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Common lisp library for manipulating PDDL expressions.

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PDDL-TOOLS library

This library contains multiple Common Lisp ASDF systems for manipulating Planning Domain Definition Language (PDDL), and – newly added (summer 2023) – Hierarchical Domain Definition Language (HDDL).

These libraries enable a programmer to parse PDDL and HDDL, generate and modify parsed PDDL and HDDL expressions, and then write these expressions to files for use by AI planners. Constructs handled include domain definitions, problem definitions, and plans.

Two additional special functionalities:

PDDL-PLANNERS
Attempts to provide a uniform CL interface to a number of AI planning systems to support automating their use.
HDDL-JSON
Provides JSON schemas for HDDL constructs (domains and problems) and code for emitting HDDL domains and problems as JSON. We hope to later provide the same capabilities for PDDL, and also support reading domains and problems as JSON, not just writing them, so that planning models can be authored in JSON as well as in PDDL/HDDL. We believe that this can streamline the development of AI planning by obviating the need to incorporate HDDL and PDDL parsers in planners.

Notes

We plan to provide an executable wrapper around these libraries for parsing and translation, which will be available for building – for those comfortable with Common Lisp – or for use through Docker images.

Support for HDDL is as yet only partial. In particular, the library only support totally-ordered subtasks, not partially-ordered ones. We expect to add this shortly. Since we do not ourselves need these constructs, getting it added will be hastened substantially by requests from potential users (or, even more, pull requests)!

License

This code is made publicly available by SIFT, LLC under the terms of the 3-clause BSD license, attached as license.txt.

Component libraries

PDDL

PDDL system

This does not provide any PDDL-wrangling functions (well, with the exception of PPRINT-PDDL, whose job it is to print PDDL readably). It simply provides the PDDL package, which is a package into which other code can read PDDL expressions. Having a canonical package for PDDL means that multiple different bits of code can all wrangle PDDL without getting into package hell. In particular, it means that one bit of code can read PDDL into an s-expression that other code can interact with.

PDDL-UTILS

PDDL-wrangling functions. These are made to allow you to read and write PDDL files, especially problem files, domain files, and plans. There are also problem and domain constructors, accessors, and modifiers. A key purpose of this library is for programmers to be able to make derivative or templated domains and problems. You can read a problem (domain), set some of its slots programmatically, and then write it out to a file.

PDDL-PLANNERS

This attempts to provide a uniform-ish API to invoke a number of different planners from Common Lisp. This is just the core framework here.

Given a particular planning program that one wants to invoke, one extends the set of planning methods (often adding new keyword arguments) provided here with methods for your new planners.

This approach is only somewhat successful, since we find that planners often have very complex invocation procedures with very particular sets of configuration options.

HDDL

HDDL

Playing a role similar to the #PDDL system, this library provides the HDDL package (Common Lisp namespace) into which HDDL domain can be parsed.

HDDL-UTILS

This is the HDDL-wrangling system proper. It plays an analogous role to the #PDDL-UTILS system.

HDDL-JSON

This system provides the two key interface functions HDDL-JSON:JSON-DUMP-DOMAIN and HDDL-JSON:JSON-DUMP-PROBLEM which, as their names suggest, provide the ability to write domains and problems to JSON files.

JSON-SCHEMAS

This is not a library, but rather a repository of JSON schemas for HDDL as written to JSON.

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Common lisp library for manipulating PDDL expressions.

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