def test_problem_grounding_on_bw():
# Test some grounding routines on a STRIPS blocksworld
problem = generate_strips_blocksworld_problem()
grounding = NaiveGroundingStrategy(problem)
assert as_list1(grounding.static_symbols) == []
assert as_list1(grounding.fluent_symbols) == [
'clear', 'handempty', 'holding', 'on', 'ontable'
]
variables = grounding.ground_state_variables()
assert len(variables) == 29
actions = grounding.ground_actions()
expected = {'pick-up': 4, 'put-down': 4, 'stack': 16, 'unstack': 16}
assert all(
len(groundings) == expected[schema]
for schema, groundings in actions.items())
# Test some grounding routines on a (typed) Functional STRIPS blocksworld
problem = generate_fstrips_blocksworld_problem()
grounding = NaiveGroundingStrategy(problem)
assert as_list1(grounding.static_symbols) == []
assert as_list1(grounding.fluent_symbols) == ['clear', 'loc']
variables = grounding.ground_state_variables()
assert [
'clear(b1)', 'clear(b2)', 'clear(b3)', 'clear(b4)', 'clear(table)',
'loc(b1)', 'loc(b2)', 'loc(b3)', 'loc(b4)'
] == as_list2(variables)
def test_is_typed():
problem = generate_fstrips_blocksworld_problem()
assert is_typed_problem(problem)
problem = tarski.benchmarks.blocksworld.generate_strips_blocksworld_problem(
)
assert not is_typed_problem(problem)
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_blocksworld():
problem = generate_strips_blocksworld_problem(nblocks=5)
assert problem
problem = generate_fstrips_blocksworld_problem(nblocks=5)
assert problem
# Now let's test the generator with given, fixed configurations:
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')])
lang = problem.language
loc, b1, b2, table = lang.get('loc', 'b1', 'b2', 'table')
assert problem.init[loc(b1) == b2] and problem.init[loc(b2) == table]
assert is_and(problem.goal) and problem.goal.subformulas[-1] == (loc(b1)
== table)
def get_bw_elements():
problem = generate_fstrips_blocksworld_problem()
loc, clear, b1, table = problem.language.get("loc", "clear", "b1", "table")
return problem, loc, clear, b1, table
def test_forward_search_model():
problem = generate_fstrips_blocksworld_problem()
model = ForwardSearchModel(problem)
assert model.init() == problem.init
def test_basic_search():
problem = generate_fstrips_blocksworld_problem()
lang = problem.language
model = ForwardSearchModel(problem)
search = BreadthFirstSearch(model, max_expansions=10)
def test_free_variables_in_schema_manipulations():
problem = generate_fstrips_blocksworld_problem()
free = collect_effect_free_parameters(problem.get_action('move'))
assert not free # Move has no effect-free variable