symbolic.DisjunctiveFormula¶

class symbolic.DisjunctiveFormula¶

Bases: pybind11_object

__init__(*args, **kwargs)¶

Methods

`__init__`(args, *kwargs)
`normalize_conditions`(pddl, action_call[, ...])	Normalize the pre/post conditions of the given action.
`normalize_goal`(pddl[, apply_axioms])
`normalize_postconditions`(pddl, action_call)
`normalize_preconditions`(pddl, action_call[, ...])

Attributes

conjunctions

static normalize_conditions(pddl: symbolic.pysymbolic.Pddl, action_call: str, apply_axioms: bool = False) → Optional[Tuple[symbolic.pysymbolic.DisjunctiveFormula, symbolic.pysymbolic.DisjunctiveFormula]]¶

Normalize the pre/post conditions of the given action.

If either of the conditions are invalid, this function will return an empty optional.

Parameters:

pddl – Pddl object.
action – Action call in the form of "action(obj_a, obj_b)".
apply_axioms – Whether to apply the axioms to the pre/post conditions.

Returns:

Pair of normalized pre/post conditions.

Example

>>> import symbolic
>>> pddl = symbolic.Pddl("../resources/domain.pddl", "../resources/problem.pddl")
>>> symbolic.DisjunctiveFormula.normalize_conditions(pddl, "pick(hook)")
((or
    (and
        inworkspace(hook)
        not inhand(hook)
        not inhand(box)
    )
)
, (or
    (and
        inhand(hook)
        not on(hook, shelf)
        not on(hook, box)
        not on(hook, hook)
        not on(hook, table)
    )
)
)