def test_neg_precondition_compilation_on_problem2():
problem = generate_strips_blocksworld_problem()
lang = problem.language
b1, clear, on, ontable, handempty, holding = lang.get(
'b1', 'clear', 'on', 'ontable', 'handempty', 'holding')
# Change the goal to include some negated preconditions, this should trigger
# the rewriting of some action effects
problem.goal = ~ontable(b1) & ~handempty()
compiled = compile_negated_preconditions_away(problem)
# Check that indeed new effects have been added of the appropriate type and appropriate predicate
assert str(compiled.get_action(
'unstack').effects[-1]) == '(T -> ADD(_not_handempty()))'
assert str(compiled.get_action(
'stack').effects[-1]) == '(T -> DEL(_not_handempty()))'
# Check the goal has been correctly rewritten
assert str(compiled.goal) == '(_not_ontable(b1) and _not_handempty())'
# Check the initial state has been correctly updated
init = compiled.init
nhe, nont = lang.get('_not_handempty', '_not_ontable')
assert init[nont(b1)] or init[ontable(b1)]
assert init[neg(nhe())] or init[neg(handempty())]
def test_neg_precondition_compilation_on_formulas():
problem = generate_strips_blocksworld_problem()
lang = problem.language
clear, on, ontable, handempty, holding = lang.get('clear', 'on', 'ontable',
'handempty', 'holding')
x = lang.variable('x', 'object')
y = lang.variable('y', 'object')
negpreds = dict()
comp = compile_away_formula_negated_literals(clear(x) & (x != y), negpreds)
assert comp == clear(x) & (x != y) and not negpreds # No change was made
comp = compile_away_formula_negated_literals(neg(x == y), negpreds)
assert comp == neg(x == y) and not negpreds # No change was made
comp = compile_away_formula_negated_literals(
clear(x) & ontable(x), negpreds)
assert comp == clear(x) & ontable(x) and not negpreds # No change was made
comp = compile_away_formula_negated_literals(
clear(x) & ~ontable(x), negpreds)
assert str(comp) == '(clear(x) and _not_ontable(x))'
# Compile again to check that predicate is not declared twice, which would raise an error
comp = compile_away_formula_negated_literals(
clear(x) & ~ontable(x), negpreds)
assert str(comp) == '(clear(x) and _not_ontable(x))'
def create_small_bw_task():
lang = generate_small_fstrips_bw_language()
init = tarski.model.create(lang)
b1, b2, b3, b4, clear, loc, table = lang.get('b1', 'b2', 'b3', 'b4',
'clear', 'loc', 'table')
block, place = lang.get('block', 'place')
init.set(loc, b1, b2) # loc(b1) := b2
init.set(loc, b2, b3) # loc(b2) := b3
init.set(loc, b3, table) # loc(b3) := table
init.set(loc, b4, table) # loc(b4) := table
init.add(clear, b1) # clear(b1)
init.add(clear, b4) # clear(b4)
init.add(clear, table) # clear(table)
src = lang.variable('src', block)
dest = lang.variable('dest', place)
x = lang.variable('x', block)
y = lang.variable('y', block)
clear_constraint = forall(
x, equiv(neg(clear(x)), land(x != table, exists(y,
loc(y) == x))))
G = land(loc(b1) == b2, loc(b2) == b3, loc(b3) == b4, loc(b4) == table)
problem = fs.Problem("tower4", "blocksworld")
problem.language = lang
problem.init = init
problem.goal = G
problem.constraints += [clear_constraint]
problem.action('move', [src, dest], land(clear(src), clear(dest)),
[fs.FunctionalEffect(loc(src), dest)])
return problem
def test_variables_classification():
tw = tarskiworld.create_small_world()
x = tw.variable('x', tw.Object)
y = tw.variable('y', tw.Object)
s = neg(land(tw.Cube(x), exists(y, land(tw.Tet(x), tw.LeftOf(x, y)))))
free = free_variables(s)
assert len(free) == 1 and symref(free[0]) == symref(x)
assert len(all_variables(s)) == 2
def test_ground_actions_on_negated_preconditions():
problem = create_sample_problem()
