concepts.pdsketch.domain.Domain#

class Domain[source]#

Bases: DSLDomainBase

The planning domain definition.

Methods

`declare_external_function`(function_name, ...)	Declare an external function.
`declare_external_function_crossref`(...)	Declare a cross-reference to an external function.
`define_axiom`(name, parameters, ...)	Define a new axiom.
`define_const`(dtype, value)	Define a constant with the given type and value.
`define_derived`(name, arguments[, ...])	Define a new derived predicate.
`define_fancy_generator`(name, certifies[, ...])	Declare a new fancy generator.
`define_function`(function[, implementation])	Define a function in the domain.
`define_generator`(name, parameters, ...[, ...])	Define a new generator.
`define_macro`(name, parameters, sub_operators)	Define a new macro.
`define_operator`(name, parameters, ...[, ...])	Define a new operator.
`define_operator_inner`(name, operator)
`define_predicate`(name, arguments[, ...])	Define a new predicate.
`define_predicate_inner`(name, predicate_def)
`define_regression_rule`(name, parameters, ...)	Define a new regression rule.
`define_type`(typename[, parent_name])	Define a new type.
`get_function`(name)	Get the function with the given name.
`get_generator`(name)
`get_operator`(name)
`get_predicate`(name)	Get a predicate by name.
`get_regression_rule`(name)
`get_type`(typename)	Get a type by name.
`has_function`(name)	Check whether the domain has a function with the given name.
`has_generator`(name)
`has_operator`(name)
`has_regression_rule`(name)
`incremental_define`(string)	Incrementally define new parts of the domain.
`make_executor`()	Make an executor for this domain.
`parse`(string[, state, variables])	Parse a string into an expression.
`post_init`()	Post-initialization of the domain.
`print_summary`([external_functions, ...])	Print a summary of the domain.
`set_name`(name)	Set the name of the domain.

Attributes

`BUILTIN_NUMERIC_TYPES`
`BUILTIN_PYOBJ_TYPES`
`BUILTIN_TYPES`
`pdsketch_version`	The version of the PDSketch language.
`name`	The name of the domain.
`types`	The types defined in the domain, as a dictionary from type names to types.
`functions`	A mapping from function name to the corresponding `Predicate` class.
`constants`	The constants defined in the domain, as a dictionary from constant names to values.
`operators`	from operator name to the corresponding `Operator` class.
`operator_templates`	from operator name to the corresponding `Operator` class.
`regression_rules`	from regression rule name to the corresponding `RegressionRule` class.
`axioms`	from axiom name to the corresponding `Operator` class.
`generators`	from generator name to the corresponding `Generator` class.
`fancy_generators`	from fancy generator name to the corresponding `FancyGenerator` class.
`external_functions`	from function name to the corresponding `Function` class.
`external_function_crossrefs`	A mapping from function name to another function name.
`tv`	A helper function that returns a variable with the given type.

__init__(name=None, pdsketch_version=2)[source]#

Initialize a planning domain.

Parameters:

name (str | None) – The name of the domain.
pdsketch_version (int)

__new__(**kwargs)#

declare_external_function(function_name, argument_types, return_type, kwargs=None)[source]#

Declare an external function.

Parameters:

function_name (str) – the name of the external function.
argument_types (Sequence[ObjectType | ValueType | FunctionType] | Sequence[Variable] | Dict[str, ObjectType | ValueType | FunctionType]) – the argument types of the external function.
return_type (ObjectType | ValueType | FunctionType | SequenceType) – the return type of the external function.
kwargs (Dict[str, Any] | None) – the keyword arguments of the external function. Supported keyword arguments are: - observation: whether the external function is an observation variable. - state: whether the external function is a state variable.

Return type:

Function

declare_external_function_crossref(function_name, cross_ref_name)[source]#

Declare a cross-reference to an external function. This is useful when one function is an derived function of another function.

