Merge pull request #133 from AI-Planning/sorted-types

Custom formatting for the types section.

Author: haz

pddl/formatter.py

@@ -128,27 +128,85 @@ def print_typed_lists(
     to_string: Callable = str,
 ):
     """Print typed lists."""
-    result = prefix + " "
+    result = prefix
 
-    # names with no type will be printed at the end
-    names_with_none_types = names_by_obj.pop(None, [])
+    if ":types" in prefix:
+        # for mypy, convert names_by_obj to a dict with keys being strings (or None) and values list of strings
+        super_to_subs = {
+            str(k) if k is not None else None: v for k, v in names_by_obj.items()
+        }
+
+        # first print those types that have no parents
+        subtypes = set()
+        for subs in super_to_subs.values():
+            subtypes |= set(subs)
+
+        no_parents = set(super_to_subs.keys()) - subtypes
+        no_parents |= set(super_to_subs.get(None, []))
+        no_parents |= set(super_to_subs.get("object", []))
+        no_parents.discard(None)
+        no_parents.discard("object")
 
-    # print typed constants, first sorted by type, then by constant name
-    for type_tag, typed_names in sorted(
-        names_by_obj.items(), key=lambda type_and_name: type_and_name[0]  # type: ignore
-    ):
         result += (
-            " ".join(sorted(to_string(n) for n in typed_names)) + " - " + type_tag + " "  # type: ignore
+            "\n    "
+            + " ".join(sorted(to_string(n) for n in no_parents))
+            + " - object\n"
         )
 
-    if len(names_with_none_types) == 0:
-        return result.strip() + postfix
+        # sort the rest of the parent types based on (1) if their subtypes are already defined and (2) their name
+        remaining = sorted(str(k) for k in super_to_subs if k not in ("object", None))
+        ind = 0
+        while remaining:
+            # if the index is out of range, we have a cycle in the types
+            if ind >= len(remaining):
+                raise ValueError("Cycle in types")
+
+            # get the first type and its subtypes
+            parent = remaining[ind]
+
+            # check if parent is a subtype of something remaining
+            allsubtypes = set()
+            for k in remaining:
+                allsubtypes |= set(super_to_subs[k])
+            if parent in allsubtypes:
+                ind += 1
+            else:
+                # print the parent and its subtypes
+                result += "    " + (
+                    " ".join(sorted(to_string(n) for n in super_to_subs[parent]))
+                    + " - "
+                    + to_string(parent)
+                    + "\n"
+                )
+                # remove the parent from the remaining list
+                remaining.remove(parent)
+                # reset the index to 0
+                ind = 0
+
+    else:
+
+        result += " "
+
+        # names with no type will be printed at the end
+        names_with_none_types = names_by_obj.pop(None, [])
+
+        # print typed constants, first sorted by type, then by constant name
+        for type_tag, typed_names in sorted(
+            names_by_obj.items(), key=lambda type_and_name: type_and_name[0]  # type: ignore
+        ):
+            result += (
+                " ".join(sorted(to_string(n) for n in typed_names)) + " - " + type_tag + " "  # type: ignore
+            )
+
+        if len(names_with_none_types) == 0:
+            return result.strip() + postfix
+
+        # print constants with no type
+        result += " ".join(sorted(to_string(n) for n in names_with_none_types))
 
-    # print constants with no type
-    result += " ".join(sorted(to_string(n) for n in names_with_none_types))
+        if result == prefix + " ":
+            result = result[:-1]
 
