def test_print_domain_labeled(self):
expected = """(define (domain no_running_1)
(:requirements :typing)
(:types
cell
)
(:constants
c0 c1 c2 - cell
)
(:predicates
(at ?c - cell)
(adj ?o - cell ?d - cell)
(broken)
(scratch)
)
(:action walk
:parameters (?o - cell ?d - cell)
:precondition (and (at ?o) (adj ?o ?d) (not (broken)))
:effect (oneof (d3 (and (not (at ?o)) (at ?d))) (d2 (and (not (at ?o)) (at ?d) (scratch))) (d1 (scratch)))
)
(:action run
:parameters ()
:precondition (and (at c2) (not (broken)))
:effect (oneof (d3 (and (not (at c2)) (at c0))) (d2 (and (not (at c2)) (at c0) (scratch))) (d1 (broken)))
)
)
"""
domain = PDDLParser.parse('pddl/mtp-example/labeled-domain.pddl')
new_domain_string = repr(domain)
self.assertEqual(clean_up_str(expected), clean_up_str(new_domain_string))
def test_mtp_domain(self):
expected = '(define (domain no_running_1)(:requirements :typing)(:types cell)(:constants c0 c1 c2 - cell)(:predicates(at ?c - cell)(adj ?o - cell ?d - cell)(broken)(scratch)(end)(act)(l_d3)(e_d3)(eff_d3_walk)(eff_d3_run)(l_d2)(e_d2)(eff_d2_walk)(eff_d2_run)(l_d1)(e_d1)(eff_d1_walk)(eff_d1_run)(u_walk)(u_run))(:action continue_d3 :parameters ():precondition (and (not (act)) (l_d3) (not (eff_d3_walk)) (not (eff_d3_run)) (not (eff_d2_walk)) (not (eff_d2_run)) (not (eff_d1_walk)) (not (eff_d1_run)) (or (e_d3))):effect (and (act) (not (e_d3)) (not (e_d2)) (not (e_d1))))(:action continue_d2 :parameters ():precondition (and (not (act)) (l_d2) (not (eff_d3_walk)) (not (eff_d3_run)) (not (eff_d2_walk)) (not (eff_d2_run)) (not (eff_d1_walk)) (not (eff_d1_run)) (or (e_d3) (e_d2))):effect (and (act) (not (e_d3)) (not (e_d2)) (not (e_d1))))(:action continue_d1 :parameters ():precondition (and (not (act)) (l_d1) (not (eff_d3_walk)) (not (eff_d3_run)) (not (eff_d2_walk)) (not (eff_d2_run)) (not (eff_d1_walk)) (not (eff_d1_run)) (or (e_d3) (e_d2) (e_d1))):effect (and (act) (not (e_d3)) (not (e_d2)) (not (e_d1))))(:action degrade_d3_d2 :parameters ():precondition (and (not (act)) (l_d3) (e_d2) (not (eff_d3_walk)) (not (eff_d3_run)) (not (eff_d2_walk)) (not (eff_d2_run)) (not (eff_d1_walk)) (not (eff_d1_run))):effect (and (act) (l_d2) (not (l_d3)) (not (e_d3)) (not (e_d2)) (not (e_d1))))(:action degrade_d3_d1 :parameters ():precondition (and (not (act)) (l_d3) (e_d1) (not (eff_d3_walk)) (not (eff_d3_run)) (not (eff_d2_walk)) (not (eff_d2_run)) (not (eff_d1_walk)) (not (eff_d1_run))):effect (and (act) (l_d1) (not (l_d3)) (not (e_d3)) (not (e_d2)) (not (e_d1))))(:action degrade_d2_d1 :parameters ():precondition (and (not (act)) (l_d2) (e_d1) (not (eff_d3_walk)) (not (eff_d3_run)) (not (eff_d2_walk)) (not (eff_d2_run)) (not (eff_d1_walk)) (not (eff_d1_run))):effect (and (act) (l_d1) (not (l_d2)) (not (e_d3)) (not (e_d2)) (not (e_d1))))(:action walk_unfair_ :parameters ():precondition (and (act) (u_walk)):effect (oneof (and (eff_d3_walk) (not (act))) (and (eff_d2_walk) (not (act))) (and (eff_d1_walk) (not (act)))))(:action walk_d3 :parameters (?o - cell ?d - cell):precondition (and (at ?o) (adj ?o ?d) (not (broken)) (l_d3) (act) (not (u_walk)) (not (u_run))):effect (oneof (and (not (at ?o)) (at ?d)) (u_walk)))(:action walk_d2 :parameters (?o - cell ?d - cell):precondition (and (at ?o) (adj ?o ?d) (not (broken)) (l_d2) (act) (not (u_walk)) (not (u_run))):effect (oneof (and (not (at ?o)) (at ?d)) (and (not (at ?o)) (at ?d) (scratch)) (u_walk)))(:action walk_d1 :parameters (?o - cell ?d - cell):precondition (and (at ?o) (adj ?o ?d) (not (broken)) (l_d1) (act) (not (u_walk)) (not (u_run))):effect (oneof (and (not (at ?o)) (at ?d)) (and (not (at ?o)) (at ?d) (scratch)) (scratch)))(:action walk_eff_d3_explained_by_d3 :parameters (?o - cell ?d - cell):precondition (and (at ?o) (adj ?o ?d) (not (broken)) (eff_d3_walk)):effect (and (not (at ?o)) (at ?d) (e_d3) (not (eff_d3_walk)) (not (act)) (not (u_walk))))(:action walk_eff_d2_explained_by_d3 :parameters (?o - cell ?d - cell):precondition (and (at ?o) (adj ?o ?d) (not (broken)) (eff_d2_walk) (scratch)):effect (and (not (at ?o)) (at ?d) (scratch) (e_d3) (not (eff_d2_walk)) (not (act)) (not (u_walk))))(:action walk_eff_d2_explained_by_d2 :parameters (?o - cell ?d - cell):precondition (and (at ?o) (adj ?o ?d) (not (broken)) (eff_d2_walk) (or (not (scratch)))):effect (and (not (at ?o)) (at ?d) (scratch) (e_d2) (not (eff_d2_walk)) (not (act)) (not (u_walk))))(:action walk_eff_d1_explained_by_d3 :parameters (?o - cell ?d - cell):precondition (and (at ?o) (adj ?o ?d) (not (broken)) (eff_d1_walk) (scratch) (not (at ?o)) (at ?d)):effect (and (scratch) (e_d3) (not (eff_d1_walk)) (not (act)) (not (u_walk))))(:action walk_eff_d1_explained_by_d2 :parameters (?o - cell ?d - cell):precondition (and (at ?o) (adj ?o ?d) (not (broken)) (eff_d1_walk) (not (at ?o)) (at ?d) (or (not (scratch)) (at ?o) (not (at ?d)))):effect (and (scratch) (e_d2) (not (eff_d1_walk)) (not (act)) (not (u_walk))))(:action walk_eff_d1_explained_by_d1 :parameters (?o - cell ?d - cell):precondition (and (at ?o) (adj ?o ?d) (not (broken)) (eff_d1_walk) (or (not (scratch)) (at ?o) (not (at ?d))) (or (at ?o) (not (at ?d)))):effect (and (scratch) (e_d1) (not (eff_d1_walk)) (not (act)) (not (u_walk))))(:action run_unfair_ :parameters ():precondition (and (act) (u_run)):effect (oneof (and (eff_d3_run) (not (act))) (and (eff_d2_run) (not (act))) (and (eff_d1_run) (not (act)))))(:action run_d3 :parameters ():precondition (and (at c2) (not (broken)) (l_d3) (act) (not (u_walk)) (not (u_run))):effect (oneof (and (not (at c2)) (at c0)) (u_run)))(:action run_d2 :parameters ():precondition (and (at c2) (not (broken)) (l_d2) (act) (not (u_walk)) (not (u_run))):effect (oneof (and (not (at c2)) (at c0)) (and (not (at c2)) (at c0) (scratch)) (u_run)))(:action run_d1 :parameters ():precondition (and (at c2) (not (broken)) (l_d1) (act) (not (u_walk)) (not (u_run))):effect (oneof (and (not (at c2)) (at c0)) (and (not (at c2)) (at c0) (scratch)) (broken)))(:action run_eff_d3_explained_by_d3 :parameters ():precondition (and (at c2) (not (broken)) (eff_d3_run)):effect (and (not (at c2)) (at c0) (e_d3) (not (eff_d3_run)) (not (act)) (not (u_run))))(:action run_eff_d2_explained_by_d3 :parameters ():precondition (and (at c2) (not (broken)) (eff_d2_run) (scratch)):effect (and (not (at c2)) (at c0) (scratch) (e_d3) (not (eff_d2_run)) (not (act)) (not (u_run))))(:action run_eff_d2_explained_by_d2 :parameters ():precondition (and (at c2) (not (broken)) (eff_d2_run) (or (not (scratch)))):effect (and (not (at c2)) (at c0) (scratch) (e_d2) (not (eff_d2_run)) (not (act)) (not (u_run))))(:action run_eff_d1_explained_by_d3 :parameters ():precondition (and (at c2) (not (broken)) (eff_d1_run) (broken) (not (at c2)) (at c0)):effect (and (broken) (e_d3) (not (eff_d1_run)) (not (act)) (not (u_run))))(:action run_eff_d1_explained_by_d2 :parameters ():precondition (and (at c2) (not (broken)) (eff_d1_run) (broken) (not (at c2)) (at c0) (scratch) (or (not (broken)) (at c2) (not (at c0)))):effect (and (broken) (e_d2) (not (eff_d1_run)) (not (act)) (not (u_run))))(:action run_eff_d1_explained_by_d1 :parameters ():precondition (and (at c2) (not (broken)) (eff_d1_run) (or (not (broken)) (at c2) (not (at c0))) (or (not (broken)) (at c2) (not (at c0)) (not (scratch)))):effect (and (broken) (e_d1) (not (eff_d1_run)) (not (act)) (not (u_run))))(:action check_goal_d3 :parameters ():precondition (and (at c0) (not (scratch)) (not (broken)) (l_d3) (act)):effect (end))(:action check_goal_d2 :parameters ():precondition (and (at c0) (not (broken)) (l_d2) (act)):effect (end))(:action check_goal_d1 :parameters ():precondition (and (at c2) (not (broken)) (l_d1) (act)):effect (end)))'
domain = PDDLParser.parse('pddl/mtp-example/labeled-domain.pddl')
problem = PDDLParser.parse('pddl/mtp-example/labeled-problem.pddl')
# encode MTP problem and save it to file pddl/mtp-example/mtp-problem.pddl
domain_models_hierarchy, goal_statement = multi_tier_compilation_problem(problem,
'pddl/mtp-example/mtp-problem.pddl')
# encode MTP domain and save it to file pddl/mtp-example/mtp-problem.pddl
multi_tier_compilation_domain(domain, domain_models_hierarchy, goal_statement,
'pddl/mtp-example/mtp-domain.pddl')
with open('pddl/mtp-example/mtp-domain.pddl', 'r') as infile:
aux = infile.read().strip().replace('\n', '').replace('\t', '')
infile.close()
new_domain_string = ''.join(aux)
self.assertEqual(expected, new_domain_string, "Should be equal")
