Fixes

.idea/vcs.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="VcsDirectoryMappings">
-    <mapping directory="" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
   </component>
 </project>

pom.xml

@@ -4,7 +4,7 @@
          xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
     <modelVersion>4.0.0</modelVersion>
 
-    <groupId>edu.rpi.rair</groupId>
+    <groupId>com.naveensundarg</groupId>
     <artifactId>planner</artifactId>
     <version>0.01</version>
 

snark-20120808r02/snark-interface.lisp

@@ -91,7 +91,7 @@
   (snark:initialize :verbose  verbose)
   (if (not verbose) (snark-deverbose) )
   (temp-sorts)
-  (snark:run-time-limit 0.05)
+  (snark:run-time-limit 0.5)
   (snark:assert-supported t)
   (snark:assume-supported t)
   (snark:prove-supported t)

src/main/java/com/naveensundarg/planner/Action.java

@@ -1,4 +1,4 @@
-package edu.rpi.rair;
+package com.naveensundarg.planner;
 
 import com.naveensundarg.shadow.prover.core.Logic;
 import com.naveensundarg.shadow.prover.representations.formula.And;
@@ -32,7 +32,7 @@ public class Action {
 
     private final Compound shorthand;
 
-    private Action(String name, Set<Formula> preconditions, Set<Formula> additions, Set<Formula> deletions, List<Variable> freeVariables) {
+    public Action(String name, Set<Formula> preconditions, Set<Formula> additions, Set<Formula> deletions, List<Variable> freeVariables) {
         this.name = name;
         this.preconditions = preconditions;
 
@@ -58,7 +58,7 @@ public class Action {
         this.trivial = computeTrivialOrNot();
     }
 
-    private Action(String name, Set<Formula> preconditions, Set<Formula> additions,
+    public Action(String name, Set<Formula> preconditions, Set<Formula> additions,
                    Set<Formula> deletions, List<Variable> freeVariables,
                    Compound shorthand
     ) {

src/main/java/com/naveensundarg/planner/Context.java

@@ -0,0 +1,23 @@
+package com.naveensundarg.planner;
+
+import java.util.List;
+
+public class Context {
+
+    private final List<PlanMethod> planMethods;
+    private final boolean workFromScratch;
+
+
+    public Context(List<PlanMethod> planMethods, boolean workFromScratch) {
+        this.planMethods = planMethods;
+        this.workFromScratch = workFromScratch;
+    }
+
+    public List<PlanMethod> getPlanMethods() {
+        return planMethods;
+    }
+
+    public boolean isWorkFromScratch() {
+        return workFromScratch;
+    }
+}

src/main/java/com/naveensundarg/planner/ContextNormPlanner.java

@@ -1,9 +1,8 @@
-package edu.rpi.rair;
+package com.naveensundarg.planner;
 
+import com.naveensundarg.planner.utils.PlanningProblem;
 import com.naveensundarg.shadow.prover.representations.formula.Formula;
-import edu.rpi.rair.utils.PlanningProblem;
 
-import java.util.List;
 import java.util.Optional;
 import java.util.Set;
 
@@ -19,7 +18,22 @@ public class ContextNormPlanner implements Planner {
 
     @Override
     public Optional<Set<Plan>> plan(PlanningProblem problem, Set<Formula> background, Set<Action> actions, State start, State goal) {
-        List<Plan> methods =  problem.getPlanMethods();
+
+        Optional<Context> contextOpt = problem.getContextOpt();
+
+        if(contextOpt.isPresent()){
+
+
+            depthFirstPlanner.setWORK_FROM_SCRATCH(contextOpt.get().isWorkFromScratch());
+
+
+            return depthFirstPlanner.plan(problem, background, actions, start, goal);
+
+
+        } else{
+
+            return depthFirstPlanner.plan(problem, background, actions, start, goal);
+        }
 
 
     }

src/main/java/com/naveensundarg/planner/DepthFirstPlanner.java

@@ -1,13 +1,13 @@
-package edu.rpi.rair;
+package com.naveensundarg.planner;
 
+import com.naveensundarg.planner.utils.Commons;
+import com.naveensundarg.planner.utils.PlanningProblem;
+import com.naveensundarg.planner.utils.Visualizer;
 import com.naveensundarg.shadow.prover.core.proof.Justification;
 import com.naveensundarg.shadow.prover.representations.formula.Formula;
 import com.naveensundarg.shadow.prover.utils.CollectionUtils;
 import com.naveensundarg.shadow.prover.utils.Pair;
 import com.naveensundarg.shadow.prover.utils.Sets;
-import edu.rpi.rair.utils.Commons;
-import edu.rpi.rair.utils.PlanningProblem;
-import edu.rpi.rair.utils.Visualizer;
 
 import java.util.*;
 import java.util.function.Function;
@@ -22,7 +22,21 @@ public class DepthFirstPlanner implements Planner {
     private static  int MAX_DEPTH = 5;
     private static  boolean EXHAUSTIVE_TILL_MAX_DEPTH = true;
 
