def test_match():
rule = Rule.parse(
"go :: at(P, r) & $link(r, d, r') & $free(r, r') & $free(r', r) -> at(P, r')"
)
mapping = {
Placeholder.parse("P"): Variable.parse("P"),
Placeholder.parse("r"): Variable.parse("r1: r"),
Placeholder.parse("r'"): Variable.parse("r2: r"),
Placeholder.parse("d"): Variable.parse("d"),
}
action = Action.parse(
"go :: at(P, r1: r) & $link(r1: r, d, r2: r) & $free(r1: r, r2: r) & $free(r2: r, r1: r) -> at(P, r2: r)"
)
assert rule.match(action) == mapping
# Order shouldn't matter
action = Action.parse(
"go :: $link(r1: r, d, r2: r) & $free(r1: r, r2: r) & $free(r2: r, r1: r) & at(P, r1: r) -> at(P, r2: r)"
)
assert rule.match(action) == mapping
action = Action.parse(
"go :: at(P, r1: r) & $link(r1: r, d, r2: r) & $free(r2: r, r1: r) & $free(r1: r, r2: r) -> at(P, r2: r)"
)
assert rule.match(action) == mapping
# Predicate matches can't conflict
action = Action.parse(
"go :: at(P, r1: r) & $link(r1: r, d, r2: r) & $free(r2: r, r1: r) & $free(r1: r, r2: r) -> at(P, r3: r)"
)
assert rule.match(action) == None
def test_state():
state = State()
P = Variable.parse("P")
kitchen = Variable.parse("kitchen: r")
study = Variable.parse("study: r")
stove = Variable.parse("stove: o")
at_kitchen = Proposition.parse("at(P, kitchen: r)")
in_kitchen = Proposition.parse("in(stove: o, kitchen: r)")
at_study = Proposition.parse("at(P, study: r)")
assert not state.is_fact(at_kitchen)
assert not state.is_fact(in_kitchen)
assert not state.is_fact(at_study)
assert len(state.variables) == 0
assert len(state.variables_of_type("P")) == 0
assert len(state.variables_of_type("r")) == 0
assert len(state.variables_of_type("o")) == 0
state.add_fact(at_kitchen)
state.add_fact(in_kitchen)
assert state.is_fact(at_kitchen)
assert state.is_fact(in_kitchen)
assert not state.is_fact(at_study)
assert set(state.variables) == {P, kitchen, stove}
assert state.variables_of_type("P") == {P}
assert state.variables_of_type("r") == {kitchen}
assert state.variables_of_type("o") == {stove}
state.remove_fact(at_kitchen)
assert not state.is_fact(at_kitchen)
assert state.is_fact(in_kitchen)
assert not state.is_fact(at_study)
assert set(state.variables) == {kitchen, stove}
assert len(state.variables_of_type("P")) == 0
assert state.variables_of_type("r") == {kitchen}
assert state.variables_of_type("o") == {stove}
state.remove_fact(in_kitchen)
assert not state.is_fact(at_kitchen)
assert not state.is_fact(in_kitchen)
assert not state.is_fact(at_study)
assert len(state.variables) == 0
assert len(state.variables_of_type("P")) == 0
assert len(state.variables_of_type("r")) == 0
assert len(state.variables_of_type("o")) == 0
state.add_fact(at_study)
assert not state.is_fact(at_kitchen)
assert not state.is_fact(in_kitchen)
assert state.is_fact(at_study)
assert set(state.variables) == {P, study}
assert state.variables_of_type("P") == {P}
assert state.variables_of_type("r") == {study}
assert len(state.variables_of_type("o")) == 0
def inventory_proposition(observation, objectVars, inventoryVar):
updated_props = set()
inventory = observation['inventory']
for item in inventory:
key = item['type']
updated_props.add(
Proposition("in", [Variable.parse(key), inventoryVar]))
return updated_props
def test_logic_parsing():
P = Variable("P", "P")
kitchen = Variable("kitchen", "r")
egg = Variable("egg", "f")
assert Variable.parse("P") == P
assert Variable.parse("kitchen: r") == kitchen
at_kitchen = Proposition("at", [P, kitchen])
in_kitchen = Proposition("in", [egg, kitchen])