Parameters:

function_name (str) – the name of the external function.
cross_ref_name (str) – the name of the cross-reference.

define_axiom(name, parameters, preconditions, effects)[source]#

Define a new axiom.

Parameters:

name (str | None) – the name of the new axiom. If None, a unique name will be generated.
parameters (Sequence[Variable]) – the parameters of the new axiom.
preconditions (Sequence[Precondition]) – the preconditions of the new axiom.
effects (Sequence[Effect]) – the effects of the new axiom.

Returns:

the newly defined axiom.

Return type:

Operator

define_const(dtype, value)#

Define a constant with the given type and value.

Parameters:

dtype (ObjectType | ValueType) – the type of the constant.
value (str) – the value of the constant. The value should be a string that is the name of the constant.

define_derived(name, arguments, return_type=None, expr=None, *, state=False, generator_placeholder=False, simulation=False, execution=False)[source]#

Define a new derived predicate. Note that a derived predicate can not be an observation variable.

Parameters:

name (str) – the name of the new derived predicate.
arguments (Sequence[ObjectType | ValueType | FunctionType] | Sequence[Variable] | Dict[str, ObjectType | ValueType | FunctionType]) – the arguments of the new derived predicate.
return_type (ObjectType | ValueType | FunctionType | SequenceType | None) – the return type of the new derived predicate.
expr (ValueOutputExpression) – the expression of the new derived predicate.
state (bool) – whether the new derived predicate is a state variable.
generator_placeholder (bool) – whether the new derived predicate is a generator placeholder.
simulation (bool) – whether the new derived predicate requires the up-to-date simulation state to evaluate.
execution (bool) – whether the new derived predicate requires the up-to-date execution state to evaluate.

Returns:

the newly defined derived predicate.

define_fancy_generator(name, certifies, implementation=None, priority=10, unsolvable=False)[source]#

Declare a new fancy generator. The difference between a fancy generator and a normal generator is that a fancy generator is not directional. That is, it can generate a set of variables satisfies the constraints, without requiring specific contexts to generates directions. Therefore, we don’t need to specify the context and generates of a fancy generator.

Parameters:

name (str) – the name of the new fancy generator.
certifies (ValueOutputExpression) – the certified condition of the new fancy generator.
implementation (Implementation | None) – the implementation of the new fancy generator.
priority (int) – the priority of the new fancy generator.
unsolvable (bool) – whether the new fancy generator is unsolvable.

Returns:

the newly declared fancy generator.

Return type:

FancyGenerator

define_function(function, implementation=True)#

Define a function in the domain.

Parameters:

function (Function | Callable) – the function to be defined.
implementation (bool) – whether to store the function body of function as the implementation of the function.

Returns:

the function that is defined.

Return type:

Function

define_generator(name, parameters, certifies, context, generates, implementation=None, priority=0, unsolvable=False)[source]#

Define a new generator.

Parameters:

name (str) – the name of the new generator.
parameters (Sequence[Variable]) – the parameters of the new generator.
certifies (ValueOutputExpression) – the certified condition of the new generator.
context (Sequence[VariableExpression | ValueOutputExpression]) – the context of the new generator.
generates (Sequence[VariableExpression | ValueOutputExpression]) – the generates of the new generator.
implementation (Implementation | None) – the implementation of the new generator.
priority (int) – the priority of the new generator.
unsolvable (bool) – whether the new generator is unsolvable.

Returns:

the newly defined generator.

Return type:

Generator

define_macro(name, parameters, sub_operators, preconditions=tuple(), effects=tuple())[source]#

Define a new macro.

Parameters:

name (str) – the name of the new macro.
parameters (Sequence[Variable]) – the parameters of the new macro.
sub_operators (Sequence[OperatorApplier]) – the sub operators of the new macro.
preconditions (Sequence[Precondition]) – the preconditions of the new macro.
effects (Sequence[Effect]) – the effects of the new macro.