-    if result == prefix + " ":
-        result = result[:-1]
     result += postfix
 
     return result

pddl/parser/domain.py

@@ -100,6 +100,9 @@ def types(self, args):
         have_type_hierarchy = any(types_definition.values())
         if have_type_hierarchy and not has_typing_requirement:
             raise PDDLMissingRequirementError(Requirements.TYPING)
+        for k in types_definition:
+            if types_definition[k] == Symbols.OBJECT.value:
+                types_definition[k] = None
         return dict(types=types_definition)
 
     def constants(self, args):

tests/fixtures/pddl_files/acrobatics/domain.pddl

@@ -3,7 +3,9 @@
 
 (define (domain acrobatics)
 	(:requirements :typing :strips :non-deterministic :negative-preconditions)
-	(:types location)
+	(:types
+		location - object
+	)
 	(:predicates
 		(up)
 		(position ?p - location)
@@ -32,7 +34,7 @@
 	(:action walk-right
 		:parameters (?from - location ?to - location)
 		:precondition (and (not (broken-leg)) (not (up)) (position ?from) (next-fwd ?from ?to))
-		:effect (and (position ?to) (not (position ?from)))	
+		:effect (and (position ?to) (not (position ?from)))
 	)
 
 	(:action climb
@@ -42,7 +44,7 @@
 	)
 
 	(:action climb-down
-		:parameters () 
+		:parameters ()
 		:precondition (and (not (broken-leg)) (up))
 		:effect (and (not (up)))
 	)
@@ -54,12 +56,12 @@
 	;; 4) agent falls from the beam, does not break its leg and falls at destination position
 	;; 5) agent falls from the beam, breaks its leg and fall at destination position
 	;; 6) agent falls on the beam at the destination position
-	
+
 	(:action jump-over
 		:parameters ( ?from - location ?middle - location ?to - location )
 		:precondition (and (not (broken-leg)) (up) (position ?from) (next-fwd ?from ?middle) (next-fwd ?middle ?to))
 		:effect (oneof
-				(and (not (up)) (broken-leg)) 
+				(and (not (up)) (broken-leg))
 				(and (not (up)) (broken-leg) (position ?middle) (not (position ?from)))
 				(and (not (up)) (position ?middle) (not (position ?from)))
 				(and (not (up)) (broken-leg) (position ?to) (not (position ?from)))

tests/fixtures/pddl_files/barman-sequential-optimal/domain.pddl

@@ -20,7 +20,7 @@
                 (cocktail-part2 ?c - cocktail ?i - ingredient))
 
 (:functions (total-cost) - number)
-		
+
   (:action grasp
              :parameters (?h - hand ?c - container)
              :precondition (and (ontable ?c) (handempty ?h))
@@ -36,7 +36,7 @@
 	     	     	  (handempty ?h)
 			  (ontable ?c)
 			  (increase (total-cost) 1)))
-  
+
   (:action fill-shot
            :parameters (?s - shot ?i - ingredient ?h1 ?h2 - hand ?d - dispenser)
            :precondition (and (holding ?h1 ?s)
@@ -53,7 +53,7 @@
 
   (:action refill-shot
            :parameters (?s - shot ?i - ingredient ?h1 ?h2 - hand ?d - dispenser)
-           :precondition (and (holding ?h1 ?s)	   		      
+           :precondition (and (holding ?h1 ?s)
                               (handempty ?h2)
 	   		      (dispenses ?d ?i)
                               (empty ?s)
@@ -73,7 +73,7 @@
   (:action clean-shot
   	   :parameters (?s - shot ?b - beverage ?h1 ?h2 - hand)
            :precondition (and (holding ?h1 ?s)
-                              (handempty ?h2)	   		      
+                              (handempty ?h2)
 			      (empty ?s)
                               (used ?s ?b))
            :effect (and (not (used ?s ?b))
@@ -85,7 +85,7 @@
            :precondition (and (holding ?h1 ?s)
 			      (contains ?s ?i)
                               (empty ?d)
-	   		      (clean ?d)                              
+	   		      (clean ?d)
                               (shaker-level ?d ?l)
                               (next ?l ?l1))
            :effect (and (not (contains ?s ?i))
@@ -108,7 +108,7 @@
                               (next ?l ?l1))
            :effect (and (not (contains ?s ?i))
                         (contains ?d ?i)
-	   	   	(empty ?s)     
+	   	   	(empty ?s)
   			(not (shaker-level ?d ?l))
 			(shaker-level ?d ?l1)
 			(increase (total-cost) 1)))
@@ -134,7 +134,7 @@
                               (empty ?s))
            :effect (and (clean ?s)
 			(increase (total-cost) 1)))
-  
+
   (:action shake
   	   :parameters (?b - cocktail ?d1 ?d2 - ingredient ?s - shaker ?h1 ?h2 - hand)
            :precondition (and (holding ?h1 ?s)
@@ -143,7 +143,7 @@
                               (contains ?s ?d2)
                               (cocktail-part1 ?b ?d1)
 			      (cocktail-part2 ?b ?d2)
-			      (unshaked ?s))			      
+			      (unshaked ?s))
            :effect (and (not (unshaked ?s))
 		        (not (contains ?s ?d1))
                         (not (contains ?s ?d2))
@@ -166,4 +166,4 @@
 			(shaker-level ?s ?l1)
 			(not (shaker-level ?s ?l))
 			(increase (total-cost) 1)))
- )
+ )

