def test_parametrized_model_with_random_vars_and_waypoints_boolean():
lang = tarski.language(
'lqg_nav_2d_multi_unit_bool_waypoints',
[Theory.EQUALITY, Theory.ARITHMETIC, Theory.SPECIAL, Theory.RANDOM])
the_task = Task(lang, 'lqg_nav_2d_multi_unit_bool_waypoints',
'instance_001')
the_task.requirements = [
rddl.Requirements.CONTINUOUS, rddl.Requirements.REWARD_DET
]
the_task.parameters.discount = 1.0
the_task.parameters.horizon = 40
the_task.parameters.max_nondef_actions = 2
vehicle = lang.sort('vehicle', lang.Object)
waypoint = lang.sort('waypoint', lang.Object)
# variables
x = lang.function('x', vehicle, lang.Real)
y = lang.function('y', vehicle, lang.Real)
wx = lang.function('wx', waypoint, lang.Real)
wy = lang.function('wy', waypoint, lang.Real)
vx = lang.function('vx', vehicle, lang.Real)
vy = lang.function('vy', vehicle, lang.Real)
ux = lang.function('ux', vehicle, lang.Real)
uy = lang.function('uy', vehicle, lang.Real)
t = lang.function('t', lang.Real)
wv = lang.predicate('visited', waypoint)
# objects
v001 = lang.constant('v001', vehicle)
p1 = lang.constant('p1', waypoint)
p2 = lang.constant('p2', waypoint)
p3 = lang.constant('p3', waypoint)
# non fluents
dt = lang.function('dt', lang.Real)
wr = lang.function('waypoint_radius', lang.Real)
# Perturbation distribution parameters
mu_w = lang.function('mu_w', lang.Real)
sigma_w = lang.function('sigma_w', lang.Real)
# logical variable
v = lang.variable('v', vehicle)
wpt = lang.variable('wpt', waypoint)
# cpfs
the_task.add_cpfs(t(), t() + dt())
dist_vec_norm = ((x(v) - wx(wpt)) * (x(v) - wx(wpt))) + ((y(v) - wy(wpt)) *
(y(v) - wy(wpt)))
the_task.add_cpfs(wv(wpt), (wv(wpt) | (sqrt(dist_vec_norm) <= wr())))
the_task.add_cpfs(vx(v), vx(v) + dt() * ux(v) + normal(mu_w(), sigma_w()))
the_task.add_cpfs(vy(v), vy(v) + dt() * uy(v) + normal(mu_w(), sigma_w()))
the_task.add_cpfs(x(v), x(v) + dt() * vx(v))
the_task.add_cpfs(y(v), y(v) + dt() * vy(v))
# constraints
the_task.add_constraint(
forall(v, (ux(v) >= -1.0) & (ux(v) <= 1.0) & (uy(v) >= -1.0) &
(uy(v) <= 1.0)), rddl.ConstraintType.ACTION)
the_task.add_constraint(
forall(v, (sqrt(vx(v) * vx(v) + vy(v) * vy(v)) <= 5.0)),
rddl.ConstraintType.STATE)
the_task.add_constraint(forall(v, (x(v) >= -100.0) & (x(v) <= 100.0)),
rddl.ConstraintType.STATE)
the_task.add_constraint(forall(v, (y(v) >= -100.0) & (y(v) <= 100.0)),
rddl.ConstraintType.STATE)
# cost function
WV = sumterm(
wpt,
ite(wv(wpt), lang.constant(1.0, lang.Real),
lang.constant(0.0, lang.Real)))
# MRJ: RDDL does not support the abs() algebraic construct
R = sumterm(v, (ux(v) * ux(v) * 0.01) + (uy(v) * uy(v) * 0.01))
# R = u() * u() * 0.01
the_task.reward = WV - R
# definitions
the_task.x0.set(x(v001), 0.0)
the_task.x0.set(y(v001), 0.0)
the_task.x0.set(vx(v001), 0.0)
the_task.x0.set(vy(v001), 0.0)
the_task.x0.set(ux(v001), 0.0)
the_task.x0.set(uy(v001), 0.0)
the_task.x0.set(wx(p1), 1.0)
the_task.x0.set(wy(p1), -1.0)
the_task.x0.set(wx(p2), 1.0)
the_task.x0.set(wy(p2), 1.0)
the_task.x0.set(wx(p3), 2.0)
the_task.x0.set(wy(p3), 1.0)
the_task.x0.set(t(), 0.0)
the_task.x0.set(dt(), 0.5)
the_task.x0.set(mu_w(), 0.0)
the_task.x0.set(sigma_w(), 0.05)
the_task.x0.set(wr(), 2.0)
# fluent metadata
the_task.declare_state_fluent(x(v), 0.0)
the_task.declare_state_fluent(y(v), 0.0)
the_task.declare_state_fluent(t(), 0.0)
