jupyddl 0.3.0

Jupyddl is a PDDL planner built on top of a Julia parser

PyJulia PDDL Planner

A Python wrapper using JuliaPy for the PDDL.jl parser package and implementing its own planners.

Features

• Easy to use API for exploring new states
• Depth First Search
• Breadth First Search
• Dijkstra
• A*
  • Goal Count Heuristic

Dependencies

• Install Python (3.7.5 is the tested version)

• Install Julia

$ wget https://julialang-s3.julialang.org/bin/linux/x64/1.5/julia-1.5.2-linux-x86_64.tar.gz
$ tar -xvzf julia-1.5.2-linux-x86_64.tar.gz
$ sudo cp -r julia-1.5.2 /opt/
$ sudo ln -s /opt/julia-1.5.2/bin/julia /usr/local/bin/julia

• Install Julia dependencies

$ julia --color=yes -e 'using Pkg; Pkg.add(Pkg.PackageSpec(path="https://github.com/APLA-Toolbox/PDDL.jl"))'
$ julia --color=yes -e 'using Pkg; Pkg.add(Pkg.PackageSpec(path="https://github.com/JuliaPy/PyCall.jl"))'

• Install Python dependencies

$ python3 -m pip install --upgrade pip
$ python3 -m pip install jupyddl

REFL Mode

• Run python3 in the terminal.
• Use the AutomatedPlanner class to do what you want:

from jupyddl import AutomatedPlanner # takes some time because it has to instantiate the Julia interface
apl = AutomatedPlanner("data/domain.pddl", "data/problem.pddl)

apl.initial_state
<PyCall.jlwrap PDDL.State(Set(Julog.Term[row(r1), column(c3), row(r3), row(r2), column(c2), column(c1)]), Set(Julog.Term[white(r2, c1), white(r1, c2), white(r3, c2), white(r2, c3)]), Dict{Symbol,Any}())>

actions = apl.available_actions(apl.initial_state)
[<PyCall.jlwrap flip_row(r1)>, <PyCall.jlwrap flip_row(r3)>, <PyCall.jlwrap flip_row(r2)>, <PyCall.jlwrap flip_column(c3)>, <PyCall.jlwrap flip_column(c2)>, <PyCall.jlwrap flip_column(c1)>]

apl.satisfies(apl.problem.goal, apl.initial_state)
False

apl.transition(apl.initial_state, actions[0])
<PyCall.jlwrap PDDL.State(Set(Julog.Term[row(r1), column(c3), row(r3), row(r2), column(c2), column(c1)]), Set(Julog.Term[white(r2, c1), white(r1, c1), white(r3, c2), white(r2, c3), white(r1, c3)]), Dict{Symbol,Any}())>

path = apl.breadth_first_search() # computes path ([]State) with BFS

print(apl.get_state_def_from_path(path))
[<PyCall.jlwrap PDDL.State(Set(Julog.Term[row(r1), column(c3), row(r3), row(r2), column(c2), column(c1)]), Set(Julog.Term[white(r2, c1), white(r1, c1), white(r3, c2), white(r2, c3), white(r1, c3)]), Dict{Symbol,Any}())>, <PyCall.jlwrap PDDL.State(Set(Julog.Term[row(r1), column(c3), row(r3), row(r2), column(c2), column(c1)]), Set(Julog.Term[white(r2, c1), white(r1, c1), white(r2, c3), white(r1, c3), white(r3, c3), white(r3, c1)]), Dict{Symbol,Any}())>, <PyCall.jlwrap PDDL.State(Set(Julog.Term[row(r1), column(c3), row(r3), row(r2), column(c2), column(c1)]), Set(Julog.Term[white(r2, c1), white(r1, c1), white(r1, c2), white(r3, c2), white(r2, c3), white(r1, c3), white(r3, c3), white(r3, c1), white(r2, c2)]), Dict{Symbol,Any}())>]

print(apl.get_actions_from_path(path))
[<PyCall.jlwrap flip_row(r1)>, <PyCall.jlwrap flip_row(r3)>, <PyCall.jlwrap flip_column(c2)>]

Contribute

Open an issue to state clearly the contribution you want to make. Upon aproval send in a PR with the Issue referenced. (Implement Issue #No / Fix Issue #No).

Maintainers

• Erwin Lejeune
• Sampreet Sarkar