tests/fixtures/pddl_files/beam-walk/domain.pddl

@@ -3,7 +3,9 @@
 
 (define (domain beam-walk)
 	(:requirements :typing :strips :non-deterministic :negative-preconditions)
-	(:types location)
+	(:types
+		location - object
+	)
 	(:predicates
 		(up)
 		(position ?p - location)

tests/fixtures/pddl_files/blocksworld-ipc08/domain.pddl

@@ -1,12 +1,14 @@
 (define (domain blocks-domain)
   (:requirements :non-deterministic :equality :typing :negative-preconditions)
-  (:types block)
+  (:types
+    block - object
+  )
   (:predicates (holding ?b - block) (emptyhand) (on-table ?b - block) (on ?b1 ?b2 - block) (clear ?b - block))
   (:action pick-up
     :parameters (?b1 ?b2 - block)
     :precondition (and (not (= ?b1 ?b2)) (emptyhand) (clear ?b1) (on ?b1 ?b2))
     :effect
-      (oneof 
+      (oneof
         (and (holding ?b1) (clear ?b2) (not (emptyhand)) (not (clear ?b1)) (not (on ?b1 ?b2)))
         (and (clear ?b2) (on-table ?b1) (not (on ?b1 ?b2))))
   )

tests/fixtures/pddl_files/cave-diving-sequential-optimal/domain.pddl

@@ -5,7 +5,9 @@
 
 (define (domain cave-diving-adl)
   (:requirements :typing :action-costs :adl :numeric-fluents :action-costs)
-  (:types location diver tank quantity)
+  (:types
+       location diver tank quantity - object
+  )
   (:predicates
     (at-tank ?t - tank ?l - location)
     (in-storage ?t - tank)
@@ -34,7 +36,7 @@
   (:action hire-diver
     :parameters (?d1 - diver)
     :precondition (and      (available ?d1)
-                       (not (in-water)) 
+                       (not (in-water))
                   )
     :effect (and (at-surface ?d1)
                  (not (available ?d1))

tests/fixtures/pddl_files/doors/domain.pddl

@@ -1,6 +1,8 @@
 (define (domain doors)
   (:requirements :typing :strips :non-deterministic :negative-preconditions)
-  (:types location door)
+  (:types
+    location door - object
+  )
   (:predicates (open ?d - door)
                (closed ?d - door)
                (player-at ?loc - location)
@@ -49,4 +51,4 @@
     :effect (and (player-at ?to) (not (player-at ?from))
     			       (oneof (and (open ?d1) (not (closed ?d1))) (and (closed ?d1) (not (open ?d1)))))
   )
-)
+)