the_task.declare_state_fluent(wv(wpt), False)
the_task.declare_interm_fluent(vx(v), 1)
the_task.declare_interm_fluent(vy(v), 1)
the_task.declare_action_fluent(ux(v), 0.0)
the_task.declare_action_fluent(uy(v), 0.0)
the_task.declare_non_fluent(dt(), 0.0)
the_task.declare_non_fluent(mu_w(), 0.0)
the_task.declare_non_fluent(sigma_w(), 0.0)
the_task.declare_non_fluent(wx(wpt), 0.0)
the_task.declare_non_fluent(wy(wpt), 0.0)
the_task.declare_non_fluent(wr(), 0.0)
the_writer = rddl.Writer(the_task)
rddl_filename = os.path.join(tempfile.gettempdir(),
'lqg_nav_2d_multi_unit_bool_waypoints.rddl')
the_writer.write_model(rddl_filename)
mr_reader = rddl.Reader(rddl_filename)
assert mr_reader.rddl_model is not None
assert mr_reader.rddl_model.domain.name == 'lqg_nav_2d_multi_unit_bool_waypoints'
mr_reader.translate_rddl_model()
assert mr_reader.language is not None
def test_rddl_model_with_random_vars():
lang = tarski.language(
'lqg_nav_1d',
[Theory.EQUALITY, Theory.ARITHMETIC, Theory.SPECIAL, Theory.RANDOM])
the_task = Task(lang, 'lqg_nav_1d', 'instance_001')
the_task.requirements = [
rddl.Requirements.CONTINUOUS, rddl.Requirements.REWARD_DET
]
the_task.parameters.discount = 1.0
the_task.parameters.horizon = 10
the_task.parameters.max_nondef_actions = 1
# variables
x = lang.function('x', lang.Real)
v = lang.function('v', lang.Real)
u = lang.function('u', lang.Real)
t = lang.function('t', lang.Real)
# non fluents
dt = lang.function('dt', lang.Real)
gx = lang.function('gx', lang.Real)
# Perturbation distribution parameters
mu_w = lang.function('mu_w', lang.Real)
sigma_w = lang.function('sigma_w', lang.Real)
# cpfs
the_task.add_cpfs(t(), t() + dt())
the_task.add_cpfs(v(), v() + dt() * u() + normal(mu_w(), sigma_w()))
the_task.add_cpfs(x(), x() + dt() * v())
# constraints
the_task.add_constraint((u() >= -1.0) & (u() <= 1.0),
rddl.ConstraintType.ACTION)
the_task.add_constraint((v() >= -5.0) & (v() <= 5.0),
rddl.ConstraintType.STATE)
the_task.add_constraint((x() >= -100.0) & (x() <= 100.0),
rddl.ConstraintType.STATE)
# cost function
Q = (x() - gx()) * (x() - gx())
# MRJ: RDDL does not support the abs() algebraic construct
R = ite(
abs(x() - gx()) > 0.0,
u() * u() * 0.01, lang.constant(0.0, lang.Real))
# R = u() * u() * 0.01
the_task.reward = Q + R
# definitions
the_task.x0.set(x(), 0.0)
the_task.x0.set(v(), 0.0)
the_task.x0.set(u(), 0.0)
the_task.x0.set(t(), 0.0)
the_task.x0.set(dt(), 0.5)
the_task.x0.set(gx(), 20.0)
the_task.x0.set(mu_w(), 0.0)
the_task.x0.set(sigma_w(), 0.05)
# fluent metadata
the_task.declare_state_fluent(x(), 0.0)
the_task.declare_state_fluent(t(), 0.0)
the_task.declare_interm_fluent(v(), 1)
the_task.declare_action_fluent(u(), 0.0)
the_task.declare_non_fluent(dt(), 0.0)
the_task.declare_non_fluent(gx(), 0.0)
the_task.declare_non_fluent(mu_w(), 0.0)
the_task.declare_non_fluent(sigma_w(), 0.0)
the_writer = rddl.Writer(the_task)
rddl_filename = os.path.join(tempfile.gettempdir(), 'lqg_nav_1d_001.rddl')
the_writer.write_model(rddl_filename)
mr_reader = rddl.Reader(rddl_filename)
assert mr_reader.rddl_model is not None
assert mr_reader.rddl_model.domain.name == 'lqg_nav_1d'
mr_reader.translate_rddl_model()
assert mr_reader.language is not None
def test_parametrized_model_with_random_vars():
lang = tarski.language(
'lqg_nav_2d_multi_unit',
[Theory.EQUALITY, Theory.ARITHMETIC, Theory.SPECIAL, Theory.RANDOM])
