 dir-up) + (MOVE-DIR pos-01-04 pos-01-03 dir-up) + (MOVE-DIR pos-02-03 pos-02-02 dir-up) + (MOVE-DIR pos-02-04 pos-02-03 dir-up) + (MOVE-DIR pos-01-02 pos-02-02 dir-right) + (MOVE-DIR pos-01-03 pos-02-03 dir-right) + (MOVE-DIR pos-01-04 pos-02-04 dir-right) + (MOVE-DIR pos-02-02 pos-01-02 dir-left) + (MOVE-DIR pos-02-03 pos-01-03 dir-left) + (MOVE-DIR pos-02-04 pos-01-04 dir-left) + (at player-01 pos-01-01) + (at stone-01 pos-01-02) + (clear pos-02-02) + (clear pos-01-03) + (clear pos-02-03) + (clear pos-01-04) + (clear pos-02-04) + ) + (:goal (and + (at-goal stone-01) + )) + ) + + diff --git a/blackout/model/large-blackout-1.pddl b/blackout/model/large-blackout-1.pddl new file mode 100644 index 0000000..f64881d --- /dev/null +++ b/blackout/model/large-blackout-1.pddl @@ -0,0 +1,23 @@ +(define (domain sokoban-sequential) +(:requirements :typing :negative-preconditions) +(:types location - object direction - object player_stone - object stone - player_stone player - player_stone) +(:predicates (is-goal ?0 - location) (is-nongoal ?0 - location) (move-dir ?0 - location ?1 - location ?2 - direction) (at ?0 - player_stone ?1 - location) (clear ?0 - location) (at-goal ?0 - stone)) +(:action move +:parameters (?0player - player ?1location - location ?2location - location ?3direction - direction) +:precondition (and (move-dir ?1location ?2location ?3direction) (at ?0player ?1location) (clear ?2location) +(not (move-dir ?2location ?2location ?3direction)) (not (at ?0player ?2location))) +:effect (and (clear ?1location) (at ?0player ?2location) +(not (at ?0player ?1location)) (not (clear ?2location)))) +(:action push-to-nongoal +:parameters (?0player - player ?1stone - stone ?2location - location ?3location - location ?4location - location ?5direction - direction) +:precondition (and (is-nongoal ?4location) (move-dir ?2location ?3location ?5direction) (move-dir ?3location ?4location ?5direction) (at ?0player ?2location) (at ?1stone ?3location) (clear ?4location) +(not (is-goal ?4location)) (not (move-dir ?4location ?4location ?5direction)) (not (at ?0player ?4location)) (not (at ?1stone ?4location))) +:effect (and (at ?1stone ?4location) (at ?0player ?3location) (clear ?2location) +(not (at-goal ?1stone)) (not (clear ?4location)) (not (at ?1stone ?3location)) (not (at ?0player ?2location)))) +(:action push-to-goal +:parameters (?0player - player ?1stone - stone ?2location - location ?3location - location ?4location - location ?5direction - direction) +:precondition (and (is-goal ?4location) (move-dir ?2location ?3location ?5direction) (move-dir ?3location ?4location ?5direction) (at ?0player ?2location) (at ?1stone ?3location) (clear ?4location) +(not (is-nongoal ?4location)) (not (move-dir ?4location ?4location ?5direction)) (not (at ?0player ?4location)) (not (at ?1stone ?4location))) +:effect (and (at ?1stone ?4location) (at ?0player ?3location) (at-goal ?1stone) (clear ?2location) +(not (clear ?4location)) (not (at ?1stone ?3location)) (not (at ?0player ?2location)))) +) diff --git a/blackout/model/large-blackout-2.pddl b/blackout/model/large-blackout-2.pddl new file mode 100644 index 0000000..4f77528 --- /dev/null +++ b/blackout/model/large-blackout-2.pddl @@ -0,0 +1,23 @@ +(define (domain sokoban-sequential) +(:requirements :typing :negative-preconditions) +(:types location - object direction - object player_stone - object stone - player_stone player - player_stone) +(:predicates (is-goal ?0 - location) (is-nongoal ?0 - location) (move-dir ?0 - location ?1 - location ?2 - direction) (at ?0 - player_stone ?1 - location) (clear ?0 - location) (at-goal ?0 - stone)) +(:action move +:parameters (?0player - player ?1location - location ?2location - location ?3direction - direction) +:precondition (and (clear ?2location) +) +:effect (and (at ?0player ?2location) (clear ?1location) +(not (clear ?2location)) (not (at ?0player ?1location)))) +(:action push-to-nongoal +:parameters (?0player - player ?1stone - stone ?2location - location ?3location - location ?4location - location ?5direction - direction) +:precondition (and (clear ?4location) +) +:effect (and (clear ?2location) (at ?1stone ?4location) (at ?0player ?3location) +(not (at-goal ?1stone)) (not (at ?0player ?2location)) (not (at ?1stone ?3location)) (not (clear ?4location)))) +(:action push-to-goal +:parameters (?0player - player ?1stone - stone ?2location - location ?3location - location ?4location - location ?5direction - direction) +:precondition (and (clear ?4location) +) +:effect (and (at-goal ?1stone) (at ?0player ?3location) (clear ?2location) (at ?1stone ?4location) +(not (at ?0player ?2location)) (not (at ?1stone ?3location)) (not (clear ?4location)))) +) diff --git a/blackout/model/large-blackout-3.pddl b/blackout/model/large-blackout-3.pddl new file mode 100644 index 0000000..88ef254 --- /dev/null +++ b/blackout/model/large-blackout-3.pddl @@ -0,0 +1,23 @@ +(define (domain sokoban-sequential) +(:requirements :typing :negative-preconditions) +(:types location - object direction - object player_stone - object stone - player_stone player - player_stone) +(:predicates (is-goal ?0 - location) (is-nongoal ?0 - location) (move-dir ?0 - location ?1 - location ?2 - direction) (at ?0 - player_stone ?1 - location) (clear ?0 - location) (at-goal ?0 - stone)) +(:action move +:parameters (?0player - player ?1location - location ?2location - location ?3direction - direction) +:precondition (and (clear ?2location) +) +:effect (and (at ?0player ?2location) (clear ?1location) +(not (clear ?2location)) (not (at ?0player ?1location)))) +(:action push-to-nongoal +:parameters (?0player - player ?1stone - stone ?2location - location ?3location - location ?4location - location ?5direction - direction) +:precondition (and (clear ?4location) +) +:effect (and (at ?1stone ?4location) (at ?0player ?3location) (clear ?2location) +(not (at ?1stone ?3location)) (not (at ?0player ?2location)) (not (clear ?4location)) (not (at-goal ?1stone)))) +(:action push-to-goal +:parameters (?0player - player ?1stone - stone ?2location - location ?3location - location ?4location - location ?5direction - direction) +:precondition (and (is-goal ?4location) (clear ?4location) +(not (is-nongoal ?4location))) +:effect (and (at ?1stone ?4location) (at-goal ?1stone) (at ?0player ?3location) (clear ?2location) +(not (at ?1stone ?3location)) (not (at ?0player ?2location)) (not (clear ?4location)))) +) diff --git a/blackout/model/medium-FAMA.pddl b/blackout/model/medium-FAMA.pddl new file mode 100644 index 0000000..9888b0e --- /dev/null +++ b/blackout/model/medium-FAMA.pddl @@ -0,0 +1,58 @@ +(define (domain sokoban-sequential) +(:requirements :typing) +(:predicates + (clear ?l - location) + (at ?t - thing ?l - location) + (at-goal ?s - stone) + (is-goal ?l - location) + (is-nongoal ?l - location) + (move-dir ?from - location ?to - location ?dir - direction) +) + +(:action move + :parameters (?p - player ?from - location ?to - location ?dir - direction) + :precondition (and (move-dir ?o2 ?o3 ?o4) (clear ?o3) (at ?o1 ?o2)) + :effect (and + (clear ?o2) + (is-nongoal ?o3) + (is-nongoal ?o2) + (not (at ?o1 ?o2)) + (not (clear ?o3)) + (at ?o1 ?o3) + ) +) + +(:action push-to-nongoal + :parameters (?p - player ?s - stone ?ppos - location ?from - location ?to - location ?dir - direction) + :precondition (and (is-nongoal ?o3) (at ?o1 ?o5) (at ?o2 ?o3) (at ?o1 ?o4) (move-dir ?o4 ?o3 ?o6) (is-goal ?o3) (move-dir ?o5 ?o5 ?o6) (is-nongoal ?o4) (clear ?o4) (at ?o2 ?o4) (is-nongoal ?o5) (at ?o2 ?o5)) + :effect (and + (at-goal ?o2) + (not (at ?o1 ?o5)) + (move-dir ?o3 ?o5 ?o6) + (move-dir ?o5 ?o3 ?o6) + (move-dir ?o4 ?o5 ?o6) + (move-dir ?o5 ?o4 ?o6) + (is-goal ?o4) + (clear ?o5) + (not (is-goal ?o3)) + (clear ?o3) + (move-dir ?o4 ?o4 ?o6) + (at ?o1 ?o3) + (not (is-nongoal ?o5)) + (not (at ?o2 ?o5)) + ) +) + +(:action push-to-goal + :parameters (?p - player ?s - stone ?ppos - location ?from - location ?to - location ?dir - direction) + :precondition (and (clear ?o5) (is-goal ?o5) (is-nongoal ?o4) (at ?o1 ?o3) (at ?o2 ?o4)) + :effect (and + (at-goal ?o2) + (at ?o1 ?o4) + (not (clear ?o5)) + (clear ?o3) + (not (at ?o1 ?o3)) + (not (at ?o2 ?o4)) + (at ?o2 ?o5) + ) +)) \ No