def test_mtp_problem(self):
expected = '(define (problem p1)(:domain no_running_1)(:init(at c2)(adj c2 c1)(adj c1 c0)(adj c0 c1)(adj c1 c2)(act)(l_d3))(:goal (and (end))))'
problem = PDDLParser.parse('pddl/mtp-example/labeled-problem.pddl')
multi_tier_compilation_problem(problem, 'pddl/mtp-example/mtp-problem.pddl')
with open('pddl/mtp-example/mtp-problem.pddl', 'r') as infile:
aux = infile.read().strip().replace('\n','').replace('\t','')
infile.close()
new_problem_string = ''.join(aux)
self.assertEqual(expected,new_problem_string,"Should be equal")
def test_print_domain_strips(self):
expected = """(define (domain blocks)
(:requirements :strips :typing :equality)
(:types
block
)
(:predicates
(on ?x - block ?y - block)
(ontable ?x - block)
(clear ?x - block)
(handempty)
(holding ?x - block)
)
(:action pick-up
:parameters (?x - block)
:precondition (and (clear ?x) (ontable ?x) (handempty))
:effect (and (not (ontable ?x)) (not (clear ?x)) (not (handempty)) (holding ?x))
)
(:action put-down
:parameters (?x - block)
:precondition (and (holding ?x))
:effect (and (not (holding ?x)) (clear ?x) (handempty) (ontable ?x))
)
(:action stack
:parameters (?x - block ?y - block)
:precondition (and (not (= ?x ?y)) (holding ?x) (clear ?y))
:effect (and (not (holding ?x)) (not (clear ?y)) (clear ?x) (handempty) (on ?x ?y))
)
(:action unstack
:parameters (?x - block ?y - block)
:precondition (and (not (= ?x ?y)) (on ?x ?y) (clear ?x) (handempty))
:effect (and (holding ?x) (clear ?y) (not (clear ?x)) (not (handempty)) (not (on ?x ?y)))
)
)
"""
domain = PDDLParser.parse('pddl/blocksworld/domain.pddl')
new_domain_string = repr(domain)
self.assertEqual(clean_up_str(expected), clean_up_str(new_domain_string))
def test_print_problem_probabilistic(self):
test_problem_string = '(define (problem tireworld-01)\n\t(:domain triangle-tire)\n\t(:objects x01y05 x02y04 x01y03 x03y03 x02y02 x01y01 - location)\n\t(:init\n\t\t(road x01y01 x01y03)\n\t\t(road x01y01 x02y02)\n\t\t(road x01y03 x01y05)\n\t\t(road x01y03 x02y04)\n\t\t(road x02y02 x01y03)\n\t\t(road x02y02 x03y03)\n\t\t(road x02y04 x01y05)\n\t\t(road x03y03 x02y04)\n\t\t(spare-in x02y02)\n\t\t(spare-in x02y04)\n\t\t(spare-in x03y03)\n\t\t(vehicle-at x01y01)\n\t\t(not-flattire)\n\t\t(hasspare))\n\t(:goal (and \n\t\t(vehicle-at x01y05)))\n)'
problem = PDDLParser.parse('pddl/triangle-tireworld/problems/p01.ppddl')
new_problem_string = repr(problem)
self.assertEqual(test_problem_string,new_problem_string)
def test_print_domain_probabilistic(self):