Returns:

the newly defined macro.

Return type:

MacroOperator

define_operator(name, parameters, preconditions, effects, controller, template=False, extends=None)[source]#

Define a new operator.

Parameters:

name (str) – the name of the new operator.
parameters (Sequence[Variable]) – the parameters of the new operator.
preconditions (Sequence[Precondition]) – the preconditions of the new operator.
effects (Sequence[Effect]) – the effects of the new operator.
controller (Implementation) – the controller of the new operator.
template (bool) – whether the new operator is a template.
extends (str | None) – the parent operator of the new operator.

Returns:

the newly defined operator.

Return type:

Operator

define_operator_inner(name, operator)[source]#

Parameters:

name (str)
operator (Operator)

Return type:

Operator

define_predicate(name, arguments, return_type=BOOL, *, observation=None, state=None, generator_placeholder=False, inplace_generators=None, simulation=False, execution=False, is_generator_function=False)[source]#

Define a new predicate.

Parameters:

name (str) – the name of the new predicate.
arguments (Sequence[ObjectType | ValueType | FunctionType] | Sequence[Variable] | Dict[str, ObjectType | ValueType | FunctionType]) – the arguments of the new predicate.
return_type (ObjectType | ValueType | FunctionType | SequenceType) – the return type of the new predicate.
observation (bool | None) – whether the new predicate is an observation variable.
state (bool | None) – whether the new predicate is a state variable.
generator_placeholder (bool) – whether the new predicate is a generator placeholder.
inplace_generators (Sequence[str] | None) – a list of generators that will be defined in-place for this predicate.
simulation (bool) – whether the new predicate requires the up-to-date simulation state to evaluate.
execution (bool) – whether the new predicate requires the up-to-date execution state to evaluate.
is_generator_function (bool) – whether the new predicate is a generator function.

Returns:

the newly defined predicate.

define_predicate_inner(name, predicate_def)[source]#

Parameters:

name (str)
predicate_def (Predicate)

define_regression_rule(name, parameters, preconditions, goal_expression, side_effects, body, always=False)[source]#

Define a new regression rule.

Parameters:

name (str) – the name of the new regression rule.
parameters (Sequence[Variable]) – the parameters of the new regression rule.
preconditions (Sequence[Precondition]) – the preconditions of the new regression rule.
goal_expression (ValueOutputExpression) – the goal expression of the new regression rule, as a single expression.
side_effects (Sequence[Effect]) – the side effects of the new regression rule.
body (Sequence[AchieveExpression | BindExpression | RuntimeAssignExpression | ListExpansionExpression | RegressionCommitFlag | OperatorApplicationExpression | RegressionRuleApplicationExpression | ConditionalRegressionRuleBodyExpression | LoopRegressionRuleBodyExpression]) – the body of the new regression rule.
always (bool) – whether the new regression rule is always applicable.

Returns:

the newly defined regression rule.

define_type(typename, parent_name='object')[source]#

Define a new type.

Parameters:

typename – the name of the new type.
parent_name (VectorValueType | ScalarValueType | str | None) – the parent type of the new type, default to ‘object’.

Returns:

the newly defined type.

Return type:

ObjectType | PyObjValueType | VectorValueType | ScalarValueType

get_function(name)#

Get the function with the given name.

Parameters:: name (str) – the name of the function.
Returns:: the function with the given name.
Return type:: Function

get_generator(name)[source]#

Parameters:: name (str)
Return type:: Generator | FancyGenerator

get_operator(name)[source]#

Parameters:: name (str)
Return type:: Operator

get_predicate(name)[source]#

Get a predicate by name.

Parameters:: name (str) – the name of the predicate.
Returns:: the predicate with the given name.
Return type:: Predicate

get_regression_rule(name)[source]#

Parameters:: name (str)
Return type:: RegressionRule

get_type(typename)[source]#

Get a type by name.