raw_egg = Proposition("raw", [egg])
cooked_egg = Proposition("cooked", [egg])
assert Proposition.parse("at(P, kitchen: r)") == at_kitchen
assert Signature.parse("at(P, r)") == at_kitchen.signature
cook_egg = Action("cook", [at_kitchen, in_kitchen, raw_egg],
[at_kitchen, in_kitchen, cooked_egg])
assert Action.parse(
"cook :: $at(P, kitchen: r) & $in(egg: f, kitchen: r) & raw(egg: f) -> cooked(egg: f)"
) == cook_egg
P = Placeholder("P", "P")
r = Placeholder("r", "r")
d = Placeholder("d", "d")
rp = Placeholder("r'", "r")
assert Placeholder.parse("P") == P
assert Placeholder.parse("r") == r
assert Placeholder.parse("d") == d
assert Placeholder.parse("r'") == rp
at_r = Predicate("at", [P, r])
link = Predicate("link", [r, d, rp])
unlocked = Predicate("unlocked", [d])
at_rp = Predicate("at", [P, rp])
assert Predicate.parse("link(r, d, r')") == link
go = Rule("go", [at_r, link, unlocked], [link, unlocked, at_rp])
assert Rule.parse(
"go :: at(P, r) & $link(r, d, r') & $unlocked(d) -> at(P, r')") == go
# Make sure the types match in the whole expression
assert_raises(ValueError, Rule.parse,
"take :: $at(P, r) & $in(c, r) & in(o: k, c) -> in(o, I)")
def test_type_hierarchy():
assert list(a.ancestors) == []
assert list(a.supertypes) == [a]
assert list(a.descendants) == [b, c, d]
assert list(a.subtypes) == [a, b, c, d]
assert list(b.ancestors) == [a]
assert list(b.supertypes) == [b, a]
assert list(b.descendants) == [d]
assert list(b.subtypes) == [b, d]
assert list(c.ancestors) == [a]
assert list(c.supertypes) == [c, a]
assert list(c.descendants) == [d]
assert list(c.subtypes) == [c, d]
assert list(d.ancestors) == [b, c, a]
assert list(d.supertypes) == [d, b, c, a]
assert list(d.descendants) == []
assert list(d.subtypes) == [d]
va = Variable.parse("a")
assert va.is_a(a)
assert not va.is_a(b)
assert not va.is_a(c)
assert not va.is_a(d)
vb = Variable.parse("b")
assert vb.is_a(a)
assert vb.is_a(b)
assert not vb.is_a(c)
assert not vb.is_a(d)
vc = Variable.parse("c")
assert vc.is_a(a)
assert not vc.is_a(b)
assert vc.is_a(c)
assert not vc.is_a(d)
vd = Variable.parse("d")
assert vd.is_a(a)
assert vd.is_a(b)
assert vd.is_a(c)
assert vd.is_a(d)
def test_match_complex():
rule = Rule.parse(
"combine/3 :: $at(P, r) & $correct_location(r) & $in(tool, I) & $in(tool', I) & $in(tool'', I) & in(o, I) & in(o', I) & in(o'', I) & $out(o''') & $used(slot) & used(slot') & used(slot'') -> in(o''', I) & free(slot') & free(slot'')"
)
mapping = {
Placeholder.parse("P"): Variable.parse("P"),
Placeholder.parse("I"): Variable.parse("I"),
Placeholder.parse("r"): Variable.parse("r"),
Placeholder.parse("o"): Variable.parse("o1: o"),
Placeholder.parse("o'"): Variable.parse("o2: o"),
Placeholder.parse("o''"): Variable.parse("o3: o"),
Placeholder.parse("o'''"): Variable.parse("o4: o"),
Placeholder.parse("tool"): Variable.parse("tool1: tool"),
Placeholder.parse("tool'"): Variable.parse("tool2: tool"),
Placeholder.parse("tool''"): Variable.parse("tool3: tool"),
Placeholder.parse("slot"): Variable.parse("slot1: slot"),
Placeholder.parse("slot'"): Variable.parse("slot2: slot"),
Placeholder.parse("slot''"): Variable.parse("slot3: slot"),
}
action = Action.parse(
"combine/3 :: $at(P, r) & $correct_location(r) & $in(tool1: tool, I) & $in(tool2: tool, I) & $in(tool3: tool, I) & in(o1: o, I) & in(o2: o, I) & in(o3: o, I) & $out(o4: o) & $used(slot1: slot) & used(slot2: slot) & used(slot3: slot) -> in(o4: o, I) & free(slot2: slot) & free(slot3: slot)"
)
for _ in range(10000):
assert rule.match(action) == mapping