newline at end of file diff --git a/blackout/model/medium-blackout-1.pddl b/blackout/model/medium-blackout-1.pddl new file mode 100644 index 0000000..0f81bc3 --- /dev/null +++ b/blackout/model/medium-blackout-1.pddl @@ -0,0 +1,17 @@ +(define (domain sokoban-sequential) +(:requirements :typing :negative-preconditions) +(:types location - object direction - object player_stone - object stone - player_stone player - player_stone) +(:predicates (is-goal ?0 - location) (is-nongoal ?0 - location) (move-dir ?0 - location ?1 - location ?2 - direction) (at ?0 - player_stone ?1 - location) (clear ?0 - location) (at-goal ?0 - stone)) +(:action move +:parameters (?0player - player ?1location - location ?2location - location ?3direction - direction) +:precondition (and (is-nongoal ?1location) (is-nongoal ?2location) (move-dir ?1location ?2location ?3direction) (at ?0player ?1location) (clear ?2location) +(not (is-goal ?2location)) (not (move-dir ?2location ?2location ?3direction)) (not (at ?0player ?2location))) +:effect (and (at ?0player ?2location) (clear ?1location) +(not (at ?0player ?1location)) (not (clear ?2location)))) +(:action push-to-goal +:parameters (?0player - player ?1stone - stone ?2location - location ?3location - location ?4location - location ?5direction - direction) +:precondition (and (is-goal ?4location) (is-nongoal ?2location) (is-nongoal ?3location) (move-dir ?2location ?3location ?5direction) (move-dir ?3location ?4location ?5direction) (at ?0player ?2location) (at ?1stone ?3location) (clear ?4location) +(not (is-nongoal ?4location)) (not (move-dir ?4location ?4location ?5direction)) (not (at ?0player ?4location)) (not (at ?1stone ?4location)) (not (at-goal ?1stone))) +:effect (and (at-goal ?1stone) (at ?1stone ?4location) (at ?0player ?3location) (clear ?2location) +(not (at ?1stone ?3location)) (not (at ?0player ?2location)) (not (clear ?4location)))) +) diff --git a/blackout/model/medium-blackout-2.pddl b/blackout/model/medium-blackout-2.pddl new file mode 100644 index 0000000..2f14470 --- /dev/null +++ b/blackout/model/medium-blackout-2.pddl @@ -0,0 +1,17 @@ +(define (domain sokoban-sequential) +(:requirements :typing :negative-preconditions) +(:types location - object direction - object player_stone - object stone - player_stone player - player_stone) +(:predicates (is-goal ?0 - location) (is-nongoal ?0 - location) (move-dir ?0 - location ?1 - location ?2 - direction) (at ?0 - player_stone ?1 - location) (clear ?0 - location) (at-goal ?0 - stone)) +(:action move +:parameters (?0player - player ?1location - location ?2location - location ?3direction - direction) +:precondition (and (clear ?2location) +) +:effect (and (at ?0player ?2location) (clear ?1location) +(not (at ?0player ?1location)) (not (clear ?2location)))) +(:action push-to-goal +:parameters (?0player - player ?1stone - stone ?2location - location ?3location - location ?4location - location ?5direction - direction) +:precondition (and +) +:effect (and (at ?0player ?3location) (clear ?2location) (at-goal ?1stone) (at ?1stone ?4location) +(not (at ?1stone ?3location)) (not (at ?0player ?2location)) (not (clear ?4location)))) +) diff --git a/blackout/model/medium-blackout-3.pddl b/blackout/model/medium-blackout-3.pddl new file mode 100644 index 0000000..b5a6f14 --- /dev/null +++ b/blackout/model/medium-blackout-3.pddl @@ -0,0 +1,17 @@ +(define (domain sokoban-sequential) +(:requirements :typing :negative-preconditions) +(:types location - object direction - object player_stone - object stone - player_stone player - player_stone) +(:predicates (is-goal ?0 - location) (is-nongoal ?0 - location) (move-dir ?0 - location ?1 - location ?2 - direction) (at ?0 - player_stone ?1 - location) (clear ?0 - location) (at-goal ?0 - stone)) +(:action move +:parameters (?0player - player ?1location - location ?2location - location ?3direction - direction) +:precondition (and (clear ?2location) +) +:effect (and (at ?0player ?2location) (clear ?1location) +(not (at ?0player ?1location)) (not (clear ?2location)))) +(:action push-to-goal +:parameters (?0player - player ?1stone - stone ?2location - location ?3location - location ?4location - location ?5direction - direction) +:precondition (and +) +:effect (and (at ?1stone ?4location) (at ?0player ?3location) (at-goal ?1stone) (clear ?2location) +(not (at ?0player ?2location)) (not (clear ?4location)) (not (at ?1stone ?3location)))) +) diff --git a/blackout/model/small-FAMA.pddl b/blackout/model/small-FAMA.pddl new file mode 100644 index 0000000..4627d61 --- /dev/null +++ b/blackout/model/small-FAMA.pddl @@ -0,0 +1,51 @@ +(define (domain sokoban-sequential) +(:requirements :typing) +(:predicates + (clear ?l - location) + (at ?t - thing ?l - location) + (at-goal ?s - stone) + (is-goal ?l - location) + (is-nongoal ?l - location) + (move-dir ?from - location ?to - location ?dir - direction) +) + +(:action move + :parameters (?p - player ?from - location ?to - location ?dir - direction) + :precondition (and (clear ?o3) (at ?o1 ?o2) (is-nongoal ?o2)) + :effect (and + (clear ?o2) + (not (clear ?o3)) + (is-nongoal ?o3) + (not (at ?o1 ?o2)) + (at ?o1 ?o3) + ) +) + +(:action push-to-nongoal + :parameters (?p - player ?s - stone ?ppos - location ?from - location ?to - location ?dir - direction) + :precondition (and (clear ?o5) (move-dir ?o3 ?o4 ?o6) (at ?o2 ?o4) (is-nongoal ?o4) (at ?o1 ?o3) (move-dir ?o4 ?o5 ?o6)) + :effect (and + (not (clear ?o5)) + (at ?o2 ?o5) + (clear ?o3) + (not (at ?o2 ?o4)) + (at ?o1 ?o4) + (not (at ?o1 ?o3)) + ) +) + +(:action push-to-goal + :parameters (?p - player ?s - stone ?ppos - location ?from - location ?to - location ?dir - direction) + :precondition (and (clear ?o5) (at ?o2 ?o4) (is-nongoal ?o3) (at ?o1 ?o3) (is-goal ?o5)) + :effect (and + (not (clear ?o5)) + (at ?o2 ?o5) + (clear ?o3) + (move-dir ?o3 ?o4 ?o6) + (not (at ?o2 ?o4)) + (at ?o1 ?o4) + (is-nongoal ?o4) + (not (at ?o1 ?o3)) + (at-goal ?o2) + ) +)) \ No newline at end of file diff --git a/blackout/model/small-blackout-1.pddl b/blackout/model/small-blackout-1.pddl new file mode 100644 index 0000000..00ff926 --- /dev/null +++ b/blackout/model/small-blackout-1.pddl @@ -0,0 +1,23 @@ +(define (domain sokoban-sequential) +(:requirements :typing :negative-preconditions) +(:types location - object direction - object player_stone - object stone - player_stone player - player_stone) +(:predicates (is-goal ?0 - location) (is-nongoal ?0 - location) (move-dir ?0 - location ?1 - location ?2 - direction) (at ?0 - player_stone ?1 - location) (clear ?0 - location) (at-goal ?0 - stone)) +(:action push-to-nongoal +:parameters (?0player - player ?1stone - stone ?2location - location ?3location - location ?4location - location ?5direction - direction) +:precondition (and (is-nongoal ?3location) (is-nongoal ?4location) (move-dir ?2location ?3location ?5direction) (move-dir ?3location ?4location ?5direction) (at ?0player ?2location) (at ?1stone ?3location) (clear ?4location) +(not (is-goal ?4location)) (not (move-dir ?4location ?4location ?5direction)) (not (at ?0player ?4location)) (not (at ?1stone ?4location)) (not (at-goal ?1stone))) +:effect (and (at ?1stone ?4location) (at ?0player ?3location) (clear ?2location) +(not (clear ?4location)) (not (at ?0player ?2location)) (not (at ?1stone ?3location)))) +(:action move +:parameters (?0player - player ?1location - location ?2location - location ?3direction - direction) +:precondition (and (is-nongoal ?1location) (is-nongoal ?2location) (move-dir ?1location ?2location ?3direction) (at ?0player ?1location) (clear ?2location) +(not (is-goal ?2location)) (not (move-dir ?2location ?2location ?3direction)) (not (at ?0player ?2location))) +:effect (and (at ?0player ?2location) (clear ?1location) +(not (at ?0player ?1location)) (not (clear ?2location)))) +(:action push-to-goal +:parameters (?0player - player ?1stone - stone ?2location - location ?3location - location ?4location - location ?5direction - direction) +:precondition (and (is-goal ?4location) (is-nongoal ?2location) (is-nongoal ?3location) (move-dir ?2location ?3location ?5direction) (move-dir ?3location ?4location ?5direction) (at ?0player ?2location) (at ?1stone ?3location) (clear ?4location) +(not (is-nongoal ?4location)) (not (move-dir ?4location ?4location ?5direction)) (not (at ?0player ?4location)) (not (at ?1stone ?4location)) (not (at-goal ?1stone))) +:effect (and (at-goal ?1stone) (at ?1stone ?4location) (at ?0player ?3location) (clear ?2location) +(not (clear ?4location)) (not (at ?0player ?2location)) (not (at ?1stone ?3location)))) +) diff --git a/blackout/model/small-blackout-2.pddl b/blackout/model/small-blackout-2.pddl new file mode 100644 index 0000000..2adb6c2 --- /dev/null +++ b/blackout/model/small-blackout-2.pddl @@ -0,0 +1,23 @@ +(define (domain sokoban-sequential) +(:requirements :typing :negative-preconditions) +(:types location - object direction - object player_stone - object stone - player_stone player - player_stone) +(:predicates (is-goal ?0 - location) (is-nongoal ?0 - location) (move-dir ?0 - location ?1 - location ?2 - direction) (at ?0 - player_stone ?1 - location) (clear ?0 - location) (at-goal ?0 - stone)) +(:action push-to-nongoal +:parameters (?0player - player ?1stone - stone ?2location - location ?3location - location ?4location - location ?5direction - direction) +:precondition (and +) +:effect (and (clear ?2location) (at ?1stone ?4location) (at ?0player ?3location) +(not (clear ?4location)) (not (at ?1stone ?3location)) (not (at ?0player ?2location)))) +(:action move +:parameters (?0player - player ?1location - location ?2location - location ?3direction - direction) +:precondition (and (clear ?2location) +) +:effect (and (clear ?1location) (at ?0player ?2location) +(not (clear ?2location)) (not (at ?0player ?1location)))) +(:action push-to-goal +:parameters (?0player - player ?1stone - stone ?2location - location ?3location - location ?4location - location ?5direction - direction) +:precondition (and +) +:effect (and (at-goal ?1stone) (at ?1stone ?4location) (clear ?2location) (at ?0player ?3location) +(not (clear ?4location)) (not (at ?1stone ?3location)) (not (at ?0player ?2location)))) +) diff --git a/blackout/model/small-blackout-3.pddl b/blackout/model/small-blackout-3.pddl new file mode 100644 index 0000000..3209768 --- /dev/null +++ b/blackout/model/small-blackout-3.pddl @@ -0,0 +1,23 @@ +(define (domain sokoban-sequential) +(:requirements :typing :negative-preconditions) +(:types location - object direction - object player_stone - object stone - player_stone player - player_stone) +(:predicates (is-goal ?0 - location) (is-nongoal ?0 - location) (move-dir ?0 - location ?1 - location ?2 - direction) (at ?0 - player_stone ?1 - location) (clear ?0 - location) (at-goal ?0 - stone)) +(:action push-to-nongoal +:parameters (?0player - player ?1stone - stone ?2location - location ?3location - location ?4location - location ?5direction - direction) +:precondition (and +) +:effect (and (at ?1stone ?4location) (clear ?2location) (at ?0player ?3location) +(not (at ?1stone ?3location)) (not (clear ?4location)) (not (at ?0player ?2location)))) +(:action move +:parameters (?0player - player ?1location - location ?2location - location ?3direction - direction) +:precondition (and (clear ?2location) +) +:effect (and (clear ?1location) (at ?0player ?2location) +(not (clear ?2location)) (not (at ?0player ?1location)))) +(:action push-to-goal +:parameters (?0player - player ?1stone - stone ?2location - location ?3location - location ?4location - location ?5direction - direction) +:precondition (and (is-goal ?4location) +(not (is-nongoal ?4location))) +:effect (and (at ?1stone ?4location) (clear ?2location) (at ?0player ?3location) (at-goal ?1stone) +(not (at ?1stone ?3location)) (not (clear ?4location)) (not (at ?0player ?2location)))) +) diff --git a/blackout/sokoban-sequential.pddl b/blackout/sokoban-sequential.pddl new file mode 100644 index 0000000..ab5ad49 --- /dev/null +++ b/blackout/sokoban-sequential.pddl @@ -0,0 +1,56 @@ +(define (domain sokoban-sequential) + (:requirements :typing) + (:types thing location direction - object + player stone - thing) + (:predicates (clear ?l - location) + (at ?t - thing ?l - location) + (at-goal ?s - stone) + (IS-GOAL ?l - location) + (IS-NONGOAL ?l - location) + (MOVE-DIR ?from ?to - location ?dir - direction)) + + (:action move + :parameters (?p - player ?from ?to - location ?dir - direction) + :precondition (and (at ?p ?from) + (clear ?to) + (MOVE-DIR ?from ?to ?dir)) + :effect (and (not (at ?p ?from)) + (not (clear ?to)) + (at ?p ?to) + (clear ?from))) + + (:action push-to-nongoal + :parameters (?p - player ?s - stone + ?ppos ?from ?to - location + ?dir - direction) + :precondition (and (at ?p ?ppos) + (at ?s ?from) + (clear ?to) + (MOVE-DIR ?ppos ?from ?dir) + (MOVE-DIR ?from ?to ?dir) + (IS-NONGOAL ?to)) + :effect (and (not (at ?p ?ppos)) + (not (at ?s ?from)) + (not (clear ?to)) + (at ?p ?from) + (at ?s ?to) + (clear ?ppos) + (not (at-goal ?s)))) + + (:action push-to-goal + :parameters (?p - player ?s - stone + ?ppos ?from ?to - location + ?dir - direction) + :precondition (and (at ?p ?ppos) + (at ?s ?from) + (clear ?to) + (MOVE-DIR ?ppos ?from ?dir) + (MOVE-DIR ?from ?to ?dir) + (IS-GOAL ?to)) + :effect (and (not (at ?p ?ppos)) + (not (at ?s ?from)) + (not (clear ?to)) + (at ?p ?from) + (at ?s ?to) + (clear ?ppos) + (at-goal ?s)))) diff --git a/blackout/trajectory/large-brief.log b/blackout/trajectory/large-brief.log new file mode 100644 index 0000000..849e431 --- /dev/null +++ b/blackout/trajectory/large-brief.log @@ -0,0 +1,915 @@ +(trajectory + +(:objects dir-down - direction dir-left - direction dir-right - direction dir-up - direction player-01 - player pos-01-01 - location pos-01-02 - location pos-01-03 - location pos-01-04 - location pos-01-05 - location pos-01-06 - location pos-01-07 - location pos-02-01 - location pos-02-02 - location pos-02-03 - location pos-02-04 - location pos-02-05 - location pos-02-06 - location pos-02-07 - location pos-03-01 - location pos-03-02 - location pos-03-03 - location pos-03-04 - location pos-03-05 - location pos-03-06 - location pos-03-07 - location pos-04-01 - location pos-04-02 - location pos-04-03 - location pos-04-04 - location pos-04-05 - location pos-04-06 - location pos-04-07 - location pos-05-01 - location pos-05-02 - location pos-05-03 - location pos-05-04 - location pos-05-05 - location pos-05-06 - location pos-05-07 - location pos-06-01 - location pos-06-02 - location pos-06-03 - location pos-06-04 - location pos-06-05 - location pos-06-06 - location pos-06-07 - location pos-07-01 - location pos-07-02 - location pos-07-03 - location pos-07-04 - location pos-07-05 - location pos-07-06 - location pos-07-07 - location pos-08-01 - location pos-08-02 - location pos-08-03 - location pos-08-04 - location pos-08-05 - location pos-08-06 - location pos-08-07 - location pos-09-01 - location pos-09-02 - location pos-09-03 - location pos-09-04 - location pos-09-05 - location pos-09-06 - location pos-09-07 - location pos-10-01 - location pos-10-02 - location pos-10-03 - location pos-10-04 - location pos-10-05 - location pos-10-06 - location pos-10-07 - location pos-11-01 - location pos-11-02 - location pos-11-03 - location pos-11-04 - location pos-11-05 - location pos-11-06 - location pos-11-07 - location pos-12-01 - location pos-12-02 - location pos-12-03 - location pos-12-04 - location pos-12-05 - location pos-12-06 - location pos-12-07 - location stone-01 - stone stone-02 - stone stone-03 - stone stone-04 - stone stone-05 - stone stone-06 - stone stone-07 - stone ) + +(:init (is-goal pos-03-02) (is-goal pos-04-02) (is-goal pos-05-02) (is-goal pos-06-02) (is-goal pos-07-02) (is-goal pos-08-02) (is-goal pos-09-02) (is-nongoal pos-01-01) (is-nongoal pos-01-02) (is-nongoal pos-01-03) (is-nongoal pos-01-04) (is-nongoal pos-01-05) (is-nongoal pos-01-06) (is-nongoal pos-01-07) (is-nongoal pos-02-01) (is-nongoal pos-02-02) (is-nongoal pos-02-03) (is-nongoal pos-02-04) (is-nongoal pos-02-05) (is-nongoal pos-02-06) (is-nongoal pos-02-07) (is-nongoal pos-03-01) (is-nongoal pos-03-03) (is-nongoal pos-03-04) (is-nongoal pos-03-05) (is-nongoal pos-03-06) (is-nongoal pos-03-07) (is-nongoal pos-04-01) (is-nongoal pos-04-03) (is-nongoal pos-04-04) (is-nongoal pos-04-05) (is-nongoal pos-04-06) (is-nongoal pos-04-07) (is-nongoal pos-05-01) (is-nongoal