-    private static boolean USE_METHODS  = true;
+    private  boolean USE_METHODS, WORK_FROM_SCRATCH;
+
+    public DepthFirstPlanner(){
+        USE_METHODS = true;
+        WORK_FROM_SCRATCH = true;
+
+    }
+
+    public boolean isWORK_FROM_SCRATCH() {
+        return WORK_FROM_SCRATCH;
+    }
+
+    public void setWORK_FROM_SCRATCH(boolean WORK_FROM_SCRATCH) {
+        this.WORK_FROM_SCRATCH = WORK_FROM_SCRATCH;
+    }
 
     public static int getMaxDepth() {
         return MAX_DEPTH;
@@ -79,6 +93,10 @@ public class DepthFirstPlanner implements Planner {
             }
         }
 
+        if(!WORK_FROM_SCRATCH){
+            return Optional.empty();
+        }
+
 
         if (!EXHAUSTIVE_TILL_MAX_DEPTH) {
 

src/main/java/com/naveensundarg/planner/Goal.java

@@ -1,4 +1,4 @@
-package edu.rpi.rair;
+package com.naveensundarg.planner;
 
 import java.util.concurrent.atomic.AtomicInteger;
 

src/main/java/com/naveensundarg/planner/GoalTracker.java

@@ -1,13 +1,11 @@
-package edu.rpi.rair;
+package com.naveensundarg.planner;
 
+import com.naveensundarg.planner.utils.PlanningProblem;
 import com.naveensundarg.shadow.prover.representations.formula.Formula;
 import com.naveensundarg.shadow.prover.utils.CollectionUtils;
-import com.naveensundarg.shadow.prover.utils.Pair;
 import com.naveensundarg.shadow.prover.utils.Sets;
-import edu.rpi.rair.utils.PlanningProblem;
 
 import java.util.Comparator;
-import java.util.List;
 import java.util.Optional;
 import java.util.Set;
 

src/main/java/com/naveensundarg/planner/Inducer.java

@@ -1,7 +1,6 @@
-package edu.rpi.rair;
+package com.naveensundarg.planner;
 
-import edu.rpi.rair.Plan;
+import com.naveensundarg.planner.utils.PlanningProblem;
-import edu.rpi.rair.utils.PlanningProblem;
 
 /**
  * Created by naveensundarg on 12/19/17.

src/main/java/com/naveensundarg/planner/Operations.java

@@ -1,5 +1,6 @@
-package edu.rpi.rair;
+package com.naveensundarg.planner;
 
+import com.naveensundarg.planner.utils.Visualizer;
 import com.naveensundarg.shadow.prover.core.Prover;
 import com.naveensundarg.shadow.prover.core.SnarkWrapper;
 import com.naveensundarg.shadow.prover.core.proof.Justification;
@@ -13,7 +14,6 @@ import com.naveensundarg.shadow.prover.utils.ImmutablePair;
 import com.naveensundarg.shadow.prover.utils.Pair;
 
 import com.naveensundarg.shadow.prover.utils.Sets;
-import edu.rpi.rair.utils.Visualizer;
 import org.apache.commons.lang3.tuple.Triple;
 
 import java.util.List;
@@ -23,8 +23,6 @@ import java.util.Set;
 import java.util.concurrent.*;
 import java.util.stream.Collectors;
 
-import static edu.rpi.rair.State.FALSE;
-
 /**
  * Created by naveensundarg on 1/13/17.
  */
@@ -314,7 +312,7 @@ public class Operations {
     public static boolean conflicts(Set<Formula> background, State state1, State state2) {
 
 
-        return proveCached(Sets.union(background, Sets.union(state1.getFormulae(), state2.getFormulae())), FALSE).isPresent();
+        return proveCached(Sets.union(background, Sets.union(state1.getFormulae(), state2.getFormulae())), State.FALSE).isPresent();
 
     }
 

src/main/java/com/naveensundarg/planner/Plan.java

@@ -1,8 +1,8 @@
-package edu.rpi.rair;
+package com.naveensundarg.planner;
 
+import com.naveensundarg.planner.utils.Visualizer;
 import com.naveensundarg.shadow.prover.representations.formula.Formula;
 import com.naveensundarg.shadow.prover.utils.CollectionUtils;
-import edu.rpi.rair.utils.Visualizer;
 
 import java.util.List;
 import java.util.Set;

src/main/java/com/naveensundarg/planner/PlanMethod.java

@@ -1,5 +1,6 @@
-package edu.rpi.rair;
+package com.naveensundarg.planner;
 
+import com.naveensundarg.planner.utils.PlanningProblem;
 import com.naveensundarg.shadow.prover.representations.formula.And;
 import com.naveensundarg.shadow.prover.representations.formula.Formula;
 import com.naveensundarg.shadow.prover.representations.value.Compound;
@@ -8,16 +9,8 @@ import com.naveensundarg.shadow.prover.representations.value.Variable;
 import com.naveensundarg.shadow.prover.utils.CollectionUtils;
 import com.naveensundarg.shadow.prover.utils.Reader;
 import com.naveensundarg.shadow.prover.utils.Sets;
-import edu.rpi.rair.utils.PlanningProblem;
- import us.bpsm.edn.Keyword;
-import us.bpsm.edn.Symbol;
-import us.bpsm.edn.parser.Parseable;
-import us.bpsm.edn.parser.Parser;
-import us.bpsm.edn.parser.Parsers;
 
