def test_problem_grounding_on_parcprinter():
# Test some grounding routines on parcprinter
problem = parcprinter.create_small_task()
grounding = NaiveGroundingStrategy(problem)
# ATM we consider the grounding should not be responsible for including / discarding "total-cost"
assert as_list1(grounding.static_symbols) == [
'Prevsheet', 'Sheetsize', 'Uninitialized'
]
assert as_list1(grounding.fluent_symbols) == [
'Available', 'Location', 'Stackedin', 'total-cost'
]
variables = grounding.ground_state_variables()
# Make sure that Uninitialized is also grounded, even though it is a nullary symbol
assert [
'Available(Finisher2-RSRC)',
'Location(dummy-sheet,Finisher2_Entry-Finisher1_Exit)',
'Location(dummy-sheet,Finisher2_Tray)',
'Location(dummy-sheet,Some_Feeder_Tray)',
'Location(dummy-sheet,Some_Finisher_Tray)',
'Location(sheet1,Finisher2_Entry-Finisher1_Exit)',
'Location(sheet1,Finisher2_Tray)', 'Location(sheet1,Some_Feeder_Tray)',
'Location(sheet1,Some_Finisher_Tray)',
'Stackedin(dummy-sheet,Finisher2_Entry-Finisher1_Exit)',
'Stackedin(dummy-sheet,Finisher2_Tray)',
'Stackedin(dummy-sheet,Some_Feeder_Tray)',
'Stackedin(dummy-sheet,Some_Finisher_Tray)',
'Stackedin(sheet1,Finisher2_Entry-Finisher1_Exit)',
'Stackedin(sheet1,Finisher2_Tray)',
'Stackedin(sheet1,Some_Feeder_Tray)',
'Stackedin(sheet1,Some_Finisher_Tray)', 'total-cost()'
] == as_list2(variables)
def test_action_costs_numeric_fluents_requirements():
problem = parcprinter.create_small_task()
writer = FstripsWriter(problem)
# action costs should be required if there is a metric defined.
domain_string = writer.print_domain()
assert 'numeric-fluents' not in domain_string
assert 'action-costs' in domain_string
def test_all_state_variables_can_be_evaluated_in_init_parcprinter():
prob = parcprinter.create_small_task()
index = ProblemGrounding(prob)
index.process_symbols(prob)
index.state_variables = SymbolIndex()
for var in create_all_possible_state_variables(index.fluent_terms):
index.state_variables.add(var)
for var in index.state_variables:
val = prob.init[var.ground]
assert val in (True, False, 0.0)
def test_requirements_string():
problem = parcprinter.create_small_task()
# action costs should be required if there is a metric defined.
assert sorted(get_requirements_string(problem)) == [':action-costs', ':equality', ':numeric-fluents', ':typing']
problem, loc, clear, b1, table = get_bw_elements()
assert sorted(get_requirements_string(problem)) == [':equality', ':typing']
problem = generate_fstrips_counters_problem()
assert sorted(get_requirements_string(problem)) == [':equality', ':numeric-fluents', ':typing']
def test_all_state_variables_can_be_evaluated_in_init_parcprinter():
prob = parcprinter.create_small_task()
index = ProblemGrounding(prob)
index.process_symbols(prob)
index.state_variables = IndexDictionary()
for var in create_all_possible_state_variables(index.fluent_terms):
index.state_variables.add(var)
for var in index.state_variables:
# print("type: {} expr: {} value: {}".format(type(var.ground), str(var.ground), prob.init[var.ground]))
assert (prob.init[var.ground] is True or
prob.init[var.ground] is False or
prob.init[var.ground] == 0.0)
def test_requirements_string():
problem = parcprinter.create_small_task()
# action costs should be required if there is a metric defined, but if "total-cost" is the only arithmetic
# function, we don't print the ':numeric-fluents' requirement
assert sorted(get_requirements_string(problem)) == [
':action-costs', ':equality', ':typing'
]
problem, loc, clear, b1, table = get_bw_elements()
assert sorted(get_requirements_string(problem)) == [':equality', ':typing']
problem = generate_fstrips_counters_problem()
assert sorted(get_requirements_string(problem)) == [
':equality', ':numeric-fluents', ':typing'
]
def test_problem_grounding_on_two_domains():
# Test some grounding routines on parcprinter
problem = parcprinter.create_small_task()
grounding = NaiveGroundingStrategy(problem)
as_list1 = lambda symbols: sorted(s.symbol for s in symbols)
# ATM we consider the grounding should not be responsible for including / discarding "total-cost"
assert as_list1(grounding.static_symbols) == ['Prevsheet', 'Sheetsize', 'Uninitialized']
assert as_list1(grounding.fluent_symbols) == ['Available', 'Location', 'Stackedin', 'total-cost']
as_list2 = lambda symbols: sorted(map(str, symbols))
variables = grounding.ground_state_variables()
# Make sure that Uninitialized is also grounded, even though it is a nullary symbol
assert ['Available(Finisher2-RSRC)', 'Location(dummy-sheet,Finisher2_Entry-Finisher1_Exit)',
'Location(dummy-sheet,Finisher2_Tray)', 'Location(dummy-sheet,Some_Feeder_Tray)',
'Location(dummy-sheet,Some_Finisher_Tray)', 'Location(sheet1,Finisher2_Entry-Finisher1_Exit)',
'Location(sheet1,Finisher2_Tray)', 'Location(sheet1,Some_Feeder_Tray)',
'Location(sheet1,Some_Finisher_Tray)', 'Stackedin(dummy-sheet,Finisher2_Entry-Finisher1_Exit)',
'Stackedin(dummy-sheet,Finisher2_Tray)', 'Stackedin(dummy-sheet,Some_Feeder_Tray)',
'Stackedin(dummy-sheet,Some_Finisher_Tray)', 'Stackedin(sheet1,Finisher2_Entry-Finisher1_Exit)',
'Stackedin(sheet1,Finisher2_Tray)', 'Stackedin(sheet1,Some_Feeder_Tray)',
'Stackedin(sheet1,Some_Finisher_Tray)', 'total-cost()'] == as_list2(variables)
# Test some grounding routines on a STRIPS blocksworld
problem = generate_small_strips_bw_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
# Test some grounding routines on a (typed) Functional STRIPS blocksworld
problem = generate_small_fstrips_bw_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)