pos-05-03) (is-nongoal pos-05-04) (is-nongoal pos-05-05) (is-nongoal pos-05-06) (is-nongoal pos-05-07) (is-nongoal pos-06-01) (is-nongoal pos-06-03) (is-nongoal pos-06-04) (is-nongoal pos-06-05) (is-nongoal pos-06-06) (is-nongoal pos-06-07) (is-nongoal pos-07-01) (is-nongoal pos-07-03) (is-nongoal pos-07-04) (is-nongoal pos-07-05) (is-nongoal pos-07-06) (is-nongoal pos-07-07) (is-nongoal pos-08-01) (is-nongoal pos-08-03) (is-nongoal pos-08-04) (is-nongoal pos-08-05) (is-nongoal pos-08-06) (is-nongoal pos-08-07) (is-nongoal pos-09-01) (is-nongoal pos-09-03) (is-nongoal pos-09-04) (is-nongoal pos-09-05) (is-nongoal pos-09-06) (is-nongoal pos-09-07) (is-nongoal pos-10-01) (is-nongoal pos-10-02) (is-nongoal pos-10-03) (is-nongoal pos-10-04) (is-nongoal pos-10-05) (is-nongoal pos-10-06) (is-nongoal pos-10-07) (is-nongoal pos-11-01) (is-nongoal pos-11-02) (is-nongoal pos-11-03) (is-nongoal pos-11-04) (is-nongoal pos-11-05) (is-nongoal pos-11-06) (is-nongoal pos-11-07) (is-nongoal pos-12-01) (is-nongoal pos-12-02) (is-nongoal pos-12-03) (is-nongoal pos-12-04) (is-nongoal pos-12-05) (is-nongoal pos-12-06) (is-nongoal pos-12-07) (move-dir pos-02-03 pos-02-04 dir-down) (move-dir pos-02-03 pos-03-03 dir-right) (move-dir pos-02-04 pos-02-03 dir-up) (move-dir pos-02-04 pos-02-05 dir-down) (move-dir pos-02-04 pos-03-04 dir-right) (move-dir pos-02-05 pos-02-04 dir-up) (move-dir pos-02-05 pos-02-06 dir-down) (move-dir pos-02-06 pos-02-05 dir-up) (move-dir pos-02-06 pos-03-06 dir-right) (move-dir pos-03-02 pos-03-03 dir-down) (move-dir pos-03-02 pos-04-02 dir-right) (move-dir pos-03-03 pos-02-03 dir-left) (move-dir pos-03-03 pos-03-02 dir-up) (move-dir pos-03-03 pos-03-04 dir-down) (move-dir pos-03-03 pos-04-03 dir-right) (move-dir pos-03-04 pos-02-04 dir-left) (move-dir pos-03-04 pos-03-03 dir-up) (move-dir pos-03-04 pos-04-04 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(move-dir pos-10-02 pos-09-02 dir-left) (move-dir pos-10-02 pos-10-03 dir-down) (move-dir pos-10-02 pos-11-02 dir-right) (move-dir pos-10-03 pos-09-03 dir-left) (move-dir pos-10-03 pos-10-02 dir-up) (move-dir pos-10-03 pos-10-04 dir-down) (move-dir pos-10-03 pos-11-03 dir-right) (move-dir pos-10-04 pos-10-03 dir-up) (move-dir pos-10-04 pos-10-05 dir-down) (move-dir pos-10-05 pos-09-05 dir-left) (move-dir pos-10-05 pos-10-04 dir-up) (move-dir pos-10-07 pos-09-07 dir-left) (move-dir pos-10-07 pos-11-07 dir-right) (move-dir pos-11-02 pos-10-02 dir-left) (move-dir pos-11-02 pos-11-03 dir-down) (move-dir pos-11-03 pos-10-03 dir-left) (move-dir pos-11-03 pos-11-02 dir-up) (move-dir pos-11-07 pos-10-07 dir-left) (move-dir pos-11-07 pos-12-07 dir-right) (move-dir pos-12-05 pos-12-06 dir-down) (move-dir pos-12-06 pos-12-05 dir-up) (move-dir pos-12-06 pos-12-07 dir-down) (move-dir pos-12-07 pos-11-07 dir-left) (move-dir pos-12-07 pos-12-06 dir-up) (clear pos-01-01) (clear pos-06-07) (clear 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(move-dir pos-09-02 pos-09-03 dir-down) (move-dir pos-09-02 pos-10-02 dir-right) (move-dir pos-09-03 pos-08-03 dir-left) (move-dir pos-09-03 pos-09-02 dir-up) (move-dir pos-09-03 pos-10-03 dir-right) (move-dir pos-09-05 pos-08-05 dir-left) (move-dir pos-09-05 pos-10-05 dir-right) (move-dir pos-09-07 pos-08-07 dir-left) (move-dir pos-09-07 pos-10-07 dir-right) (move-dir pos-10-02 pos-09-02 dir-left) (move-dir pos-10-02 pos-10-03 dir-down) (move-dir pos-10-02 pos-11-02 dir-right) (move-dir pos-10-03 pos-09-03 dir-left) (move-dir pos-10-03 pos-10-02 dir-up) (move-dir pos-10-03 pos-10-04 dir-down) (move-dir pos-10-03 pos-11-03 dir-right) (move-dir pos-10-04 pos-10-03 dir-up) (move-dir pos-10-04 pos-10-05 dir-down) (move-dir pos-10-05 pos-09-05 dir-left) (move-dir pos-10-05 pos-10-04 dir-up) (move-dir pos-10-07 pos-09-07 dir-left) (move-dir pos-10-07 pos-11-07 dir-right) (move-dir pos-11-02 pos-10-02 dir-left) (move-dir pos-11-02 pos-11-03 dir-down) (move-dir pos-11-03 pos-10-03 dir-left) (move-dir pos-11-03 pos-11-02 dir-up) (move-dir pos-11-07 pos-10-07 dir-left) (move-dir pos-11-07 pos-12-07 dir-right) (move-dir pos-12-05 pos-12-06 dir-down) (move-dir pos-12-06 pos-12-05 dir-up) (move-dir pos-12-06 pos-12-07 dir-down) (move-dir pos-12-07 pos-11-07 dir-left) (move-dir pos-12-07 pos-12-06 dir-up) (clear pos-01-01) (clear pos-06-07) (clear pos-07-07) (clear pos-08-07) (clear pos-09-07) (clear pos-10-07) (clear pos-11-07) (clear pos-12-05) (clear pos-12-06) (clear pos-12-07) (at-goal stone-04) (at stone-04 pos-03-02) (at-goal stone-03) (at stone-03 pos-04-02) (at-goal stone-07) (at stone-07 pos-05-02) (clear pos-11-02) (at-goal stone-06) (at stone-06 pos-06-02) (at-goal stone-05) (at stone-05 pos-07-02) (clear pos-09-02) (clear pos-06-04) (clear pos-06-05) (clear pos-07-05) (at stone-02 pos-08-02) (at-goal stone-02) (clear pos-02-03) (clear pos-02-04) (clear pos-02-05) (clear pos-02-06) (clear pos-03-06) (clear pos-04-06) (clear pos-04-05) (clear pos-04-04) (clear 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pos-09-02) (clear pos-11-02) (at-goal stone-01)) + +) \ No newline at end of file diff --git a/blackout/trajectory/large-verbose.log b/blackout/trajectory/large-verbose.log new file mode 100644 index 0000000..c4fcd70 --- /dev/null +++ b/blackout/trajectory/large-verbose.log @@ -0,0 +1,1199 @@ +(trajectory + +(:objects dir-down - direction dir-left - direction dir-right - direction dir-up - direction player-01 - player pos-01-01 - location pos-01-02 - location pos-01-03 - location pos-01-04 - location pos-01-05 - location pos-01-06 - location pos-01-07 - location pos-02-01 - location pos-02-02 - location pos-02-03 - location pos-02-04 - location pos-02-05 - location pos-02-06 - location pos-02-07 - location pos-03-01 - location pos-03-02 - location pos-03-03 - location pos-03-04 - location pos-03-05 - location pos-03-06 - location pos-03-07 - location pos-04-01 - location pos-04-02 - location pos-04-03 - location pos-04-04 - location pos-04-05 - location pos-04-06 - location pos-04-07 - location pos-05-01 - location pos-05-02 - location pos-05-03 - location pos-05-04 - location pos-05-05 - location pos-05-06 - location pos-05-07 - location pos-06-01 - location pos-06-02 - location pos-06-03 - location pos-06-04 - location pos-06-05 - location pos-06-06 - location pos-06-07 - location pos-07-01 - location pos-07-02 - location pos-07-03 - location pos-07-04 - location pos-07-05 - location pos-07-06 - location pos-07-07 - location pos-08-01 - location pos-08-02 - location pos-08-03 - location pos-08-04 - location pos-08-05 - location pos-08-06 - location pos-08-07 - location pos-09-01 - location pos-09-02 - location pos-09-03 - location pos-09-04 - location pos-09-05 - location pos-09-06 - location pos-09-07 - location pos-10-01 - location pos-10-02 - location pos-10-03 - location pos-10-04 - location pos-10-05 - location pos-10-06 - location pos-10-07 - location pos-11-01 - location pos-11-02 - location pos-11-03 - location pos-11-04 - location pos-11-05 - location pos-11-06 - location pos-11-07 - location pos-12-01 - location pos-12-02 - location pos-12-03 - location pos-12-04 - location pos-12-05 - location pos-12-06 - location pos-12-07 - location stone-01 - stone stone-02 - stone stone-03 - stone stone-04 - stone stone-05 - stone stone-06 - stone stone-07 - stone ) + +(:init (is-goal pos-03-02) (is-goal pos-04-02) (is-goal pos-05-02) (is-goal pos-06-02) (is-goal pos-07-02) (is-goal pos-08-02) (is-goal pos-09-02) (is-nongoal pos-01-01) (is-nongoal pos-01-02) (is-nongoal pos-01-03) (is-nongoal pos-01-04) (is-nongoal pos-01-05) (is-nongoal pos-01-06) (is-nongoal pos-01-07) (is-nongoal pos-02-01) (is-nongoal pos-02-02) (is-nongoal pos-02-03) (is-nongoal pos-02-04) (is-nongoal pos-02-05) (is-nongoal pos-02-06) (is-nongoal pos-02-07) (is-nongoal pos-03-01) (is-nongoal pos-03-03) (is-nongoal pos-03-04) (is-nongoal pos-03-05) (is-nongoal pos-03-06) (is-nongoal pos-03-07) (is-nongoal pos-04-01) (is-nongoal pos-04-03) (is-nongoal pos-04-04) (is-nongoal pos-04-05) (is-nongoal pos-04-06) (is-nongoal pos-04-07) (is-nongoal pos-05-01) (is-nongoal pos-05-03) (is-nongoal pos-05-04) (is-nongoal pos-05-05) (is-nongoal pos-05-06) (is-nongoal pos-05-07) (is-nongoal pos-06-01) (is-nongoal