AmenablePDDL 0.1.5

A high-level PDDL parsing and planning interface for implementing common classical planning algorithms.

AmenablePDDL

AmenablePDDL is designed to simplify parsing and planning simple PDDL-defined domains and problems, providing an intuitive interface for implementing common planning algorithms. AmenablePDDL is a wrapper around the PDDL library by Marco Favorito, Francesco Fuggitti, and Christian Muise.

This interface was developed for Carnegie Mellon University's 16-280 Intelligent Robotic Systems.

Table of Contents

• Installation
• Overview
• Quick Start Example
• Public Methods
  • Constructor
  • Domain and Problem Access
  • State and Goal
  • Action Retrieval
  • Action Applicability and Application
• Implementing DFS (Example)
• Internal Methods (Optional)
• License

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Installation

AmenablePDDL is available through pip. Install it on your machine by running:

pip install AmenablePDDL

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Quick Start Example

from AmenablePDDL import AmenableP

# Initialize the interface with domain and problem files
interface = AmenableP("domain.pddl", "problem.pddl")

# Retrieve initial state and available actions
the_initial_state = interface.get_initial_state()
actions = interface.get_domain_actions()

print("Initial State:", the_initial_state)
print("Available Actions:", [action.name for action in actions])

This example initializes the AmenablePDDL interface, loads the domain and problem files, and prints out the initial state and available actions.

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Public Methods

Constructor

interface = AmenableP(domain_file, problem_file)

• domain_file: Path to the PDDL domain file.
• problem_file: Path to the PDDL problem file.

Domain and Problem Access

• get_domain_actions() -> List[Action]: Returns a list of Action objects defined in the domain.

State and Goal

• get_initial_state() -> Set[Predicate]: Returns the set of positive predicates of the initial state.
• is_goal_state(state: Set[Predicate]) -> bool: Checks if a given state satisfies the goal expression.

Action Retrieval

• find_applicable_actions(state: Set[Predicate]) -> List[Tuple[Action, Dict[Variable, Constant]]]: Returns applicable actions with valid bindings in the given state.

Action Application

• apply_action(action: Action, state: Set[Predicate], binding: Dict[Variable, Constant]) -> Set[Predicate]: Applies the specified action with the given binding to the state, returning a new state.

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Implementing DFS (Example)

Below is an example of how to implement a Depth-First Search (DFS) planner using AmenablePDDL.

from AmenablePDDL import AmenableP

# Initialize the interface
interface = AmenableP("domain.pddl", "problem.pddl")

# Define a simple DFS function

def dfs(state, plan, visited, depth_limit):
    if depth_limit <= 0:
        return None
    if interface.is_goal_state(state):
        return plan

    visited.add(frozenset(state))

    for action, binding in interface.find_applicable_actions(state):
        new_state = interface.apply_action(action, state, binding)
        state_key = frozenset(new_state)

        if state_key not in visited:
            new_plan = plan + [(action, binding)]
            result = dfs(new_state, new_plan, visited, depth_limit - 1)
            if result is not None:
                return result
    return None

# Run DFS starting from the initial state
visited_states = set()
plan = dfs(interface.get_initial_state(), [], visited_states, depth_limit=50)

if plan:
    print("Plan found:")
    for step, (action, binding) in enumerate(plan, start=1):
        bound_str = " ".join(str(binding[param]) for param in action.parameters)
        print(f"{step}: {action.name} {bound_str}")
else:
    print("No plan found.")

This script initializes the AmenablePDDL interface, defines a recursive DFS function leveraging the interface's methods to find applicable actions and apply them, and then searches for a plan with a given depth limit.

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Internal Methods (Optional)

AmenablePDDL also provides internal methods for advanced usage:

• _evaluate_condition(expr, state, binding)
• _find_bindings_for_action(action, state)
• _apply_effects(action, state, binding)
• _ground_predicate(pred, binding)

These methods are used internally by the public methods, but users can extend the existing methods by forking the repository.

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License

This project is licensed under the MIT License. See the LICENSE file for details.