# We negate all atoms in the precondition, which makes all 8^3 combinations of objects be a valid grounding,
# since all precondition atoms are ignored
pick_prec = problem.actions['pick'].precondition
pick_prec.subformulas = tuple(neg(f) for f in pick_prec.subformulas)
actions = compute_action_groundings(problem)
assert len(actions['pick']) == 512
def test_simplifier():
problem = generate_fstrips_counters_problem(ncounters=3)
lang = problem.language
value, max_int, counter, val_t, c1 = lang.get('value', 'max_int',
'counter', 'val', 'c1')
x = lang.variable('x', counter)
two, three, six = [lang.constant(c, val_t) for c in (2, 3, 6)]
s = Simplify(problem, problem.init)
assert symref(s.simplify_expression(x)) == symref(x)
assert symref(s.simplify_expression(value(c1) < max_int())) == symref(
value(c1) < six) # max_int evaluates to 6
assert s.simplify_expression(two < max_int()) is True
assert s.simplify_expression(two > three) is False
# conjunction evaluates to false because of first conjunct:
falseconj = land(two > three, value(c1) < max_int())
assert s.simplify_expression(falseconj) is False
assert s.simplify_expression(neg(falseconj)) is True
# first conjunct gets removed:
assert str(s.simplify_expression(land(
two < three,
value(c1) < max_int()))) == '<(value(c1),6)'
# first disjunct gets removed because it is false
assert str(s.simplify_expression(lor(
two > three,
value(c1) < max_int()))) == '<(value(c1),6)'
assert str(s.simplify_expression(forall(
x,
value(x) < max_int()))) == 'forall x : (<(value(x),6))'
assert s.simplify_expression(forall(x, two + three <= 6)) is True
inc = problem.get_action('increment')
simp = s.simplify_action(inc)
assert str(simp.precondition) == '<(value(c),6)'
assert str(simp.effects) == str(inc.effects)
eff = UniversalEffect(x, [value(x) << three])
assert str(
s.simplify_effect(eff)) == '(T -> forall (x) : ((T -> value(x) := 3)))'
simp = s.simplify()
assert str(simp.get_action('increment').precondition) == '<(value(c),6)'
# Make sure there is no mention to the compiled away "max_int" symbol in the language
assert not simp.language.has_function("max_int")
# Make sure there is no mention to the compiled away "max_int" symbol in the initial state
exts = list(simp.init.list_all_extensions().keys())
assert ('max_int', 'val') not in exts
def test_simplification_of_negation():
problem = tarski.benchmarks.blocksworld.generate_strips_blocksworld_problem(
)
lang = problem.language
b1, clear, on, ontable, handempty, holding = lang.get(
'b1', 'clear', 'on', 'ontable', 'handempty', 'holding')
s = Simplify(problem, problem.init)
cb1 = clear(b1)
assert str(s.simplify_expression(land(cb1, neg(bot)))) == 'clear(b1)'
assert str(s.simplify_expression(cb1)) == 'clear(b1)' # No evaluation made
assert str(s.simplify_expression(neg(
neg(cb1)))) == 'clear(b1)' # Double negation gets removed
assert s.simplify_expression(land(neg(bot), neg(bot))) is True
assert s.simplify_expression(lor(neg(top), neg(bot))) is True
assert s.simplify_expression(lor(neg(top), neg(top))) is False
act = problem.get_action('unstack')
simp = s.simplify_action(act)
assert simp
def create_simple_problem():
lang = create_simple_untyped_language()
problem = fs.create_fstrips_problem(lang,
problem_name="simple",
domain_name="simple")
p, q, a = lang.get("p", "q", "a")
init = tarski.model.create(lang)
problem.init = init
init.add(p, a) # p(a)
init.add(q, a) # q(a)
problem.goal = neg(p(a))
x = lang.variable("x", lang.Object)
problem.action("negate", [x],
precondition=p(a),
effects=[fs.DelEffect(p(a))])
return problem
def test_detect_free_variables():
tw = tarskiworld.create_small_world()
x = tw.variable('x', tw.Object)
y = tw.variable('y', tw.Object)
s = neg(land(tw.Cube(x), exists(y, land(tw.Tet(x), tw.LeftOf(x, y)))))
assert len(free_variables(s)) == 1