test_domain_string = '(define (domain triangle-tire)\n\t(:requirements :typing :strips :probabilistic-effects)\n\t(:types \n\t\t location\n\t)\n\t(:predicates\n\t\t(road ?from - location ?to - location)\n\t\t(spare-in ?loc - location)\n\t\t(vehicle-at ?loc - location)\n\t\t(not-flattire)\n\t\t(hasspare)\n\t)\n\t(:action move-car \n\t\t:parameters (?from - location ?to - location)\n\t\t:precondition (and (vehicle-at ?from) (road ?from ?to) (not-flattire))\n\t\t:effect (and (vehicle-at ?to) (not (vehicle-at ?from)) (not (not-flattire)))\n\t)\n\t(:action load-tire \n\t\t:parameters (?loc - location)\n\t\t:precondition (and (vehicle-at ?loc) (spare-in ?loc))\n\t\t:effect (and (hasspare) (not (spare-in ?loc)))\n\t)\n\t(:action change-tire \n\t\t:parameters ()\n\t\t:precondition (and (hasspare))\n\t\t:effect (and (not (hasspare)) (not-flattire))\n\t)\n)'
domain = PDDLParser.parse('pddl/triangle-tireworld/domain.ppddl')
new_domain_string = repr(domain)
self.assertEqual(test_domain_string,new_domain_string)
def test_print_problem_strips(self):
test_problem_string = '(define (problem blocks-4-0)\n\t(:domain blocks)\n\t(:objects d b a c - block)\n\t(:init\n\t\t(clear c)\n\t\t(clear a)\n\t\t(clear b)\n\t\t(clear d)\n\t\t(ontable c)\n\t\t(ontable a)\n\t\t(ontable b)\n\t\t(ontable d)\n\t\t(handempty))\n\t(:goal (and \n\t\t(on d c)\n\t\t(on c b)\n\t\t(on b a)))\n)'
problem = PDDLParser.parse('pddl/blocksworld/problems/probBLOCKS-04-0.pddl')
new_domain_string = repr(problem)
self.assertEqual(test_problem_string,new_domain_string)
def test_print_domain_oneof_or(self):
expected = '''(define (domain no_running_1)
(:requirements :typing)
(:types
cell
)
(:constants
c0 c1 c2 - cell
)
(:predicates
(at ?c - cell)
(adj ?o - cell ?d - cell)
(broken)
(scratch)
(end)
(act)
(l_d3)
(e_d3)
(eff_d3_walk)
(eff_d3_run)
(l_d2)
(e_d2)
(eff_d2_walk)
(eff_d2_run)
(l_d1)
(e_d1)
(eff_d1_walk)
(eff_d1_run)
(u_walk)
(u_run)
)
(:action continue_d3
:parameters ()
:precondition (and (not (act)) (l_d3) (not (eff_d3_walk)) (not (eff_d3_run)) (not (eff_d2_walk)) (not (eff_d2_run)) (not (eff_d1_walk)) (not (eff_d1_run)) (or (e_d3)))
:effect (and (act) (not (e_d3)) (not (e_d2)) (not (e_d1)))
)
(:action continue_d2
:parameters ()
:precondition (and (not (act)) (l_d2) (not (eff_d3_walk)) (not (eff_d3_run)) (not (eff_d2_walk)) (not (eff_d2_run)) (not (eff_d1_walk)) (not (eff_d1_run)) (or (e_d3) (e_d2)))
:effect (and (act) (not (e_d3)) (not (e_d2)) (not (e_d1)))
)
(:action continue_d1
:parameters ()
:precondition (and (not (act)) (l_d1) (not (eff_d3_walk)) (not (eff_d3_run)) (not (eff_d2_walk)) (not (eff_d2_run)) (not (eff_d1_walk)) (not (eff_d1_run)) (or (e_d3) (e_d2) (e_d1)))
:effect (and (act) (not (e_d3)) (not (e_d2)) (not (e_d1)))
)
(:action degrade_d3_d2
:parameters ()
:precondition (and (not (act)) (l_d3) (e_d2) (not (eff_d3_walk)) (not (eff_d3_run)) (not (eff_d2_walk)) (not (eff_d2_run)) (not (eff_d1_walk)) (not (eff_d1_run)))
:effect (and (act) (l_d2) (not (l_d3)) (not (e_d3)) (not (e_d2)) (not (e_d1)))
)
(:action degrade_d3_d1
:parameters ()