-import java.io.StringReader;
 import java.util.*;
-import java.util.stream.Collector;
 import java.util.stream.Collectors;
 
 /**

src/main/java/com/naveensundarg/planner/PlanSketch.java

@@ -1,8 +1,7 @@
-package edu.rpi.rair;
+package com.naveensundarg.planner;
 
 import com.naveensundarg.shadow.prover.representations.formula.Formula;
 import com.naveensundarg.shadow.prover.utils.CollectionUtils;
-import com.naveensundarg.shadow.prover.utils.Sets;
 
 import java.util.List;
 import java.util.Set;

src/main/java/com/naveensundarg/planner/Planner.java

@@ -1,9 +1,8 @@
-package edu.rpi.rair;
+package com.naveensundarg.planner;
 
+import com.naveensundarg.planner.utils.PlanningProblem;
 import com.naveensundarg.shadow.prover.representations.formula.Formula;
-import edu.rpi.rair.utils.PlanningProblem;
 
-import java.util.List;
 import java.util.Optional;
 import java.util.Set;
 

src/main/java/com/naveensundarg/planner/State.java

@@ -1,15 +1,12 @@
-package edu.rpi.rair;
+package com.naveensundarg.planner;
 
 import com.naveensundarg.shadow.prover.core.Prover;
 import com.naveensundarg.shadow.prover.core.SnarkWrapper;
-import com.naveensundarg.shadow.prover.representations.formula.And;
 import com.naveensundarg.shadow.prover.representations.formula.Formula;
 import com.naveensundarg.shadow.prover.utils.CollectionUtils;
 import com.naveensundarg.shadow.prover.utils.Reader;
-import com.naveensundarg.shadow.prover.utils.Sets;
 
 import java.util.Set;
-import java.util.stream.Collectors;
 
 /**
  * Created by naveensundarg on 1/13/17.

src/main/java/com/naveensundarg/planner/inducers/SimpleInducer.java

@@ -1,14 +1,13 @@
-package edu.rpi.rair.inducers;
+package com.naveensundarg.planner.inducers;
 
+import com.naveensundarg.planner.*;
+import com.naveensundarg.planner.utils.Commons;
+import com.naveensundarg.planner.utils.PlanningProblem;
 import com.naveensundarg.shadow.prover.representations.formula.Formula;
 import com.naveensundarg.shadow.prover.representations.value.Compound;
 import com.naveensundarg.shadow.prover.representations.value.Value;
 import com.naveensundarg.shadow.prover.representations.value.Variable;
-import com.naveensundarg.shadow.prover.utils.Pair;
 import com.naveensundarg.shadow.prover.utils.Sets;
-import edu.rpi.rair.*;
-import edu.rpi.rair.utils.Commons;
-import edu.rpi.rair.utils.PlanningProblem;
 
 import java.util.*;
 import java.util.function.Function;

src/main/java/com/naveensundarg/planner/utils/Commons.java

@@ -1,23 +1,17 @@
-package edu.rpi.rair.utils;
+package com.naveensundarg.planner.utils;
 
-import clojure.lang.Obj;
+import com.diogonunes.jcdp.color.ColoredPrinter;
+import com.diogonunes.jcdp.color.api.Ansi;
 import com.naveensundarg.shadow.prover.representations.formula.And;
-import com.naveensundarg.shadow.prover.representations.formula.Existential;
 import com.naveensundarg.shadow.prover.representations.formula.Formula;
-import com.naveensundarg.shadow.prover.representations.formula.Universal;
 import com.naveensundarg.shadow.prover.representations.value.Value;
 import com.naveensundarg.shadow.prover.representations.value.Variable;
 import com.naveensundarg.shadow.prover.utils.CollectionUtils;
-import com.naveensundarg.shadow.prover.utils.Sets;
-import edu.rpi.rair.State;
-import us.bpsm.edn.parser.Parseable;
 
 import java.util.ArrayList;
 import java.util.Map;
 import java.util.Set;
 import java.util.function.BiFunction;
-import java.util.function.Consumer;
-import java.util.function.Function;
 import java.util.stream.Collectors;
 
 /**
@@ -75,8 +69,12 @@ public class Commons {
         return combinedMap;
     }
 
+    static ColoredPrinter cp = new ColoredPrinter.Builder(1, false).build();
+
     public static<U, V, W> Object runAndTime(BiFunction<U, V, W> function, U u, V v, String  message){
 
+        cp.setAttribute(Ansi.Attribute.BOLD);
+
         long start, end;
 
         start = System.currentTimeMillis();
@@ -86,8 +84,18 @@ public class Commons {
         end = System.currentTimeMillis();
 
 
-        System.out.println("Timing for: " + message  +  (end - start)/1000 + " s");
+        cp.println("Timing for: " + message  +  (end - start)/1000 + " s");
 
