def parse_problem(domain_file, problem_file, path=None):
if path is not None:
domain_file = os.path.join(path, domain_file)
problem_file = os.path.join(path, problem_file)
parser = Parser(domain_file, problem_file)
domain = parser.parse_domain()
problem = parser.parse_problem(
domain) # domain can be found as an attribute of problem
problem.objects_by_type = get_objects_by_type(problem)
return problem
def _parse(domain_file: str, problem_file: str) -> Tuple[Domain, Problem]:
""" Parse the domain and problem """
# Parsing
parser = Parser(domain_file, problem_file)
_log.debug("Parsing Domain {0}".format(domain_file))
domain = parser.parse_domain()
_log.debug("Parsing Problem {0}".format(problem_file))
problem = parser.parse_problem(domain)
_log.debug("{0} Predicates parsed".format(len(domain.predicates)))
_log.debug("{0} Actions parsed".format(len(domain.actions)))
_log.debug("{0} Objects parsed".format(len(problem.objects)))
_log.debug("{0} Constants parsed".format(len(domain.constants)))
return domain, problem
def _parse(domain_file, problem_file):
# Parsing
parser = Parser(domain_file, problem_file)
logging.info("Parsing Domain {}".format(domain_file))
domain = parser.parse_domain()
logging.info("Parsing Problem {}".format(problem_file))
problem = parser.parse_problem(domain)
logging.debug(domain)
logging.info("{} Predicates parsed".format(len(domain.predicates)))
logging.info("{} Actions parsed".format(len(domain.actions)))
logging.info("{} Objects parsed".format(len(problem.objects)))
logging.info("{} Constants parsed".format(len(domain.constants)))
return problem
def gen_heuristic_test(dom,
prob,
search_class,
heuristic_class,
h_values_plan,
plan_length=None):
parser = Parser("")
parser.domInput = dom
parser.probInput = prob
domain = parser.parse_domain(False)
problem = parser.parse_problem(domain, False)
task = grounding.ground(problem)
heuristic = heuristic_class(task)
plan = search_class(task, heuristic)
if plan_length:
assert len(plan) == plan_length
# run through plan and validate heuristic value
# the true_h_values are taken from fast downward with astar and lm cut
# heuristic
computed_h_values = list(_gen_h_values(task.initial_state, plan,
heuristic))
assert h_values_plan == computed_h_values
def test_hAdd_blocksworld_initial_state():
parser = Parser("")
parser.domInput = blocks_dom
parser.probInput = blocks_problem_1
domain = parser.parse_domain(False)
problem = parser.parse_problem(domain, False)
task = grounding.ground(problem)
heuristic = hAddHeuristic(task)
h_val = heuristic(make_root_node(task.initial_state))
assert h_val, False == 6.0
(clear ?y)
(not (clear ?x))
(not (handempty))
(not (on ?x ?y)))))
"""
_problem_input = """(define (problem BLOCKS-5-0)
(:domain BLOCKS)
(:objects B E A C D - block)
(:INIT (CLEAR D) (CLEAR C) (ONTABLE D) (ONTABLE A) (ON C E) (ON E B) (ON B A)
(HANDEMPTY))
(:goal (AND (ON A E) (ON E B) (ON B D) (ON D C)))
)
"""
_parser = Parser("")
_parser.domInput = _domain_input
_parser.probInput = _problem_input
_domain = _parser.parse_domain(False)
_problem = _parser.parse_problem(_domain, False)
def test_default_pddl_visitor_domain():
defaultVisitor = pddl_tree_visitor.PDDLVisitor()
input = _domain_input.split("\n")
iter = parse_lisp_iterator(input)
domAST = parse_domain_def(iter)
# and traverse the AST
domAST.accept(defaultVisitor)
def test_add_del_effects():
parser = Parser("")
def parse_problem(domain, problem):
parser.domInput = domain
parser.probInput = problem
domain = parser.parse_domain(False)
return parser.parse_problem(domain, False)
dom_pddl = """
(define (domain dom)
(:requirements :typing)
(:predicates (ok ?v - object))
(:action theaction
:parameters (?x - object)
:precondition {0}
:effect {1}
)
)
"""
prob_pddl = """
;; See domain file for description of this test.