:precondition (and (not (act)) (l_d3) (e_d1) (not (eff_d3_walk)) (not (eff_d3_run)) (not (eff_d2_walk)) (not (eff_d2_run)) (not (eff_d1_walk)) (not (eff_d1_run)))
:effect (and (act) (l_d1) (not (l_d3)) (not (e_d3)) (not (e_d2)) (not (e_d1)))
)
(:action degrade_d2_d1
:parameters ()
:precondition (and (not (act)) (l_d2) (e_d1) (not (eff_d3_walk)) (not (eff_d3_run)) (not (eff_d2_walk)) (not (eff_d2_run)) (not (eff_d1_walk)) (not (eff_d1_run)))
:effect (and (act) (l_d1) (not (l_d2)) (not (e_d3)) (not (e_d2)) (not (e_d1)))
)
(:action walk_unfair_
:parameters ()
:precondition (and (act) (u_walk))
:effect (oneof
(and (eff_d3_walk) (not (act)))
(and (eff_d2_walk) (not (act)))
(and (eff_d1_walk) (not (act))))
)
(:action walk_d3
:parameters (?o - cell ?d - cell)
:precondition (and (at ?o) (adj ?o ?d) (not (broken)) (l_d3) (act) (not (u_walk)) (not (u_run)))
:effect (oneof
(and (not (at ?o)) (at ?d))
(u_walk))
)
(:action walk_d2
:parameters (?o - cell ?d - cell)
:precondition (and (at ?o) (adj ?o ?d) (not (broken)) (l_d2) (act) (not (u_walk)) (not (u_run)))
:effect (oneof
(and (not (at ?o)) (at ?d))
(and (not (at ?o)) (at ?d) (scratch))
(u_walk))
)
(:action walk_d1
:parameters (?o - cell ?d - cell)
:precondition (and (at ?o) (adj ?o ?d) (not (broken)) (l_d1) (act) (not (u_walk)) (not (u_run)))
:effect (oneof
(and (not (at ?o)) (at ?d))
(and (not (at ?o)) (at ?d) (scratch))
(scratch))
)
(:action walk_eff_d3_explained_by_d3
:parameters (?o - cell ?d - cell)
:precondition (and (at ?o) (adj ?o ?d) (not (broken)) (eff_d3_walk))
:effect (and (not (at ?o)) (at ?d) (e_d3) (not (eff_d3_walk)) (not (act)) (not (u_walk)))
)
(:action walk_eff_d2_explained_by_d3
:parameters (?o - cell ?d - cell)
:precondition (and (at ?o) (adj ?o ?d) (not (broken)) (eff_d2_walk) (scratch))
:effect (and (not (at ?o)) (at ?d) (scratch) (e_d3) (not (eff_d2_walk)) (not (act)) (not (u_walk)))
)
(:action walk_eff_d2_explained_by_d2
:parameters (?o - cell ?d - cell)
:precondition (and (at ?o) (adj ?o ?d) (not (broken)) (eff_d2_walk) (or (not (scratch))))
:effect (and (not (at ?o)) (at ?d) (scratch) (e_d2) (not (eff_d2_walk)) (not (act)) (not (u_walk)))
)
(:action walk_eff_d1_explained_by_d3
:parameters (?o - cell ?d - cell)
:precondition (and (at ?o) (adj ?o ?d) (not (broken)) (eff_d1_walk) (scratch) (not (at ?o)) (at ?d))
:effect (and (scratch) (e_d3) (not (eff_d1_walk)) (not (act)) (not (u_walk)))
)
(:action walk_eff_d1_explained_by_d2
:parameters (?o - cell ?d - cell)
:precondition (and (at ?o) (adj ?o ?d) (not (broken)) (eff_d1_walk) (not (at ?o)) (at ?d) (or (not (scratch)) (at ?o) (not (at ?d))))
:effect (and (scratch) (e_d2) (not (eff_d1_walk)) (not (act)) (not (u_walk)))
)
(:action walk_eff_d1_explained_by_d1
:parameters (?o - cell ?d - cell)
:precondition (and (at ?o) (adj ?o ?d) (not (broken)) (eff_d1_walk) (or (not (scratch)) (at ?o) (not (at ?d))) (or (at ?o) (not (at ?d))))