the_task = Task(lang, 'lqg_nav_2d_multi_unit', 'instance_001')
the_task.requirements = [
rddl.Requirements.CONTINUOUS, rddl.Requirements.REWARD_DET
]
the_task.parameters.discount = 1.0
the_task.parameters.horizon = 10
the_task.parameters.max_nondef_actions = 1
vehicle = lang.sort('vehicle', lang.Object)
# variables
x = lang.function('x', vehicle, lang.Real)
y = lang.function('y', vehicle, lang.Real)
vx = lang.function('vx', vehicle, lang.Real)
vy = lang.function('vy', vehicle, lang.Real)
ux = lang.function('ux', vehicle, lang.Real)
uy = lang.function('uy', vehicle, lang.Real)
t = lang.function('t', lang.Real)
# objects
v001 = lang.constant('v001', vehicle)
# non fluents
dt = lang.function('dt', lang.Real)
gx = lang.function('gx', lang.Real)
gy = lang.function('gy', lang.Real)
# Perturbation distribution parameters
mu_w = lang.function('mu_w', lang.Real)
sigma_w = lang.function('sigma_w', lang.Real)
# logical variable
v = lang.variable('v', vehicle)
# cpfs
the_task.add_cpfs(t(), t() + dt())
the_task.add_cpfs(vx(v), vx(v) + dt() * ux(v) + normal(mu_w(), sigma_w()))
the_task.add_cpfs(vy(v), vy(v) + dt() * uy(v) + normal(mu_w(), sigma_w()))
the_task.add_cpfs(x(v), x(v) + dt() * vx(v))
the_task.add_cpfs(y(v), y(v) + dt() * vy(v))
# constraints
the_task.add_constraint(
forall(v, (ux(v) >= -1.0) & (ux(v) <= 1.0) & (uy(v) >= -1.0) &
(uy(v) <= 1.0)), rddl.ConstraintType.ACTION)
the_task.add_constraint(
forall(v, (sqrt(vx(v) * vx(v) + vy(v) * vy(v)) <= 5.0)),
rddl.ConstraintType.STATE)
the_task.add_constraint(forall(v, (x(v) >= -100.0) & (x(v) <= 100.0)),
rddl.ConstraintType.STATE)
the_task.add_constraint(forall(v, (y(v) >= -100.0) & (y(v) <= 100.0)),
rddl.ConstraintType.STATE)
# cost function
Q = sumterm(v, ((x(v) - gx()) * (x(v) - gx())) + ((y(v) - gy()) *
(y(v) * gy())))
# MRJ: RDDL does not support the abs() algebraic construct
R = sumterm(
v,
ite(
sqrt(vx(v) * vx(v) + vy(v) * vy(v)) > 0.0,
(ux(v) * ux(v) * 0.01) + (uy(v) * uy(v) * 0.01),
lang.constant(0.0, lang.Real)))
# R = u() * u() * 0.01
the_task.reward = Q + R
# definitions
the_task.x0.set(x(v001), 0.0)
the_task.x0.set(y(v001), 0.0)
the_task.x0.set(vx(v001), 0.0)
the_task.x0.set(vy(v001), 0.0)
the_task.x0.set(ux(v001), 0.0)
the_task.x0.set(uy(v001), 0.0)
the_task.x0.set(t(), 0.0)
the_task.x0.set(dt(), 0.5)
the_task.x0.set(gx(), 20.0)
the_task.x0.set(gy(), 20.0)
the_task.x0.set(mu_w(), 0.0)
the_task.x0.set(sigma_w(), 0.05)
# fluent metadata
the_task.declare_state_fluent(x(v), 0.0)
the_task.declare_state_fluent(y(v), 0.0)
the_task.declare_state_fluent(t(), 0.0)
the_task.declare_interm_fluent(vx(v), 1)
the_task.declare_interm_fluent(vy(v), 1)
the_task.declare_action_fluent(ux(v), 0.0)
the_task.declare_action_fluent(uy(v), 0.0)
the_task.declare_non_fluent(dt(), 0.0)
the_task.declare_non_fluent(gx(), 0.0)
the_task.declare_non_fluent(gy(), 0.0)
the_task.declare_non_fluent(mu_w(), 0.0)
the_task.declare_non_fluent(sigma_w(), 0.0)
the_writer = rddl.Writer(the_task)
rddl_filename = os.path.join(tempfile.gettempdir(),
'lqg_nav_2d_multi_unit_001.rddl')
the_writer.write_model(rddl_filename)
mr_reader = rddl.Reader(rddl_filename)
assert mr_reader.rddl_model is not None
assert mr_reader.rddl_model.domain.name == 'lqg_nav_2d_multi_unit'
mr_reader.translate_rddl_model()
assert mr_reader.language is not None