+        if(w!=null){
+            cp.println(w);
+
+        } else {
+
+            cp.setForegroundColor(Ansi.FColor.RED);
+            cp.println("COULD NOT PLAN");
+        }
+
+        cp.clear();
         return  w;
     }
 

src/main/java/com/naveensundarg/planner/utils/FrozenPrinter.java

@@ -1,4 +1,4 @@
-package edu.rpi.rair.utils;
+package com.naveensundarg.planner.utils;
 
 import com.diogonunes.jcdp.color.ColoredPrinter;
 import com.diogonunes.jcdp.color.api.AbstractColoredPrinter;

src/main/java/com/naveensundarg/planner/utils/GoalTrackingProblem.java

@@ -1,23 +1,22 @@
-package edu.rpi.rair.utils;
+package com.naveensundarg.planner.utils;
 
 import com.naveensundarg.shadow.prover.representations.formula.Formula;
 import com.naveensundarg.shadow.prover.utils.CollectionUtils;
 import com.naveensundarg.shadow.prover.utils.Reader;
-import edu.rpi.rair.Goal;
+import com.naveensundarg.planner.Goal;
-import edu.rpi.rair.PlanMethod;
+import com.naveensundarg.planner.PlanMethod;
-import edu.rpi.rair.State;
+import com.naveensundarg.planner.State;
 import us.bpsm.edn.Keyword;
 import us.bpsm.edn.parser.Parseable;
 import us.bpsm.edn.parser.Parser;
 import us.bpsm.edn.parser.Parsers;
 import us.bpsm.edn.parser.Token;
 
-import java.io.ByteArrayInputStream;
 import java.io.InputStream;
 import java.io.InputStreamReader;
 import java.util.*;
 
-import static edu.rpi.rair.utils.Reader.readPlanMethodsFrom;
+import static com.naveensundarg.planner.utils.Reader.readPlanMethodsFrom;
 
 /**
  * Created by naveensundarg on 1/13/17.

src/main/java/com/naveensundarg/planner/utils/IndefiniteAction.java

@@ -0,0 +1,15 @@
+package com.naveensundarg.planner.utils;
+
+import com.naveensundarg.planner.Action;
+import com.naveensundarg.shadow.prover.representations.formula.Formula;
+import com.naveensundarg.shadow.prover.representations.value.Variable;
+
+import java.util.List;
+import java.util.Set;
+
+public class IndefiniteAction extends Action {
+
+    private IndefiniteAction(String name, Set<Formula> preconditions, Set<Formula> additions, Set<Formula> deletions, List<Variable> freeVariables) {
+        super(name, preconditions, additions, deletions, freeVariables);
+    }
+}

src/main/java/com/naveensundarg/planner/utils/LearningSystem.java

@@ -1,23 +1,18 @@
-package edu.rpi.rair.utils;
+package com.naveensundarg.planner.utils;
 
 import com.diogonunes.jcdp.color.ColoredPrinter;
-import com.diogonunes.jcdp.color.api.Ansi;
+import com.naveensundarg.planner.DepthFirstPlanner;
-import com.google.common.collect.Sets;
+import com.naveensundarg.planner.GoalTracker;
-import com.naveensundarg.shadow.prover.core.Prover;
+import com.naveensundarg.planner.Plan;
-import com.naveensundarg.shadow.prover.core.SnarkWrapper;
+import com.naveensundarg.planner.Planner;
 import com.naveensundarg.shadow.prover.utils.Reader;
-import edu.rpi.rair.*;
+ import org.apache.commons.lang3.tuple.Triple;
-import edu.rpi.rair.inducers.SimpleInducer;
-import org.apache.commons.lang3.tuple.Triple;
 
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Optional;
-import java.util.Set;
 import java.util.function.BiConsumer;
 import java.util.function.BiFunction;
-import java.util.function.Function;
-import java.util.stream.Collectors;
 
 /**
  * Created by naveensundarg on 1/15/17.
@@ -37,7 +32,7 @@ public class LearningSystem {
 
         RunDemo.planningProblemWarmUp();
 
-        Visualizer.setShouldVisualize(false);
+        Visualizer.setShouldVisualize(true);
 
         List<GoalTrackingProblem> goalTrackingProblemList1 = (GoalTrackingProblem.readFromFiles(Sandbox.class.getResourceAsStream("../problems/seriated/seriated_challenge_1.clj"),
                 Sandbox.class.getResourceAsStream("../problems/seriated/methods.clj")));
@@ -69,10 +64,25 @@ public class LearningSystem {
        // Plan plan1 =  goalTracker1.adoptGoal(goalTrackingProblem1.getGoalNamed("G1")).get();
         //Plan plan2 = goalTracker2.adoptGoal(goalTrackingProblem2.getGoalNamed("G1")).get();
 
-        BiFunction<GoalTracker, GoalTrackingProblem, Plan> run = (goalTracker, goalTrackingProblem) ->  goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G1")).get();
+        BiFunction<GoalTracker, GoalTrackingProblem, Plan> run = (goalTracker, goalTrackingProblem) ->  {
+            Optional<Plan> planOptional  = goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G1"));
 