(define (problem prob)
(:domain dom)
(:objects y - object)
(:init)
(:goal (ok y)))
"""
tests = [
# Only add effect
("(and)", "(ok ?x)", set(), {"(ok y)"}, set()),
# Only delete effect
("(and)", "(and (not (ok ?x)))", set(), set(), {"(ok y)"}),
# Both add and delete effect
("(and)", "(and (ok ?x) (not (ok ?x)))", set(), {"(ok y)"}, set()),
# Precondition and add effect
("(and (ok ?x))", "(ok ?x)", {"(ok y)"}, set(), set()),
# Precondition and delete effect
("(and (ok ?x))", "(and (not (ok ?x)))", {"(ok y)"}, set(), {"(ok y)"}),
# Precondition and both add and delete effect
("(and (ok ?x))", "(and (ok ?x) (not (ok ?x)))", {"(ok y)"}, set(), set()),
]
for pre_in, eff_in, pre_exp, add_exp, del_exp in tests:
dom = dom_pddl.format(pre_in, eff_in)
problem = parse_problem(dom, prob_pddl)
domain = problem.domain
actions = domain.actions.values()
predicates = domain.predicates.values()
# Objects
objects = problem.objects
objects.update(domain.constants)
# Get the names of the static predicates
statics = grounding._get_statics(predicates, actions)
# Create a map from types to objects
type_map = grounding._create_type_map(objects)
# Transform initial state into a specific
init = grounding._get_partial_state(problem.initial_state)
# Ground actions
operators = grounding._ground_actions(actions, type_map, statics, init)
assert len(operators) == 1
op = operators[0]
assert op.preconditions == pre_exp
assert op.add_effects == add_exp
assert op.del_effects == del_exp
def test_regression():
parser = Parser("")
def parse_problem(domain, problem):
parser.domInput = domain
parser.probInput = problem
domain = parser.parse_domain(False)
return parser.parse_problem(domain, False)
prob_05 = """
;; See domain file for description of this test.
(define (problem regression-test-05)
(:domain regression-test)
(:objects y - object)
(:init)
(:goal (the-predicate x y)))
"""
dom_05 = """
;; Expected behaviour: plan of length one found
;; Observed behaviour (r265): plan of length zero found
(define (domain regression-test)
(:requirements :typing) ;; work around problem in regression test #4.
(:predicates (the-predicate ?v1 ?v2 - object))
(:constants x - object)
(:action theaction
:parameters (?x - object)
:precondition (and)
:effect (the-predicate x ?x)
)
)
"""
prob_06 = """
;; See domain file for description of this test.
(define (problem regression-test-06)
(:domain regression-test)
(:objects y - object)
(:init)
(:goal (the-predicate y y)))
"""
dom_06 = """
;; Expected behaviour: planner proves that no plan exists
;; Observed behaviour (r265): plan of length one found
(define (domain regression-test)
(:requirements :typing) ;; work around problem in regression test #4.
(:predicates (the-predicate ?v1 ?v2 - object))
(:constants x - object)
(:action theaction
:parameters (?x - object)
:precondition (and)
:effect (the-predicate x ?x)
)
)
"""
# problem / domain 07 contains a different action compared
# to the actions of domain 5 & 6
prob_07 = prob_06
dom_07 = """
(define (domain regression-test)
(:requirements :typing) ;; work around problem in regression test #4.
(:predicates (the-predicate ?v1 ?v2 - object))
(:constants y - object)
(:action theaction
:parameters (?x - object)
:precondition (and)
:effect (the-predicate y ?x)
)
)
"""
# action of problem / domain 8 differs only in the variable name compared
# to the actions of problem 5 and 6: After grounding there should be no
# difference between the grounded actions
prob_08 = prob_05
dom_08 = """
(define (domain regression-test)
(:requirements :typing) ;; work around problem in regression test #4.
(:predicates (the-predicate ?v1 ?v2 - object))
(:constants x - object)
(:action theaction
:parameters (?z - object)
:precondition (and)
:effect (the-predicate x ?z)
)
)
"""
parsed_problem5 = parse_problem(dom_05, prob_05)
parsed_problem6 = parse_problem(dom_06, prob_06)
parsed_problem7 = parse_problem(dom_07, prob_07)
parsed_problem8 = parse_problem(dom_08, prob_08)
# coded input:
type_object = Type("object", None)
types = {"object": type_object}
predicates = {
"the_predicate": Predicate(
"the-predicate", [("v1", type_object), ("v2", type_object)]
)
}
constants = {"x": type_object}
actions = {
"theaction": get_action(
"theaction",
[("?x", [type_object])],
[],
[Predicate("the-predicate", [("x", type_object), ("?x", type_object)])],
[],
)
}
domain = Domain("regression-test", types, predicates, actions, constants)
problem5 = Problem(
"regression-test-05",
domain,
{"y": type_object},
[],
[Predicate("the-predicate", [("x", type_object), ("y", type_object)])],
)
problem6 = Problem(
"regression-test-06",
domain,
{"y": type_object},
[],
[Predicate("the-predicate", [("y", type_object), ("y", type_object)])],
)
parsed_task5 = grounding.ground(parsed_problem5)
coded_task5 = grounding.ground(problem5)
parsed_task6 = grounding.ground(parsed_problem6)
coded_task6 = grounding.ground(problem6)
parsed_task7 = grounding.ground(parsed_problem7)
parsed_task8 = grounding.ground(parsed_problem8)
expected = [
(parsed_task5.operators, coded_task5.operators, True),
(parsed_task6.operators, coded_task6.operators, True),
(parsed_task5.operators, coded_task6.operators, False),
(parsed_task5.operators, parsed_task7.operators, False),
(parsed_task5.operators, parsed_task8.operators, True),
]
for operator1, operator2, expected_result in expected:
assert compare_operators(operator1, operator2) == expected_result
def parse_domain(domain_file, path=None):
if path is not None:
domain_file = os.path.join(path, domain_file)
parser = Parser(domain_file, probFile=None)
return parser.parse_domain()