tests/fixtures/pddl_files/elevators/domain.pddl

@@ -1,6 +1,8 @@
 (define (domain elevators)
   (:requirements :non-deterministic :negative-preconditions :equality :typing)
-  (:types elevator floor pos coin)
+  (:types
+    elevator floor pos coin - object
+  )
   (:constants f1 - floor p1 - pos)
   (:predicates (dec_f ?f ?g - floor) (dec_p ?p ?q - pos) (in ?e - elevator ?f - floor) (at ?f - floor ?p - pos) (shaft ?e - elevator ?p - pos) (inside ?e - elevator) (gate ?f - floor ?p - pos) (coin-at ?c - coin ?f - floor ?p - pos) (have ?c - coin))
   (:action go-up

tests/fixtures/pddl_files/first-responders-ipc08/domain.pddl

@@ -1,15 +1,17 @@
 (define (domain first-response)
-  (:requirements :typing 
+  (:requirements :typing
 		 :equality
 		 :negative-preconditions
 		 :disjunctive-preconditions
 		 :universal-preconditions
 		 :conditional-effects
 		 :existential-preconditions
 		 :non-deterministic)
- (:types location victim status fire_unit medical_unit)
+ (:types
+   location victim status fire_unit medical_unit - object
+ )
  (:constants healthy hurt dying - status)
- (:predicates 
+ (:predicates
   (fire ?l - location)
   (nfire ?l - location)
   (victim-at ?v - victim ?l - location)
@@ -26,7 +28,7 @@
  (:action drive-fire-unit
   :parameters (?u - fire_unit ?from - location ?to - location)
   :precondition (and (fire-unit-at ?u ?from)
-		     (adjacent ?to ?from)                     
+		     (adjacent ?to ?from)
 		     (not (fire ?to))
 		     )
   :effect (and (fire-unit-at ?u ?to) (not (fire-unit-at ?u ?from)))
@@ -41,7 +43,7 @@
   :effect (and (medical-unit-at ?u ?to) (not (medical-unit-at ?u ?from)))
   )
 
- 
+
 
  (:action load-fire-unit
   :parameters (?u - fire_unit ?l - location)
@@ -51,11 +53,11 @@
  (:action load-medical-unit
   :parameters (?u - medical_unit ?l - location ?v - victim)
   :precondition (and (medical-unit-at ?u ?l) (victim-at ?v ?l))
-  :effect (and (have-victim-in-unit ?v ?u) 
+  :effect (and (have-victim-in-unit ?v ?u)
 	       (not (victim-at ?v ?l))))
 
- 
- 	   
+
+
  (:action unload-fire-unit
   :parameters (?u - fire_unit ?l ?l1 - location)
   :precondition (and (fire-unit-at ?u ?l)
@@ -73,26 +75,26 @@
 
  (:action treat-victim-on-scene-medical
   :parameters (?u - medical_unit ?l - location ?v - victim)
-  :precondition (and (medical-unit-at ?u ?l) 
+  :precondition (and (medical-unit-at ?u ?l)
 		     (victim-at ?v ?l)
 		     (victim-status ?v hurt))
-  :effect (oneof (and) (and (victim-status ?v healthy) 
+  :effect (oneof (and) (and (victim-status ?v healthy)
 			    (not (victim-status ?v hurt)))))
 
  (:action treat-victim-on-scene-fire
   :parameters (?u - fire_unit ?l - location ?v - victim)
-  :precondition (and (fire-unit-at ?u ?l) 
+  :precondition (and (fire-unit-at ?u ?l)
 		     (victim-at ?v ?l)
 		     (victim-status ?v hurt))
-  :effect (oneof (and) (and (victim-status ?v healthy) 
+  :effect (oneof (and) (and (victim-status ?v healthy)
 			    (not (victim-status ?v hurt)))))
 
  (:action treat-victim-at-hospital
   :parameters (?v - victim ?l - location)
   :precondition (and (victim-at ?v ?l)
-		     (hospital ?l))		     
-  :effect (and (victim-status ?v healthy) 
+		     (hospital ?l))
+  :effect (and (victim-status ?v healthy)
 	       (not (victim-status ?v hurt))
 	       (not (victim-status ?v dying))))
-  
-)
+
+)