LISPDDL = LIS extended version to PDDL for describing TAMP problems#
To enable the specification and parsing of continuous objects in PDDL, the LISPDDL format has a few extensions compared to PDDL 1.2:
Test Parsing LISPDDL#
You may test parse your problem pddl file with the following:
cd tests
python test_pybullet_lisdf -s path/to/lisdf -d path/to/domain -d path/to/problem
## for example
python test_parse_pddl -s path/to/lisdf -d path/to/domain -d path/to/problem
Note that it requires three input:
- A scene described in LISDF, so that the bodies and links referred as strings in the pddl files can be grounded in the simulator.
- A partial domain described in PDDL, where the operators are taken out.