pos-06-03) (is-nongoal pos-06-04) (is-nongoal pos-06-05) (is-nongoal pos-06-06) (is-nongoal pos-06-07) (is-nongoal pos-07-01) (is-nongoal pos-07-03) (is-nongoal pos-07-04) (is-nongoal pos-07-05) (is-nongoal pos-07-06) (is-nongoal pos-07-07) (is-nongoal pos-08-01) (is-nongoal pos-08-03) (is-nongoal pos-08-04) (is-nongoal pos-08-05) (is-nongoal pos-08-06) (is-nongoal pos-08-07) (is-nongoal pos-09-01) (is-nongoal pos-09-03) (is-nongoal pos-09-04) (is-nongoal pos-09-05) (is-nongoal pos-09-06) (is-nongoal pos-09-07) (is-nongoal pos-10-01) (is-nongoal pos-10-02) (is-nongoal pos-10-03) (is-nongoal pos-10-04) (is-nongoal pos-10-05) (is-nongoal pos-10-06) (is-nongoal pos-10-07) (is-nongoal pos-11-01) (is-nongoal pos-11-02) (is-nongoal pos-11-03) (is-nongoal pos-11-04) (is-nongoal pos-11-05) (is-nongoal pos-11-06) (is-nongoal pos-11-07) (is-nongoal pos-12-01) (is-nongoal pos-12-02) (is-nongoal pos-12-03) (is-nongoal pos-12-04) (is-nongoal pos-12-05) (is-nongoal pos-12-06) (is-nongoal pos-12-07) (move-dir pos-02-03 pos-02-04 dir-down) (move-dir pos-02-03 pos-03-03 dir-right) (move-dir pos-02-04 pos-02-03 dir-up) (move-dir pos-02-04 pos-02-05 dir-down) (move-dir pos-02-04 pos-03-04 dir-right) (move-dir pos-02-05 pos-02-04 dir-up) (move-dir pos-02-05 pos-02-06 dir-down) (move-dir pos-02-06 pos-02-05 dir-up) (move-dir pos-02-06 pos-03-06 dir-right) (move-dir pos-03-02 pos-03-03 dir-down) (move-dir pos-03-02 pos-04-02 dir-right) (move-dir pos-03-03 pos-02-03 dir-left) (move-dir pos-03-03 pos-03-02 dir-up) (move-dir pos-03-03 pos-03-04 dir-down) (move-dir pos-03-03 pos-04-03 dir-right) (move-dir pos-03-04 pos-02-04 dir-left) (move-dir pos-03-04 pos-03-03 dir-up) (move-dir pos-03-04 pos-04-04 dir-right) (move-dir pos-03-06 pos-02-06 dir-left) (move-dir pos-03-06 pos-04-06 dir-right) (move-dir pos-04-02 pos-03-02 dir-left) (move-dir pos-04-02 pos-04-03 dir-down) (move-dir pos-04-02 pos-05-02 dir-right) (move-dir pos-04-03 pos-03-03 dir-left) (move-dir pos-04-03 pos-04-02 dir-up) (move-dir pos-04-03 pos-04-04 dir-down) (move-dir pos-04-03 pos-05-03 dir-right) (move-dir pos-04-04 pos-03-04 dir-left) (move-dir pos-04-04 pos-04-03 dir-up) (move-dir pos-04-04 pos-04-05 dir-down) (move-dir pos-04-05 pos-04-04 dir-up) (move-dir pos-04-05 pos-04-06 dir-down) (move-dir pos-04-06 pos-03-06 dir-left) (move-dir pos-04-06 pos-04-05 dir-up) (move-dir pos-05-02 pos-04-02 dir-left) (move-dir pos-05-02 pos-05-03 dir-down) (move-dir pos-05-02 pos-06-02 dir-right) (move-dir pos-05-03 pos-04-03 dir-left) (move-dir pos-05-03 pos-05-02 dir-up) (move-dir pos-05-03 pos-06-03 dir-right) (move-dir pos-06-02 pos-05-02 dir-left) (move-dir pos-06-02 pos-06-03 dir-down) (move-dir pos-06-02 pos-07-02 dir-right) (move-dir pos-06-03 pos-05-03 dir-left) (move-dir pos-06-03 pos-06-02 dir-up) (move-dir pos-06-03 pos-06-04 dir-down) (move-dir pos-06-03 pos-07-03 dir-right) (move-dir pos-06-04 pos-06-03 dir-up) (move-dir pos-06-04 pos-06-05 dir-down) (move-dir pos-06-05 pos-06-04 dir-up) (move-dir pos-06-05 pos-07-05 dir-right) (move-dir pos-06-07 pos-07-07 dir-right) (move-dir pos-07-02 pos-06-02 dir-left) (move-dir pos-07-02 pos-07-03 dir-down) (move-dir pos-07-02 pos-08-02 dir-right) (move-dir pos-07-03 pos-06-03 dir-left) (move-dir pos-07-03 pos-07-02 dir-up) (move-dir pos-07-03 pos-08-03 dir-right) (move-dir pos-07-05 pos-06-05 dir-left) (move-dir pos-07-05 pos-08-05 dir-right) (move-dir pos-07-07 pos-06-07 dir-left) (move-dir pos-07-07 pos-08-07 dir-right) (move-dir pos-08-02 pos-07-02 dir-left) (move-dir pos-08-02 pos-08-03 dir-down) (move-dir pos-08-02 pos-09-02 dir-right) (move-dir pos-08-03 pos-07-03 dir-left) (move-dir pos-08-03 pos-08-02 dir-up) (move-dir pos-08-03 pos-08-04 dir-down) (move-dir pos-08-03 pos-09-03 dir-right) (move-dir pos-08-04 pos-08-03 dir-up) (move-dir pos-08-04 pos-08-05 dir-down) (move-dir pos-08-05 pos-07-05 dir-left) (move-dir pos-08-05 pos-08-04 dir-up) (move-dir pos-08-05 pos-09-05 dir-right) (move-dir pos-08-07 pos-07-07 dir-left) (move-dir pos-08-07 pos-09-07 dir-right) (move-dir pos-09-02 pos-08-02 dir-left) (move-dir pos-09-02 pos-09-03 dir-down) (move-dir pos-09-02 pos-10-02 dir-right) (move-dir pos-09-03 pos-08-03 dir-left) (move-dir pos-09-03 pos-09-02 dir-up) (move-dir pos-09-03 pos-10-03 dir-right) (move-dir pos-09-05 pos-08-05 dir-left) (move-dir pos-09-05 pos-10-05 dir-right) (move-dir pos-09-07 pos-08-07 dir-left) (move-dir pos-09-07 pos-10-07 dir-right) (move-dir pos-10-02 pos-09-02 dir-left) (move-dir pos-10-02 pos-10-03 dir-down) (move-dir pos-10-02 pos-11-02 dir-right) (move-dir pos-10-03 pos-09-03 dir-left) (move-dir pos-10-03 pos-10-02 dir-up) (move-dir pos-10-03 pos-10-04 dir-down) (move-dir pos-10-03 pos-11-03 dir-right) (move-dir pos-10-04 pos-10-03 dir-up) (move-dir pos-10-04 pos-10-05 dir-down) (move-dir pos-10-05 pos-09-05 dir-left) (move-dir pos-10-05 pos-10-04 dir-up) (move-dir pos-10-07 pos-09-07 dir-left) (move-dir pos-10-07 pos-11-07 dir-right) (move-dir pos-11-02 pos-10-02 dir-left) (move-dir pos-11-02 pos-11-03 dir-down) (move-dir pos-11-03 pos-10-03 dir-left) (move-dir pos-11-03 pos-11-02 dir-up) (move-dir pos-11-07 pos-10-07 dir-left) (move-dir pos-11-07 pos-12-07 dir-right) (move-dir pos-12-05 pos-12-06 dir-down) (move-dir pos-12-06 pos-12-05 dir-up) (move-dir pos-12-06 pos-12-07 dir-down) (move-dir pos-12-07 pos-11-07 dir-left) (move-dir pos-12-07 pos-12-06 dir-up) (at player-01 pos-10-03) (at stone-01 pos-03-03) (at stone-02 pos-04-03) (at stone-03 pos-05-03) (at stone-04 pos-06-03) (at stone-05 pos-07-03) (at stone-06 pos-08-03) (at stone-07 pos-09-03) (clear pos-01-01) (clear pos-02-03) (clear pos-02-04) (clear pos-02-05) (clear pos-02-06) (clear pos-03-02) (clear pos-03-04) (clear pos-03-06) (clear pos-04-02) (clear pos-04-04) (clear pos-04-05) (clear pos-04-06) (clear pos-05-02) (clear pos-06-02) (clear pos-06-04) (clear pos-06-05) (clear pos-06-07) (clear pos-07-02) (clear pos-07-05) (clear pos-07-07) (clear pos-08-02) (clear pos-08-04) (clear pos-08-05) (clear pos-08-07) (clear pos-09-02) (clear pos-09-05) (clear pos-09-07) (clear pos-10-02) (clear pos-10-04) (clear pos-10-05) (clear pos-10-07) (clear pos-11-02) (clear pos-11-03) (clear pos-11-07) (clear pos-12-05) (clear pos-12-06) (clear pos-12-07)) + +(:action-failed (move player-01 pos-10-03 pos-09-03 dir-left)) + +(:state (is-goal pos-03-02) (is-goal pos-04-02) (is-goal pos-05-02) (is-goal pos-06-02) (is-goal pos-07-02) (is-goal pos-08-02) (is-goal pos-09-02) (is-nongoal pos-01-01) (is-nongoal pos-01-02) (is-nongoal pos-01-03) (is-nongoal pos-01-04) (is-nongoal pos-01-05) (is-nongoal pos-01-06) (is-nongoal pos-01-07) (is-nongoal pos-02-01) (is-nongoal pos-02-02) (is-nongoal pos-02-03) (is-nongoal pos-02-04) (is-nongoal pos-02-05) (is-nongoal pos-02-06) (is-nongoal pos-02-07) (is-nongoal pos-03-01) (is-nongoal pos-03-03) (is-nongoal pos-03-04) (is-nongoal pos-03-05) (is-nongoal pos-03-06) (is-nongoal pos-03-07) (is-nongoal pos-04-01) (is-nongoal pos-04-03) (is-nongoal pos-04-04) (is-nongoal pos-04-05) (is-nongoal pos-04-06) (is-nongoal pos-04-07) (is-nongoal pos-05-01) (is-nongoal pos-05-03) (is-nongoal pos-05-04) (is-nongoal pos-05-05) (is-nongoal pos-05-06) (is-nongoal pos-05-07) (is-nongoal pos-06-01) (is-nongoal pos-06-03) (is-nongoal pos-06-04) (is-nongoal pos-06-05) (is-nongoal pos-06-06) (is-nongoal pos-06-07) (is-nongoal pos-07-01) (is-nongoal pos-07-03) (is-nongoal pos-07-04) (is-nongoal pos-07-05) (is-nongoal pos-07-06) (is-nongoal pos-07-07) (is-nongoal pos-08-01) (is-nongoal pos-08-03) (is-nongoal pos-08-04) (is-nongoal pos-08-05) (is-nongoal pos-08-06) (is-nongoal pos-08-07) (is-nongoal pos-09-01) (is-nongoal pos-09-03) (is-nongoal pos-09-04) (is-nongoal pos-09-05) (is-nongoal pos-09-06) (is-nongoal pos-09-07) (is-nongoal pos-10-01) (is-nongoal pos-10-02) (is-nongoal pos-10-03) (is-nongoal pos-10-04) (is-nongoal pos-10-05) (is-nongoal pos-10-06) (is-nongoal pos-10-07) (is-nongoal pos-11-01) (is-nongoal pos-11-02) (is-nongoal pos-11-03) (is-nongoal pos-11-04) (is-nongoal pos-11-05) (is-nongoal pos-11-06) (is-nongoal pos-11-07) (is-nongoal pos-12-01) (is-nongoal pos-12-02) (is-nongoal pos-12-03) (is-nongoal pos-12-04) (is-nongoal pos-12-05) (is-nongoal pos-12-06) (is-nongoal