-       System.out.println(Commons.runAndTime(run, goalTracker1, goalTrackingProblem1, "Problem 1"));
+            if(planOptional.isPresent()){
-       System.out.println(Commons.runAndTime(run, goalTracker2, goalTrackingProblem2, "Problem 2"));
+                return planOptional.get();
+            }
+             else {
+
+                System.out.println("Could not find a plan");
+                return null;
+            }
+        };
+
+      // Object plan1 = (Commons.runAndTime(run, goalTracker1, goalTrackingProblem1, "Problem 1"));
+
+        Object plan2 = (Commons.runAndTime(run, goalTracker2, goalTrackingProblem2, "Problem 2"));
+
+
+        Visualizer.unspool(10);
 
     }
 

src/main/java/com/naveensundarg/planner/utils/PlanningProblem.java

@@ -1,16 +1,15 @@
-package edu.rpi.rair.utils;
+package com.naveensundarg.planner.utils;
 
-import clojure.lang.Obj;
+import com.naveensundarg.planner.Context;
 import com.naveensundarg.shadow.prover.representations.formula.Formula;
-import com.naveensundarg.shadow.prover.representations.value.Compound;
 import com.naveensundarg.shadow.prover.representations.value.Value;
 import com.naveensundarg.shadow.prover.representations.value.Variable;
 import com.naveensundarg.shadow.prover.utils.CollectionUtils;
 import com.naveensundarg.shadow.prover.utils.Reader;
 import com.naveensundarg.shadow.prover.utils.Sets;
-import edu.rpi.rair.Action;
+import com.naveensundarg.planner.Action;
-import edu.rpi.rair.PlanMethod;
+import com.naveensundarg.planner.PlanMethod;
-import edu.rpi.rair.State;
+import com.naveensundarg.planner.State;
 import us.bpsm.edn.Keyword;
 import us.bpsm.edn.Symbol;
 import us.bpsm.edn.parser.Parseable;
@@ -21,10 +20,11 @@ import us.bpsm.edn.parser.Token;
 import java.io.InputStream;
 import java.io.InputStreamReader;
 import java.io.StringReader;
-import java.security.Key;
 import java.util.*;
 import java.util.stream.Collectors;
 
+import static com.naveensundarg.planner.utils.Reader.readPlanMethodFrom;
+
 /**
  * Created by naveensundarg on 1/13/17.
  */
@@ -41,6 +41,13 @@ public class PlanningProblem {
     private Set<Value> avoidIfPossible;
     private final List<PlanMethod> planMethods;
 
+    private final Optional<Context> contextOpt;
+
+    private static final Keyword CONTEXT = Keyword.newKeyword("context");
+    private static final Keyword WORK_FROM_SCRATCH = Keyword.newKeyword("work-from-scratch");
+    private static final Keyword PLAN_METHODS = Keyword.newKeyword("plan-methods");
+
+
     private static final Keyword BACKGROUND = Keyword.newKeyword("background");
     private static final Keyword START = Keyword.newKeyword("start");
     private static final Keyword GOAL = Keyword.newKeyword("goal");
@@ -67,6 +74,22 @@ public class PlanningProblem {
         this.avoidIfPossible = avoidIfPossible;
         this.planMethods = CollectionUtils.newEmptyList();
         this.expectedActionSequencesOpt = Optional.empty();
+        this.contextOpt = Optional.empty();
+
+    }
+
+    private PlanningProblem(Optional<Context> contextOpt, String name, Set<Formula> background, State start, State goal, Set<Action> actions, Set<Value> avoidIfPossible) {
+
+        this.background = background;
+        this.start = start;
+        this.actions = actions;
+        this.goal = goal;
+        this.name = name;
+        this.actionMap = CollectionUtils.newMap();
+        this.avoidIfPossible = avoidIfPossible;
+        this.planMethods = CollectionUtils.newEmptyList();
+        this.expectedActionSequencesOpt = Optional.empty();
+        this.contextOpt = contextOpt;
 
     }
 
@@ -82,6 +105,31 @@ public class PlanningProblem {
         this.planMethods = CollectionUtils.newEmptyList();
 
         this.expectedActionSequencesOpt = Optional.of(expectedActionSequences);
+
+        this.contextOpt = Optional.empty();
+
+    }
+
+    public static List<PlanningProblem> readFromString(String input) throws Reader.ParsingException {
+
+
+        Parseable parseable = Parsers.newParseable(new StringReader(input));
+        Parser parser = Parsers.newParser(Parsers.defaultConfiguration());
+
+        List<PlanningProblem> planningProblems = CollectionUtils.newEmptyList();
+
+        Object nextValue = parser.nextValue(parseable);
+
+        while (!nextValue.equals(Token.END_OF_INPUT)) {
+
+            planningProblems.add(readFromObject(nextValue));
+
+
+
+            nextValue = parser.nextValue(parseable);
+        }
+
+        return planningProblems;
     }
 
     public static List<PlanningProblem> readFromFile(InputStream inputStream) throws Reader.ParsingException {
@@ -118,7 +166,9 @@ public class PlanningProblem {
 
         List<?> actionDefinitions = (List<?>) planningProblemSpec.get(ACTION);
 
+        System.out.println(planningProblemSpec.get(NAME));
         String name = planningProblemSpec.get(NAME).toString();
+
         Set<Action> actions = readActionsFrom(actionDefinitions);
         Map<String, Action> actionMap = CollectionUtils.newMap();
 
