Convert list to SequentialPlan

[jdavidrcamacho]

Is there a way to convert a existing plan of the type list['str'], e.g.:

plan = ['pick(ball1, rooma, left)', 'move(rooma, roomb)', 'drop(ball1, roomb, left)']

Into a plan of the type <class 'unified_planning.plans.sequential_plan.SequentialPlan'>?

[Framba-Luca]

Hi @jdavidrcamacho , so, currently the feature you want is not implemented, but the PDDLReader offers a parse_plan_string that creates SequentialPlans from this format (citing doc.):

The format of the file must be:
         ``(action-name param1 param2 ... paramN)`` in each line for SequentialPlans
        ``start-time: (action-name param1 param2 ... paramN) [duration]`` in each line for TimeTriggeredPlans,
        where ``[duration]`` is optional and not specified for InstantaneousActions.

So, from your format (and the Problem for which the plan is created) you can use python to create a string that fits the format above.

It would be something like:

import unified_planning as up
plan = ['pick(ball1, rooma, left)', 'move(rooma, roomb)', 'drop(ball1, roomb, left)', 'move',' move()']

def convert_string_to_up_parsable(action_str: str) -> str:
    """Converts from 'action-name'('par1', 'par2', .. 'parN') to ('action-name' 'par1' 'par2' .. 'parN')"""
    action_str = action_str.replace(" ", "")
    if "(" not in action_str: # action without parameters
        return f"({action_str})"
    else:
        action_name, params = action_str.split("(")
        params = params.replace(",", " ")
        return f"({action_name} {params}"

parsable_plan = "\n".join(map(convert_string_to_up_parsable, plan))

from unified_planning.io import PDDLReader

problem: up.model.Problem = ...
reader = PDDLReader()
sequential_plan = reader.parse_plan_string(problem, parsable_plan)

print(parsable_plan)
# (pick ball1 rooma left)
# (move rooma roomb)
# (drop ball1 roomb left)
# (move)
# (move )

I also opened a PR to document the PDDLReader method, showing the accepted format.

[jdavidrcamacho]

Thank you! parse_plan_string is good enough to solve the issue I was having!