Parameters:: typename (str) – the name of the type.
Returns:: the type with the given name.
Return type:: ObjectType | PyObjValueType | VectorValueType | ScalarValueType | NamedTensorValueType

has_function(name)#

Check whether the domain has a function with the given name.

Parameters:: name (str) – the name of the function.
Returns:: whether the domain has a function with the given name.
Return type:: bool

has_generator(name)[source]#

Parameters:: name (str)
Return type:: bool

has_operator(name)[source]#

Parameters:: name (str)
Return type:: bool

has_regression_rule(name)[source]#

Parameters:: name (str)
Return type:: bool

incremental_define(string)[source]#

Incrementally define new parts of the domain.

Parameters:: string (str) – the string to be parsed and defined.

make_executor()[source]#

Make an executor for this domain.

Return type:: PDSketchExecutor

parse(string, state=None, variables=None)[source]#

Parse a string into an expression.

Parameters:

string (str | Expression) – the string to be parsed.
variables (Sequence[Variable] | None) – the variables to be used in the expression.
state (State | None)

Returns:

the parsed expression.

Return type:

Expression

post_init()[source]#

Post-initialization of the domain. This function should be called by the domain generator after all the domain definitions (predicates and operators) are done. Currently, the following post-initialization steps are performed:

Analyze the static predicates.

print_summary(external_functions=False, full_generators=False)[source]#

Print a summary of the domain.

Parameters:

external_functions (bool)
full_generators (bool)

set_name(name)[source]#

Set the name of the domain.

Parameters:: name (str) – the new name of the domain.

BUILTIN_NUMERIC_TYPES = {'bool': ScalarValueType<bool>, 'float32': ScalarValueType<float32>, 'int64': ScalarValueType<int64>}#

BUILTIN_PYOBJ_TYPES = {'__control__': PyObjValueType<__control__>, '__regression_body_item__': PyObjValueType<__regression_body_item__>, '__totally_ordered_plan__': ListType<__totally_ordered_plan__>}#

BUILTIN_TYPES = ['object', 'pyobject', 'bool', 'int64', 'float32', '__totally_ordered_plan__', '__partially_ordered_plan__']#

axioms: Dict[str, Operator]#

from axiom name to the corresponding Operator class.

Type:: A mapping of axioms

constants: Dict[str, ObjectConstant]#: The constants defined in the domain, as a dictionary from constant names to values.

external_function_crossrefs: Dict[str, str]#: A mapping from function name to another function name. This is useful when defining one function as an derived function of another function.

external_functions: Dict[str, Function]#

from function name to the corresponding Function class.

Type:: A mapping of external functions

fancy_generators: Dict[str, FancyGenerator]#

from fancy generator name to the corresponding FancyGenerator class.

Type:: A mapping of fancy generators

functions: Dict[str, Predicate]#: A mapping from function name to the corresponding Predicate class. Note that, unlike the basic DSLDomainBase, in planning domain, all functions should be of type Predicate.

generators: Dict[str, Generator]#

from generator name to the corresponding Generator class.

Type:: A mapping of generators

name: str#: The name of the domain.

operator_templates: Dict[str, Operator]#

from operator name to the corresponding Operator class.

Type:: A mapping of operator templates

operators: Dict[str, Operator | MacroOperator]#

from operator name to the corresponding Operator class.

Type:: A mapping of operators

pdsketch_version: int#: The version of the PDSketch language. Currently, two supported versions are 2 and 3. This will be used to determine the parsing behavior of the domain.

regression_rules: Dict[str, RegressionRule]#

from regression rule name to the corresponding RegressionRule class.

Type:: A mapping of regression rules

tv: _TypedVariableView#: A helper function that returns a variable with the given type. For example, domain.tv[‘object’](‘x’) returns a variable of type object with name x.

types: Dict[str, ObjectType | PyObjValueType | TensorValueTypeBase]#: The types defined in the domain, as a dictionary from type names to types.