@@ -126,6 +176,25 @@ public class PlanningProblem {
             actionMap.put(action.getName(), action);
         });
 
+
+        Optional<Context> contextOpt = Optional.empty();
+        if(planningProblemSpec.containsKey(CONTEXT)){
+            Map<?, ?> contextSpec = (Map<?, ?>) planningProblemSpec.get(CONTEXT);
+            boolean workFromScratch = contextSpec.get(WORK_FROM_SCRATCH).toString().equals("true");
+            List<?> planMethodSpecs = (List<?> )contextSpec.get(PLAN_METHODS);
+            List<PlanMethod> planMethods = CollectionUtils.newEmptyList();
+
+            if(planMethodSpecs!=null){
+
+                for(Object planMethodSpec: (List<?>) planMethodSpecs){
+                    planMethods.add(readPlanMethodFrom((List<?>) planMethodSpec));
+                }
+
+            }
+
+            contextOpt = Optional.of(new Context(planMethods, workFromScratch));
+
+        }
         if(planningProblemSpec.containsKey(EXPECTED_PLANS)){
             List<?> plans = (List<?>) planningProblemSpec.get(EXPECTED_PLANS);
 
@@ -150,11 +219,12 @@ public class PlanningProblem {
             }).collect(Collectors.toSet());
 
 
+
              return new PlanningProblem(name, background, State.initializeWith(start),
                 State.initializeWith(goal), actions, avoidIfPossible, expectedActions);
         } else {
 
-             return new PlanningProblem(name, background, State.initializeWith(start),
+             return new PlanningProblem(contextOpt, name, background, State.initializeWith(start),
                 State.initializeWith(goal),actions, avoidIfPossible);
         }
     }
@@ -343,6 +413,9 @@ public class PlanningProblem {
         return avoidIfPossible;
     }
 
+    public Optional<Context> getContextOpt() {
+        return contextOpt;
+    }
 
     public List<PlanMethod> getPlanMethods() {
         return planMethods;

src/main/java/com/naveensundarg/planner/utils/ProceduralAttachment.java

@@ -1,4 +1,4 @@
-package edu.rpi.rair.utils;
+package com.naveensundarg.planner.utils;
 
 import com.naveensundarg.shadow.prover.representations.formula.Formula;
 

src/main/java/com/naveensundarg/planner/utils/Reader.java

@@ -1,10 +1,10 @@
-package edu.rpi.rair.utils;
+package com.naveensundarg.planner.utils;
 
 import com.naveensundarg.shadow.prover.representations.formula.Formula;
 import com.naveensundarg.shadow.prover.representations.value.Compound;
 import com.naveensundarg.shadow.prover.representations.value.Variable;
 import com.naveensundarg.shadow.prover.utils.CollectionUtils;
-import edu.rpi.rair.PlanMethod;
+import com.naveensundarg.planner.PlanMethod;
 import us.bpsm.edn.Keyword;
 import us.bpsm.edn.Symbol;
 import us.bpsm.edn.parser.Parseable;
@@ -17,7 +17,6 @@ import java.io.StringReader;
 import java.util.List;
 import java.util.Map;
 import java.util.Set;
-import java.util.stream.Collectors;
 
 public class Reader {
 

src/main/java/com/naveensundarg/planner/utils/RunDemo.java

@@ -1,25 +1,21 @@
-package edu.rpi.rair.utils;
+package com.naveensundarg.planner.utils;
 
 import com.diogonunes.jcdp.color.ColoredPrinter;
 import com.diogonunes.jcdp.color.api.Ansi;
 import com.google.common.collect.Sets;
- import com.naveensundarg.shadow.prover.core.Prover;
+import com.naveensundarg.planner.Goal;
+import com.naveensundarg.planner.GoalTracker;
+import com.naveensundarg.planner.Inducer;
+import com.naveensundarg.planner.Plan;
+import com.naveensundarg.shadow.prover.core.Prover;
 import com.naveensundarg.shadow.prover.core.SnarkWrapper;
- import com.naveensundarg.shadow.prover.utils.Problem;
-import com.naveensundarg.shadow.prover.utils.ProblemReader;
 import com.naveensundarg.shadow.prover.utils.Reader;
-import edu.rpi.rair.*;
+ import com.naveensundarg.planner.inducers.SimpleInducer;
-import edu.rpi.rair.inducers.SimpleInducer;
-import edu.rpi.rair.utils.GoalTrackingProblem;
 import org.apache.commons.lang3.tuple.Triple;
 
-import javax.swing.*;
-import java.awt.*;
-import java.lang.reflect.Method;
 import java.util.*;
 import java.util.List;
 import java.util.function.BiConsumer;
-import java.util.function.BiFunction;
 import java.util.stream.Collectors;
 
 /**
@@ -61,7 +57,7 @@ public class RunDemo {
 
         Visualizer.setShouldVisualize(false);
 
-       runProblem("../problems/seriated/seriated_challenge_1.clj");
+       runProblem("../problems/heroism/setup.clj");
      //  runProblem("seriated_challenge_2.clj");
 