pos-12-07) (move-dir pos-02-03 pos-02-04 dir-down) (move-dir pos-02-03 pos-03-03 dir-right) (move-dir pos-02-04 pos-02-03 dir-up) (move-dir pos-02-04 pos-02-05 dir-down) (move-dir pos-02-04 pos-03-04 dir-right) (move-dir pos-02-05 pos-02-04 dir-up) (move-dir pos-02-05 pos-02-06 dir-down) (move-dir pos-02-06 pos-02-05 dir-up) (move-dir pos-02-06 pos-03-06 dir-right) (move-dir pos-03-02 pos-03-03 dir-down) (move-dir pos-03-02 pos-04-02 dir-right) (move-dir pos-03-03 pos-02-03 dir-left) (move-dir pos-03-03 pos-03-02 dir-up) (move-dir pos-03-03 pos-03-04 dir-down) (move-dir pos-03-03 pos-04-03 dir-right) (move-dir pos-03-04 pos-02-04 dir-left) (move-dir pos-03-04 pos-03-03 dir-up) (move-dir pos-03-04 pos-04-04 dir-right) (move-dir pos-03-06 pos-02-06 dir-left) (move-dir pos-03-06 pos-04-06 dir-right) (move-dir pos-04-02 pos-03-02 dir-left) (move-dir pos-04-02 pos-04-03 dir-down) (move-dir pos-04-02 pos-05-02 dir-right) (move-dir pos-04-03 pos-03-03 dir-left) (move-dir pos-04-03 pos-04-02 dir-up) (move-dir pos-04-03 pos-04-04 dir-down) (move-dir pos-04-03 pos-05-03 dir-right) (move-dir pos-04-04 pos-03-04 dir-left) (move-dir pos-04-04 pos-04-03 dir-up) (move-dir pos-04-04 pos-04-05 dir-down) (move-dir pos-04-05 pos-04-04 dir-up) (move-dir pos-04-05 pos-04-06 dir-down) (move-dir pos-04-06 pos-03-06 dir-left) (move-dir pos-04-06 pos-04-05 dir-up) (move-dir pos-05-02 pos-04-02 dir-left) (move-dir pos-05-02 pos-05-03 dir-down) (move-dir pos-05-02 pos-06-02 dir-right) (move-dir pos-05-03 pos-04-03 dir-left) (move-dir pos-05-03 pos-05-02 dir-up) (move-dir pos-05-03 pos-06-03 dir-right) (move-dir pos-06-02 pos-05-02 dir-left) (move-dir pos-06-02 pos-06-03 dir-down) (move-dir pos-06-02 pos-07-02 dir-right) (move-dir pos-06-03 pos-05-03 dir-left) (move-dir pos-06-03 pos-06-02 dir-up) (move-dir pos-06-03 pos-06-04 dir-down) (move-dir pos-06-03 pos-07-03 dir-right) (move-dir pos-06-04 pos-06-03 dir-up) (move-dir pos-06-04 pos-06-05 dir-down) (move-dir pos-06-05 pos-06-04 dir-up) (move-dir pos-06-05 pos-07-05 dir-right) (move-dir pos-06-07 pos-07-07 dir-right) (move-dir pos-07-02 pos-06-02 dir-left) (move-dir pos-07-02 pos-07-03 dir-down) (move-dir pos-07-02 pos-08-02 dir-right) (move-dir pos-07-03 pos-06-03 dir-left) (move-dir pos-07-03 pos-07-02 dir-up) (move-dir pos-07-03 pos-08-03 dir-right) (move-dir pos-07-05 pos-06-05 dir-left) (move-dir pos-07-05 pos-08-05 dir-right) (move-dir pos-07-07 pos-06-07 dir-left) (move-dir pos-07-07 pos-08-07 dir-right) (move-dir pos-08-02 pos-07-02 dir-left) (move-dir pos-08-02 pos-08-03 dir-down) (move-dir pos-08-02 pos-09-02 dir-right) (move-dir pos-08-03 pos-07-03 dir-left) (move-dir pos-08-03 pos-08-02 dir-up) (move-dir pos-08-03 pos-08-04 dir-down) (move-dir pos-08-03 pos-09-03 dir-right) (move-dir pos-08-04 pos-08-03 dir-up) (move-dir pos-08-04 pos-08-05 dir-down) (move-dir pos-08-05 pos-07-05 dir-left) (move-dir pos-08-05 pos-08-04 dir-up) (move-dir pos-08-05 pos-09-05 dir-right) (move-dir pos-08-07 pos-07-07 dir-left) (move-dir pos-08-07 pos-09-07 dir-right) (move-dir pos-09-02 pos-08-02 dir-left) (move-dir pos-09-02 pos-09-03 dir-down) (move-dir pos-09-02 pos-10-02 dir-right) (move-dir pos-09-03 pos-08-03 dir-left) (move-dir pos-09-03 pos-09-02 dir-up) (move-dir pos-09-03 pos-10-03 dir-right) (move-dir pos-09-05 pos-08-05 dir-left) (move-dir pos-09-05 pos-10-05 dir-right) (move-dir pos-09-07 pos-08-07 dir-left) (move-dir pos-09-07 pos-10-07 dir-right) (move-dir pos-10-02 pos-09-02 dir-left) (move-dir pos-10-02 pos-10-03 dir-down) (move-dir pos-10-02 pos-11-02 dir-right) (move-dir pos-10-03 pos-09-03 dir-left) (move-dir pos-10-03 pos-10-02 dir-up) (move-dir pos-10-03 pos-10-04 dir-down) (move-dir pos-10-03 pos-11-03 dir-right) (move-dir pos-10-04 pos-10-03 dir-up) (move-dir pos-10-04 pos-10-05 dir-down) (move-dir pos-10-05 pos-09-05 dir-left) (move-dir pos-10-05 pos-10-04 dir-up) (move-dir pos-10-07 pos-09-07 dir-left) (move-dir pos-10-07 pos-11-07 dir-right) (move-dir pos-11-02 pos-10-02 dir-left) (move-dir pos-11-02 pos-11-03 dir-down) (move-dir pos-11-03 pos-10-03 dir-left) (move-dir pos-11-03 pos-11-02 dir-up) (move-dir pos-11-07 pos-10-07 dir-left) (move-dir pos-11-07 pos-12-07 dir-right) (move-dir pos-12-05 pos-12-06 dir-down) (move-dir pos-12-06 pos-12-05 dir-up) (move-dir pos-12-06 pos-12-07 dir-down) (move-dir pos-12-07 pos-11-07 dir-left) (move-dir pos-12-07 pos-12-06 dir-up) (at player-01 pos-10-03) (at stone-01 pos-03-03) (at stone-02 pos-04-03) (at stone-03 pos-05-03) (at stone-04 pos-06-03) (at 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(move-dir pos-07-05 pos-08-05 dir-right) (move-dir pos-07-07 pos-06-07 dir-left) (move-dir pos-07-07 pos-08-07 dir-right) (move-dir pos-08-02 pos-07-02 dir-left) (move-dir pos-08-02 pos-08-03 dir-down) (move-dir pos-08-02 pos-09-02 dir-right) (move-dir pos-08-03 pos-07-03 dir-left) (move-dir pos-08-03 pos-08-02 dir-up) (move-dir pos-08-03 pos-08-04 dir-down) (move-dir pos-08-03 pos-09-03 dir-right) (move-dir pos-08-04 pos-08-03 dir-up) (move-dir pos-08-04 pos-08-05 dir-down) (move-dir pos-08-05 pos-07-05 dir-left) (move-dir pos-08-05 pos-08-04 dir-up) (move-dir pos-08-05 pos-09-05 dir-right) (move-dir pos-08-07 pos-07-07 dir-left) (move-dir pos-08-07 pos-09-07 dir-right) (move-dir pos-09-02 pos-08-02 dir-left) (move-dir pos-09-02 pos-09-03 dir-down) (move-dir pos-09-02 pos-10-02 dir-right) (move-dir pos-09-03 pos-08-03 dir-left) (move-dir pos-09-03 pos-09-02 dir-up) (move-dir pos-09-03 pos-10-03 dir-right) (move-dir pos-09-05 pos-08-05 dir-left) (move-dir pos-09-05 pos-10-05 dir-right) (move-dir pos-09-07 pos-08-07 dir-left) (move-dir pos-09-07 pos-10-07 dir-right) (move-dir pos-10-02 pos-09-02 dir-left) (move-dir pos-10-02 pos-10-03 dir-down) (move-dir pos-10-02 pos-11-02 dir-right) (move-dir pos-10-03 pos-09-03 dir-left) (move-dir pos-10-03 pos-10-02 dir-up) (move-dir pos-10-03 pos-10-04 dir-down) (move-dir pos-10-03 pos-11-03 dir-right) (move-dir pos-10-04 pos-10-03 dir-up) (move-dir pos-10-04 pos-10-05 dir-down) (move-dir pos-10-05 pos-09-05 dir-left) (move-dir pos-10-05 pos-10-04 dir-up) (move-dir pos-10-07 pos-09-07 dir-left) (move-dir pos-10-07 pos-11-07 dir-right) (move-dir pos-11-02 pos-10-02 dir-left) (move-dir pos-11-02 pos-11-03 dir-down) (move-dir pos-11-03 pos-10-03 dir-left) (move-dir pos-11-03 pos-11-02 dir-up) (move-dir pos-11-07 pos-10-07 dir-left) (move-dir pos-11-07 pos-12-07 dir-right) (move-dir pos-12-05 pos-12-06 dir-down) (move-dir pos-12-06 pos-12-05 dir-up) (move-dir pos-12-06 pos-12-07 dir-down) (move-dir pos-12-07 pos-11-07 dir-left) 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pos-01-02 - location pos-02-02 - location pos-03-02 - location pos-04-02 - location pos-05-02 - location pos-01-03 - location pos-02-03 - location pos-03-03 - location pos-04-03 - location pos-05-03 - location player-01 - player stone-01 - stone stone-02 - stone ) + +(:init (is-goal pos-01-03) (is-goal pos-05-03) (is-nongoal pos-01-01) (is-nongoal pos-01-02) (is-nongoal pos-02-01) (is-nongoal pos-02-02) (is-nongoal pos-02-03) (is-nongoal pos-03-01) (is-nongoal pos-03-02) (is-nongoal pos-03-03) (is-nongoal pos-04-01) (is-nongoal pos-04-02) (is-nongoal pos-04-03) (is-nongoal pos-05-01) (is-nongoal pos-05-02) (move-dir pos-01-03 pos-02-03 dir-right) (move-dir pos-02-03 pos-01-03 dir-left) (move-dir pos-02-03 pos-03-03 dir-right) (move-dir pos-03-01 pos-03-02 dir-down) (move-dir pos-03-02 pos-03-01 dir-up) (move-dir pos-03-02 pos-03-03 dir-down) (move-dir pos-03-03 pos-02-03 dir-left) (move-dir pos-03-03 pos-03-02 dir-up) (move-dir pos-03-03 pos-04-03 dir-right) (move-dir pos-04-03 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- location pos-05-01 - location pos-01-02 - location pos-02-02 - location pos-03-02 - location pos-04-02 - location pos-05-02 - location pos-01-03 - location pos-02-03 - location pos-03-03 - location pos-04-03 - location pos-05-03 - location player-01 - player stone-01 - stone stone-02 - stone ) + +(:init (is-goal pos-01-03) (is-goal pos-05-03) (is-nongoal pos-01-01) (is-nongoal pos-01-02) (is-nongoal pos-02-01) (is-nongoal pos-02-02) (is-nongoal pos-02-03) (is-nongoal pos-03-01) (is-nongoal pos-03-02) (is-nongoal pos-03-03) (is-nongoal