README.md

PDDL Compiler… ish

JavaScript parser for some of PDDL. Possibly more exciting stuff coming soon.

Basically, this program takes PDDL files in, and returns a representation of the program as a bunch of JavaScript objects (see src/pddl.js).

For example, something like

(define (domain repair-robot)
  (:predicates (is-broken ?x))
  (:action repair
    :parameters   (?thing1 ?thing2)
    :precondition (and (is-broken ?thing-1)
                       (is-broken ?thing-2))
    :effect       (and (not (is-broken ?thing1)
                            (is-broken ?thing2)))))

(define (problem repair-four-things)
  (:domain  repair-robot)
  (:objects toy vacuum-cleaner sink sculpture)
  (:init    (is-broken toy) (is-broken vacuum-cleaner)
            (is-broken sink) (is-broken sculpture))
  (:goal    (and (not (is-broken toy)
                      (is-broken vacuum-cleaner)
                      (is-broken sink)
                      (is-broken sculpture)))))

might parse to

[ Domain {
    name: 'repair-robot',
    predicates:
     [ Predicate { name: 'is-broken', variables: [ Variable { name: 'x' } ] } ],
    actions:
     [ Action {
         name: 'repair',
         parameters: [ Variable { name: 'thing1' }, Variable { name: 'thing2' } ],
         precondition:
          And {
            predicates:
             [ Predicate {
                 name: 'is-broken',
                 variables: [ Variable { name: 'thing-1' } ] },
               Predicate {
                 name: 'is-broken',
                 variables: [ Variable { name: 'thing-2' } ] } ] },
         effect:
          And {
            predicates:
             [ Not {
                 predicates:
                  [ Predicate {
                      name: 'is-broken',
                      variables: [ Variable { name: 'thing1' } ] },
                    Predicate {
                      name: 'is-broken',
                      variables: [ Variable { name: 'thing2' } ] } ] } ] } } ] },
  Problem {
    name: 'repair-four-things',
    domainName: 'repair-robot',
    objects:
     [ Obj3ct { name: 'toy' },
       Obj3ct { name: 'vacuum-cleaner' },
       Obj3ct { name: 'sink' },
       Obj3ct { name: 'sculpture' } ],
    init:
     [ Predicate { name: 'is-broken', variables: [ 'toy' ] },
       Predicate { name: 'is-broken', variables: [ 'vacuum-cleaner' ] },
       Predicate { name: 'is-broken', variables: [ 'sink' ] },
       Predicate { name: 'is-broken', variables: [ 'sculpture' ] } ],
    goal:
     And {
       predicates:
        [ Not {
            predicates:
             [ Predicate { name: 'is-broken', variables: [ 'toy' ] },
               Predicate { name: 'is-broken', variables: [ 'vacuum-cleaner' ] },
               Predicate { name: 'is-broken', variables: [ 'sink' ] },
               Predicate { name: 'is-broken', variables: [ 'sculpture' ] } ] } ] } } ]

Requirements

• Node.js to run everything
• Parsimmon for parsing
• Mocha for unit tests

Getting started

1. npm install
2. node index.js YOURFILE.pddl

References

• PDDL – The Planning Domain Denition Language (Version 1.2)
• Complete BNF description of PDDL 3.1
• An Introduction to PDDL
• Revised NISP Manual