 
@@ -80,9 +76,11 @@ public class RunDemo {
         long start = System.currentTimeMillis();
 
         Goal g1 = goalTrackingProblem.getGoalNamed("G1");
+        Goal g2 = goalTrackingProblem.getGoalNamed("G2");
 
 
-        tryAndAddGoal(g1, goalTracker);
+       tryAndAddGoal(g1, goalTracker);
+        tryAndAddGoal(g2, goalTracker);
 
 
         long end = System.currentTimeMillis();

src/main/java/com/naveensundarg/planner/utils/Sandbox.java

@@ -1,7 +1,6 @@
-package edu.rpi.rair.utils;
+package com.naveensundarg.planner.utils;
 
-import edu.rpi.rair.PlanMethod;
+import com.naveensundarg.planner.PlanMethod;
-import edu.rpi.rair.Planner;
 
 import java.util.List;
 

src/main/java/com/naveensundarg/planner/utils/Visualizer.java

@@ -1,4 +1,4 @@
-package edu.rpi.rair.utils;
+package com.naveensundarg.planner.utils;
 
 import com.diogonunes.jcdp.color.ColoredPrinter;
 import com.diogonunes.jcdp.color.api.Ansi;

src/main/resources/com/naveensundarg/planner/problems/heroism/setup.clj

@@ -0,0 +1,27 @@
+{:definitions
+ {:name       "heroism"
+  :background [(forall [?x ?y]
+                       (iff (and (Inside ?x ?y) (OnFire ?y))
+                            (not (Safe ?x))))
+               (forall [?x ?y]
+                       (iff (not (Inside ?x ?y))
+                            (Outside ?x ?y)))
+               (not (= self stranger))]
+  :start      [(Inside stranger building)
+               (Outside self building)]
+
+  :actions    [(define-action movePersonFrom [?person ?building]
+                 {:preconditions [(Inside self ?building)]
+                  :additions     [(Outside stranger ?building) (Outside self ?building)]
+                  :deletions     [(Inside stranger ?building) (Inside self ?building)]})
+
+               (define-action moveInside [?building]
+                 {:preconditions [(Outside self ?building)]
+                  :additions [(Inside self ?building)]
+                  :deletions [(Outside self ?building)]})]}
+
+ :goals {G1 {:priority 5.0
+             :state    [(Safe self)]}
+
+         G2 {:priority 1.0
+             :state    [(Safe stranger)]}}}

src/main/resources/com/naveensundarg/planner/problems/seriated/seriated_challenge_1.clj

@@ -20,7 +20,9 @@
                       ;;; Sizes of cups
                       (< (size a) (size b))
                       (< (size b) (size c))
-                      (< (size c) (size d))]
+                      (< (size c) (size d))
+
+                      ]
 
 
          :start      [(In a b)
@@ -30,6 +32,13 @@
 
          :goal       [ ]
 
+         :context { :work-from-scratch false
+                    :plan-methods
+                    [(define-method planMethod [?b  ?d  ?c]
+                       {:goal    [(In ?b ?c)  (In ?c ?d)]
+                        :while   [(< (size  ?c) (size  ?d))  (< (size  ?b) (size  ?c))  (In ?b ?d)  (Empty ?c)]
+                        :actions [(removeFrom  ?b ?d)  (placeInside  ?b ?c)  (placeInside  ?c ?d)]})]}
+
          :actions  [(define-action placeInside [?x ?y]
                                      {:preconditions [(< (size ?x) (size ?y))
                                                       (Empty ?y)]
@@ -41,13 +50,10 @@
                                       :additions     [(Empty ?y)]
                                       :deletions     [(In ?x ?y)]})]}
 
+
+
  :goals {G1 {:priority 1.0
-             :context { :work-from-scratch false
+
-                        :plan-methods
-                        (define-method planMethod [?b  ?d  ?c]
-                                       {:goal    [(In ?b ?c)  (In ?c ?d)]
-                                        :while   [(< (size  ?c) (size  ?d))  (< (size  ?b) (size  ?c))  (In ?b ?d)  (Empty ?c)]
-                                        :actions [(removeFrom  ?b ?d)  (placeInside  ?b ?c)  (placeInside  ?c ?d)]})}
              :state    [(In a b)
                         (In b c)
                         (In c d)]}}

src/main/resources/com/naveensundarg/planner/problems/seriated/seriated_challenge_2.clj

@@ -49,11 +49,14 @@
                                       :additions     [(Empty ?y)]
                                       :deletions     [(In ?x ?y)]} )]
 