pos-04-01) (is-nongoal pos-04-02) (is-nongoal pos-04-03) (is-nongoal pos-05-01) (is-nongoal pos-05-02) (move-dir pos-01-03 pos-02-03 dir-right) (move-dir pos-02-03 pos-01-03 dir-left) (move-dir pos-02-03 pos-03-03 dir-right) (move-dir pos-03-01 pos-03-02 dir-down) (move-dir pos-03-02 pos-03-01 dir-up) (move-dir pos-03-02 pos-03-03 dir-down) (move-dir pos-03-03 pos-02-03 dir-left) (move-dir pos-03-03 pos-03-02 dir-up) (move-dir pos-03-03 pos-04-03 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direction dir-left - direction dir-right - direction dir-up - direction player-01 - player pos-01-01 - location pos-02-01 - location pos-01-02 - location pos-02-02 - location pos-01-03 - location pos-02-03 - location pos-01-04 - location pos-02-04 - location stone-01 - stone ) + +(:init (is-goal pos-01-01) (is-nongoal pos-02-01) (is-nongoal pos-01-02) (is-nongoal pos-02-02) (is-nongoal pos-01-03) (is-nongoal pos-02-03) (is-nongoal pos-01-04) (is-nongoal pos-02-04) (move-dir pos-01-01 pos-01-02 dir-down) (move-dir pos-01-02 pos-01-03 dir-down) (move-dir pos-01-03 pos-01-04 dir-down) (move-dir pos-02-02 pos-02-03 dir-down) (move-dir pos-02-03 pos-02-04 dir-down) (move-dir pos-01-02 pos-01-01 dir-up) (move-dir pos-01-03 pos-01-02 dir-up) (move-dir pos-01-04 pos-01-03 dir-up) (move-dir pos-02-03 pos-02-02 dir-up) (move-dir pos-02-04 pos-02-03 dir-up) (move-dir pos-01-02 pos-02-02 dir-right) (move-dir pos-01-03 pos-02-03 dir-right) (move-dir pos-01-04 pos-02-04 dir-right) (move-dir 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(is-nongoal pos-02-04) (move-dir pos-01-01 pos-01-02 dir-down) (move-dir pos-01-02 pos-01-03 dir-down) (move-dir pos-01-03 pos-01-04 dir-down) (move-dir pos-02-02 pos-02-03 dir-down) (move-dir pos-02-03 pos-02-04 dir-down) (move-dir pos-01-02 pos-01-01 dir-up) (move-dir pos-01-03 pos-01-02 dir-up) (move-dir pos-01-04 pos-01-03 dir-up) (move-dir pos-02-03 pos-02-02 dir-up) (move-dir pos-02-04 pos-02-03 dir-up) (move-dir pos-01-02 pos-02-02 dir-right) (move-dir pos-01-03 pos-02-03 dir-right) (move-dir pos-01-04 pos-02-04 dir-right) (move-dir pos-02-02 pos-01-02 dir-left) (move-dir pos-02-03 pos-01-03 dir-left) (move-dir pos-02-04 pos-01-04 dir-left) (clear pos-01-01) (clear pos-02-04) (at stone-01 pos-01-02) (clear pos-01-04) (clear pos-02-02) (at player-01 pos-01-03) (clear pos-02-03)) + +(:action (push-to-goal player-01 stone-01 pos-01-03 pos-01-02 pos-01-01 dir-up)) + +(:state (is-goal pos-01-01) (is-nongoal pos-02-01) (is-nongoal pos-01-02) (is-nongoal pos-02-02) (is-nongoal pos-01-03) (is-nongoal pos-02-03) (is-nongoal pos-01-04) (is-nongoal pos-02-04) (move-dir pos-01-01 pos-01-02 dir-down) (move-dir pos-01-02 pos-01-03 dir-down) (move-dir pos-01-03 pos-01-04 dir-down) (move-dir pos-02-02 pos-02-03 dir-down) (move-dir pos-02-03 pos-02-04 dir-down) (move-dir pos-01-02 pos-01-01 dir-up) (move-dir pos-01-03 pos-01-02 dir-up) (move-dir pos-01-04 pos-01-03 dir-up) (move-dir pos-02-03 pos-02-02 dir-up) (move-dir pos-02-04 pos-02-03 dir-up) (move-dir pos-01-02 pos-02-02 dir-right) (move-dir pos-01-03 pos-02-03 dir-right) (move-dir pos-01-04 pos-02-04 dir-right) (move-dir pos-02-02 pos-01-02 dir-left) (move-dir pos-02-03 pos-01-03 dir-left) (move-dir pos-02-04 pos-01-04 dir-left) (clear pos-02-04) (clear pos-01-04) (clear pos-02-02) (clear pos-02-03) (at player-01 pos-01-02) (at stone-01 pos-01-01) (clear pos-01-03) (at-goal stone-01)) + +) \ No newline at end of file diff --git a/blackout/trajectory/strip-verbose.py b/blackout/trajectory/strip-verbose.py new file mode 100755 index 0000000..40ab124 --- /dev/null +++ b/blackout/trajectory/strip-verbose.py @@ -0,0 +1,57 @@ +#!/usr/bin/env python + +# Usage: python strip-verbose.py input_trajectory [output_trajectory] + +# Input file is assumed to be a trajectory file, generated by one of the engine*.py scripts with the --verbose option. +# Output will be the same trajectory, but with all :action-failed, :undo, and :redo lines and their associated states erased, +# exactly as if the engine script was invoked without the --verbose option. +# If no output file name is given, then the output will be printed to standard output. + +import sys + +#keywords + + +in_fname = sys.argv[1] + +prefix = [] +data = [] + +ignore_lines = 0 + +with open(in_fname, 'r') as fin: + for line in fin: + if line == '\n': + pass + elif ignore_lines > 0: + ignore_lines -= 1 + elif line.startswith('(:action-failed'): + ignore_lines = 1 + elif line.startswith('(:undo'): + data.pop() + data.pop() + ignore_lines = 1 + elif line.startswith('(:restart'): + data = [] + ignore_lines = 1 + elif line.startswith(('(trajectory', '(:objects', '(:init')): + prefix.append(line) + else: + data.append(line) + + +if len(sys.argv) > 2: + fout = open(sys.argv[2], 'w') +else: + fout = sys.stdout + +fout.write('\n'.join(prefix)) +fout.write('\n') +fout.write('\n'.join(data)) + +fout.close() + + + + + From a17aadb9e3ff42c494053ef19903d5643e48659a Mon Sep 17 00:00:00 2001 From: Aaron Williams Date: Sun, 24 May 2020 16:12:37 -0400 Subject: [PATCH 3/4] Tweaked PDDL.py so it should be able to correctly handle problem files that mention a type after every single object, and don't just mention each type once, after listing all objects of that type. --- blackout/PDDL.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/blackout/PDDL.py b/blackout/PDDL.py index 769ca42..9ca8b85 100755 --- a/blackout/PDDL.py +++ b/blackout/PDDL.py @@ -166,7 +166,11 @@ def parse_problem(self, problem_filename): while group: if group[0] == '-': group.pop(0) - self.objects[group.pop(0)] = object_list + 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)) @@ -225,4 +229,4 @@ def split_predicates(self, group, pos, neg, name, part): print('Objects: ' + str(parser.objects)) print('State: ' + str(parser.state)) print('Positive goals: ' + str(parser.positive_goals)) - print('Negative goals: ' + str(parser.negative_goals)) \ No newline at end of file + print('Negative goals: ' + str(parser.negative_goals)) From 6c8f003c0d85524eb0bb786ada6d230e03c732c5 Mon Sep 17 00:00:00 2001 From: Aaron Williams Date: Sun, 24 May 2020 23:34:43 -0400 Subject: [PATCH 4/4] Created a script to convert FAMA output files into a form that engine.py will accept --- blackout/PDDL.py | 2 +- blackout/model/medium-FAMA-fixed.pddl | 66 +++++++++++++++++++ blackout/model/small-FAMA-fixed.pddl | 53 +++++++++++++++ blackout/planner.py | 93 +++++++++++++++++++++++++++ blackout/repair-types.py | 92 ++++++++++++++++++++++++++ 5 files changed, 305 insertions(+), 1 deletion(-) create mode 100644 blackout/model/medium-FAMA-fixed.pddl create mode 100644 blackout/model/small-FAMA-fixed.pddl create mode 100755 blackout/planner.py create mode 100755 blackout/repair-types.py diff --git a/blackout/PDDL.py b/blackout/PDDL.py index 9ca8b85..7c2d9de 100755 --- a/blackout/PDDL.py +++ b/blackout/PDDL.py @@ -166,7 +166,7 @@ def parse_problem(self, problem_filename): while group: if group[0] == '-': group.pop(0) - theType = group.pop[0] + theType = group.pop(0) if theType in self.objects: self.objects[theType].extend(object_list) else: diff --git a/blackout/model/medium-FAMA-fixed.pddl b/blackout/model/medium-FAMA-fixed.pddl new file mode 100644 index 0000000..2795229 --- /dev/null +++ b/blackout/model/medium-FAMA-fixed.pddl @@ -0,0 +1,66 @@ +(define (domain sokoban-sequential) +(:requirements :typing) +(:types thing location direction - object player stone - thing) +(:predicates (clear ?l - location) +(at ?t - thing ?l - location) +(at-goal ?s - stone) +(is-goal ?l - location) +(is-nongoal ?l - location) +(move-dir ?from - location ?to - location ?dir - direction)) +(:action move +:parameters (?p - player ?from - location ?to - location ?dir - direction) +:precondition (and (move-dir ?from ?to ?dir) +(clear ?to) +(at ?p ?from)) +:effect (and (clear ?from) +(is-nongoal ?to) +(is-nongoal ?from) +(at ?p ?to) +(not (at ?p ?from)) +(not (clear ?to))) +) +(:action push-to-nongoal +:parameters (?p - player ?s - stone ?ppos - location ?from - location ?to - location ?dir - direction) +:precondition (and (is-nongoal ?ppos) +(at ?p ?to) +(at ?s ?ppos) +(at ?p ?from) +(move-dir ?from ?ppos ?dir) +(is-goal ?ppos) +(move-dir ?to ?to ?dir) +(is-nongoal ?from) +(clear ?from) +(at ?s ?from) +(is-nongoal ?to) +(at ?s ?to)) +:effect (and (at-goal ?s) +(move-dir ?ppos ?to ?dir) +(move-dir ?to ?ppos ?dir) +(move-dir ?from ?to ?dir) +(move-dir ?to ?from ?dir) +(is-goal ?from) +(clear ?to) +(clear ?ppos) +(move-dir ?from ?from ?dir) +(at ?p ?ppos) +(not (at ?p ?to)) +(not (is-goal ?ppos)) +(not (is-nongoal ?to)) +(not (at ?s ?to))) +) +(:action push-to-goal +:parameters (?p - player ?s - stone ?ppos - location ?from - location ?to - location ?dir - direction) +:precondition (and (clear ?to) +(is-goal ?to) +(is-nongoal ?from) +(at ?p ?ppos) +(at ?s ?from)) +:effect (and (at-goal ?s) +(at ?p ?from) +(clear ?ppos) +(at ?s ?to) +(not (clear ?to)) +(not (at ?p ?ppos)) +(not (at ?s ?from))) +) +) \ No newline at end of file diff --git a/blackout/model/small-FAMA-fixed.pddl b/blackout/model/small-FAMA-fixed.pddl new file mode 100644 index 0000000..b5f71ed --- /dev/null +++ b/blackout/model/small-FAMA-fixed.pddl @@ -0,0 +1,53 @@ +(define (domain sokoban-sequential) + (:requirements :typing) + (:types thing location direction - object player stone - thing) + (:predicates (clear ?l - location) + (at ?t - thing ?l - location) + (at-goal ?s - stone) + (is-goal ?l - location) + (is-nongoal ?l - location) + (move-dir ?from - location ?to - location ?dir - direction)) + (:action move + :parameters (?p - player ?from - location ?to - location ?dir - direction) + :precondition (and (clear ?to) + (at ?p ?from) + (is-nongoal ?from)) + :effect (and (clear ?from) + (is-nongoal ?to) + (at ?p ?to) + (not (clear ?to)) + (not (at ?p ?from))) + ) + (:action push-to-nongoal + :parameters (?p - player ?s - stone ?ppos - location ?from - location ?to - location ?dir - direction) + :precondition (and (clear ?to) + (move-dir ?ppos ?from ?dir) + (at ?s ?from) + (is-nongoal ?from) + (at ?p ?ppos) + (move-dir ?from ?to ?dir)) + :effect (and (at ?s ?to) + (clear ?ppos) + (at ?p ?from) + (not (clear ?to)) + (not (at ?s ?from)) + (not (at ?p ?ppos))) + ) + (:action push-to-goal + :parameters (?p - player ?s - stone ?ppos - location ?from - location ?to - location ?dir - direction) + :precondition (and (clear ?to) + (at ?s ?from) + (is-nongoal ?ppos) + (at ?p ?ppos) + (is-goal ?to)) + :effect (and (at ?s ?to) + (clear ?ppos) + (move-dir ?ppos ?from ?dir) + (at ?p ?from) + (is-nongoal ?from) + (at-goal ?s) + (not (clear ?to)) + (not (at ?s ?from)) + (not (at ?p ?ppos))) + ) + ) diff --git a/blackout/planner.py b/blackout/planner.py new file mode 100755 index 0000000..5988011 --- /dev/null +++ b/blackout/planner.py @@ -0,0 +1,93 @@ +#!/usr/bin/env python +# Four spaces as indentation [no tabs] + +from PDDL import PDDL_Parser + +class Planner: + + #----------------------------------------------- + # Solve + #----------------------------------------------- + + def solve(self, domain, problem): + # Parser + parser = PDDL_Parser() + parser.parse_domain(domain) + parser.parse_problem(problem) + # Parsed data + state = parser.state + goal_pos = parser.positive_goals + goal_not = parser.negative_goals + # Do nothing + if self.applicable(state, goal_pos, goal_not): + return [] + # Grounding process + ground_actions = [] + for action in parser.actions: + for act in action.groundify(parser.objects): + ground_actions.append(act) + # Search + visited = [state] + fringe = [state, None] + while fringe: + state = fringe.pop(0) + plan = fringe.pop(0) + for act in ground_actions: + if self.applicable(state, act.positive_preconditions, act.negative_preconditions): + new_state = self.apply(state, act.add_effects, act.del_effects) + if new_state not in visited: + if self.applicable(new_state, goal_pos, goal_not): + full_plan = [act] + while plan: + act, plan = plan + full_plan.insert(0, act) + return full_plan + visited.append(new_state) + fringe.append(new_state) + fringe.append((act, plan)) + return None + + #----------------------------------------------- + # Applicable + #----------------------------------------------- + + def applicable(self, state, positive, negative): + for i in positive: + if i not in state: + return False + for i in negative: + if i in state: + return False + return True + + #----------------------------------------------- + # Apply + #----------------------------------------------- + + def apply(self, state, positive, negative): + new_state = [] + for i in state: + if i not in negative: + new_state.append(i) + for i in positive: + if i not in new_state: + new_state.append(i) + return new_state + +# ========================================== +# Main +# ========================================== +if __name__ == '__main__': + import sys, time + start_time = time.time() + domain = sys.argv[1] + problem = sys.argv[2] + planner = Planner() + plan = planner.solve(domain, problem) + print('Time: ' + str(time.time() - start_time) + 's') + if plan: + print('plan:') + for act in plan: + print(act) + else: + print('No plan was found') \ No newline at end of file diff --git a/blackout/repair-types.py b/blackout/repair-types.py new file mode 100755 index 0000000..5a453ce --- /dev/null +++ b/blackout/repair-types.py @@ -0,0 +1,92 @@ +#!/usr/bin/env python + +# Usage: python repair-types.py input-domain.pddl template-domain.pddl [output-domain.pddl] +# input-domain.pddl is expected to be an action model file generated by FAMA, lacking type information and with inconsistent naming of action parameters. +# template-domain.pddl is expected to be a PDDL for the same domain, but with the type information intact. +# The domain originally used to generate the trajectory that was fed into FAMA will work fine for this. +# output-domain.pddl is the name of the location where the repaired input-domain.pddl should be saved. +# If a third command-line argument is not supplied, this will default to standard output. + +import PDDL +import sys + +def translate(data, translation): + out = [] + for pred in data: + newPred = [] + for item in pred: + if item in translation: + newPred.append(translation[item]) + else: + newPred.append(item) + out.append(newPred) + return out + +domain = PDDL.PDDL_Parser() +domain.parse_domain(sys.argv[1]) + +template = PDDL.PDDL_Parser() +template.parse_domain(sys.argv[2]) + +domain.types = template.types + +# print(domain.types) + +for act in domain.actions: + # print(act) + translation = {} + for i, param in enumerate(act.parameters): + # print(i) + # print(param) + translation['?o{}'.format(i + 1)] = param[0] + act.positive_preconditions = translate(act.positive_preconditions, translation) + act.negative_preconditions = translate(act.negative_preconditions, translation) + act.add_effects = translate(act.add_effects, translation) + act.del_effects = translate(act.del_effects, translation) + # print(act) + +if len(sys.argv) > 3: + fout = open(sys.argv[3], 'w') +else: + fout = sys.stdout + +fout.write('(define (domain {})\n'.format(domain.domain_name)) +fout.write('(:requirements {})\n'.format(' '.join(domain.requirements))) +fout.write('(:types {})\n'.format(' '.join(domain.types))) + +stringed_preds = [] +for name, argdict in domain.predicates.items(): + arglist = [] + for argname, argtype in argdict.items(): + arglist.append('{} - {}'.format(argname, argtype)) + stringed_preds.append('({} {})'.format(name, ' '.join(arglist))) + +fout.write('(:predicates {})\n'.format('\n'.join(stringed_preds))) + +for act in domain.actions: + fout.write('(:action {}\n'.format(act.name)) + par_strings = [] + for par in act.parameters: + par_strings.append(' - '.join(par)) + fout.write(':parameters ({})\n'.format(' '.join(par_strings))) + precon_strings = [] + for precon in act.positive_preconditions: + precon_strings.append('({})'.format(' '.join(precon))) + for precon in act.negative_preconditions: + precon_strings.append('(not ({}))'.format(' '.join(precon))) + fout.write(':precondition (and {})\n'.format('\n'.join(precon_strings))) + effect_strings = [] + for effect in act.add_effects: + effect_strings.append('({})'.format(' '.join(effect))) + for effect in act.del_effects: + effect_strings.append('(not ({}))'.format(' '.join(effect))) + fout.write(':effect (and {})\n'.format('\n'.join(effect_strings))) + fout.write(')\n') + +fout.write(')') + + + + + +