def test_on_blocks():
instance_file, domain_file = collect_strips_benchmarks(["blocks:probBLOCKS-4-0.pddl"])[0]
problem = reader().read_problem(domain_file, instance_file)
# The only optimal plan has length 6
assert run_on_problem(problem, reachability="none", max_horizon=5, grounding='none') is None
plan = run_on_problem(problem, reachability="none", max_horizon=6, grounding='none')
assert plan == ['(pick-up b)', '(stack b a)', '(pick-up c)', '(stack c b)', '(pick-up d)', '(stack d c)']
def test_on_counters():
counters = generate_fstrips_counters_problem(ncounters=3)
# Optimal plan is a length-3 sequence with 'increment(c2)', 'increment(c3)', 'increment(c3)'
assert run_on_problem(counters, reachability="none", max_horizon=1, grounding='none') is None,\
"Not solvable in 1 timestep"
assert run_on_problem(counters, reachability="none", max_horizon=2, grounding='none') is None, \
"Not solvable in 2 timesteps"
plan = run_on_problem(counters, reachability="none", max_horizon=3, grounding='none')
assert len(plan) == 3 and plan.count('(increment c3)') == 2 and plan.count('(increment c2)') == 1
def test_on_fstrips_bw():
# Let's test the approach on one problem with non-numeric functions and a simple nested expression:
# move(x, y) action has an add-effect $clear(loc(x))$
problem = generate_fstrips_blocksworld_problem(
nblocks=2,
init=[('b1', 'b2'), ('b2', 'table')],
goal=[('b2', 'table'), ('b1', 'table')]
)
plan = run_on_problem(problem, reachability="none", max_horizon=1, grounding='none',
smtlib_filename="theory.smtlib", print_full_model=True)
assert plan == ['(move b1 table)']
problem = generate_fstrips_blocksworld_problem(
nblocks=2,
init=[('b1', 'b2'), ('b2', 'table')],
goal=[('b2', 'b1'), ('b1', 'table')]
)
assert run_on_problem(problem, reachability="none", max_horizon=1, grounding='none') is None
assert run_on_problem(problem, reachability="none", max_horizon=2, grounding='none') ==\
['(move b1 table)', '(move b2 b1)']
problem = generate_fstrips_blocksworld_problem(
nblocks=4,
init=[('b1', 'b2'), ('b2', 'table'), ('b3', 'b4'), ('b4', 'table')],
goal=[('b2', 'b3'), ('b3', 'b4'), ('b4', 'b1'), ('b1', 'table')]
)
# h=3 is not enough
assert run_on_problem(problem, reachability="none", max_horizon=3, grounding='none') is None
# h=4 is not enough
assert run_on_problem(problem, reachability="none", max_horizon=4, grounding='none') is None
# But there is a length-5 plan
plan = run_on_problem(problem, reachability="none", max_horizon=5, grounding='none')
possible_plans = ({'(move b1 table)', '(move b3 table)', '(move b4 b1)', '(move b3 b4)', '(move b2 b3)'},
{'(move b1 table)', '(move b3 b2)', '(move b4 b1)', '(move b3 b4)', '(move b2 b3)'},)
assert plan is not None and set(plan) in possible_plans
def test_on_storytellers_ground():
problem = storytellers.generate_problem(nstorytellers=3, naudiences=2, nstories=6, goal_type="equality")
plan = run_on_problem(problem, reachability="none", max_horizon=4, grounding='full',
smtlib_filename="theory.smtlib", print_full_model=True, solver_name="cvc4")
assert plan == ['(move b1 table)']