+         :context { :work-from-scratch false
+                }
+
 
 
          }
 
- :goals {G1 {:priority 1.0
+  :goals {G1 {:priority 1.0
 
 
              :state    [(In a b)

src/main/resources/com/naveensundarg/planner/problems/seriated/snippet_pddl.clj

@@ -0,0 +1,55 @@
+{
+
+
+ :background [
+
+              ;;; Sizes of cups
+              (< (size (cup 1)) (size (cup 1)))
+              (< (size (cup 1)) (size (cup 2)))
+              (< (size (cup 1)) (size (cup 3)))
+
+
+
+              (< (size (cup 99)) (size (cup 100)))
+
+
+
+
+
+              ]
+ }
+
+
+(exist [?y] (and (isColor ?y PURPLE)
+                 (isShape ?y CUBE)))
+
+(cup 1)
+(cup 2)
+
+
+(cup 100)
+
+
+
+:background [ ;; Transitivity of <
+             (forall [?x ?y ?z]
+                     (if (and (< (size ?x) (size ?y))
+                              (< (size ?y) (size ?z)))
+                       (< (size ?x) (size ?z))))
+             ;; Asymmetry of <
+             (forall [?x ?y]
+                     (iff (< (size ?x) (size ?y))
+                          (not (< (size ?y) (size ?x)))))
+
+             ;; If there is something inside a cup, it is not empty.
+             (forall [?y]
+                     (if (exists [?x] (In ?x ?y))
+                       (not (Empty ?y))))
+
+             ;;; Sizes of cups
+             :ARITHMETIC_AXIOMS
+
+             (forall [?number] (= number? (size (cup ?number))))
+
+             ]
+

src/main/resources/com/naveensundarg/planner/temp.clj

@@ -0,0 +1,20 @@
+;; j is an A
+;; all A are afraid of B
+;; what is j afraid of?
+
+(seq P 2 3 A)
+(seq Q 2 3 B)
+(seq all A are afraid of M)
+(seq all B are afraid of N)
+(Goal (seq What is P afraid of?))
+;;;
+(action A)
+
+(if (and (seq ?individual is a ?class1)
+         (seq all ?class1 are afraid of ?class2)
+         (Goal (seq what is ?individual afraid of)))
+  (Action ?class2))
+
+;;; given background B,  goal G and plan P=>
+;;  let sub(B) be all the formulae containing individuals in G and P. And let it be closed wrt to inviduals.
+;;  then (if (and sub(B) G) variablize(P)) is a hypothesis.

src/main/resources/edu/rpi/rair/problems/seriated/methods.clj

@@ -1,7 +0,0 @@
-;; (removeFrom  ?x ?y) => "Remove ?x from ?y"
-;; (placeInside  ?x ?y) ==> "Place ?x inside ?y"
-
-(define-method planMethod [?b  ?d  ?c]
-  {:goal    [(In ?b ?c)  (In ?c ?d)]
-   :while   [(< (size  ?c) (size  ?d))  (< (size  ?b) (size  ?c))  (In ?b ?d)  (Empty ?c)]
-   :actions [(removeFrom  ?b ?d)  (placeInside  ?b ?c)  (placeInside  ?c ?d)]})

src/main/resources/edu/rpi/rair/temp.clj

@@ -1,16 +0,0 @@
-{G1 {:priority 6.0
-     :state    [(not (open (door room1)))]}
-
- G2 {:priority 6.0
-     :state    [(in prisoner room1)]}
-
- G3 {:priority 6.0
-     :state    [(forall [?room]
-                        (if (in prisoner ?room)
-                          (in self ?room)))]}
- G4 {:priority 3.0
-     :state    [(in prisoner room2)
-                (in self room2)]}
- G5 {:priority 2.0
-
-     :state    [(interrogates commander prisoner)]}}

src/test/java/com/naveensundarg/planner/DepthFirstPlannerTest.java

@@ -1,7 +1,7 @@
-package edu.rpi.rair;
+package com.naveensundarg.planner;
 
+import com.naveensundarg.planner.utils.PlanningProblem;
 import com.naveensundarg.shadow.prover.utils.Reader;
-import edu.rpi.rair.utils.PlanningProblem;
 import org.testng.Assert;
 import org.testng.annotations.BeforeMethod;
 import org.testng.annotations.DataProvider;
@@ -12,8 +12,6 @@ import java.util.Optional;
 import java.util.Set;
 import java.util.stream.Collectors;
 
-import static org.testng.Assert.*;
-
 /**
  * Created by naveensundarg on 1/13/17.
  */

src/test/java/com/naveensundarg/planner/GoalTrackerTest.java

@@ -1,14 +1,12 @@
-package edu.rpi.rair;
+package com.naveensundarg.planner;
 
 import com.diogonunes.jcdp.color.ColoredPrinter;
 import com.diogonunes.jcdp.color.api.Ansi;
+import com.naveensundarg.planner.utils.GoalTrackingProblem;
 import com.naveensundarg.shadow.prover.utils.Reader;
-import edu.rpi.rair.utils.GoalTrackingProblem;
 
 import java.util.List;
 
-import static org.testng.Assert.*;
-
 /**
  * Created by naveensundarg on 1/15/17.
  */

src/test/java/com/naveensundarg/planner/HeinzGoalTrackerTest.java

@@ -1,9 +1,9 @@
-package edu.rpi.rair;
+package com.naveensundarg.planner;
 
 import com.diogonunes.jcdp.color.ColoredPrinter;
 import com.diogonunes.jcdp.color.api.Ansi;
+import com.naveensundarg.planner.utils.GoalTrackingProblem;
 import com.naveensundarg.shadow.prover.utils.Reader;
-import edu.rpi.rair.utils.GoalTrackingProblem;
 
 import java.util.List;