:effect (and (scratch) (e_d1) (not (eff_d1_walk)) (not (act)) (not (u_walk)))
)
(:action run_unfair_
:parameters ()
:precondition (and (act) (u_run))
:effect (oneof
(and (eff_d3_run) (not (act)))
(and (eff_d2_run) (not (act)))
(and (eff_d1_run) (not (act))))
)
(:action run_d3
:parameters ()
:precondition (and (at c2) (not (broken)) (l_d3) (act) (not (u_walk)) (not (u_run)))
:effect (oneof
(and (not (at c2)) (at c0))
(u_run))
)
(:action run_d2
:parameters ()
:precondition (and (at c2) (not (broken)) (l_d2) (act) (not (u_walk)) (not (u_run)))
:effect (oneof
(and (not (at c2)) (at c0))
(and (not (at c2)) (at c0) (scratch))
(u_run))
)
(:action run_d1
:parameters ()
:precondition (and (at c2) (not (broken)) (l_d1) (act) (not (u_walk)) (not (u_run)))
:effect (oneof
(and (not (at c2)) (at c0))
(and (not (at c2)) (at c0) (scratch))
(broken))
)
(:action run_eff_d3_explained_by_d3
:parameters ()
:precondition (and (at c2) (not (broken)) (eff_d3_run))
:effect (and (not (at c2)) (at c0) (e_d3) (not (eff_d3_run)) (not (act)) (not (u_run)))
)
(:action run_eff_d2_explained_by_d3
:parameters ()
:precondition (and (at c2) (not (broken)) (eff_d2_run) (scratch))
:effect (and (not (at c2)) (at c0) (scratch) (e_d3) (not (eff_d2_run)) (not (act)) (not (u_run)))
)
(:action run_eff_d2_explained_by_d2
:parameters ()
:precondition (and (at c2) (not (broken)) (eff_d2_run) (or (not (scratch))))
:effect (and (not (at c2)) (at c0) (scratch) (e_d2) (not (eff_d2_run)) (not (act)) (not (u_run)))
)
(:action run_eff_d1_explained_by_d3
:parameters ()
:precondition (and (at c2) (not (broken)) (eff_d1_run) (broken) (not (at c2)) (at c0))
:effect (and (broken) (e_d3) (not (eff_d1_run)) (not (act)) (not (u_run)))
)
(:action run_eff_d1_explained_by_d2
:parameters ()
:precondition (and (at c2) (not (broken)) (eff_d1_run) (broken) (not (at c2)) (at c0) (scratch) (or (not (broken)) (at c2) (not (at c0))))
:effect (and (broken) (e_d2) (not (eff_d1_run)) (not (act)) (not (u_run)))
)
(:action run_eff_d1_explained_by_d1
:parameters ()
:precondition (and (at c2) (not (broken)) (eff_d1_run) (or (not (broken)) (at c2) (not (at c0))) (or (not (broken)) (at c2) (not (at c0)) (not (scratch))))
:effect (and (broken) (e_d1) (not (eff_d1_run)) (not (act)) (not (u_run)))
)
(:action check_goal_d3
:parameters ()
:precondition (and (at c0) (not (scratch)) (not (broken)) (l_d3) (act))
:effect (end)
)
(:action check_goal_d2
:parameters ()
:precondition (and (at c0) (not (broken)) (l_d2) (act))
:effect (end)
)
(:action check_goal_d1
:parameters ()
:precondition (and (at c2) (not (broken)) (l_d1) (act))
:effect (end)
)
)
'''
domain = PDDLParser.parse('pddl/mtp-example/mtp-domain.pddl')
new_domain_string = repr(domain)
expected = clean_up_str(expected)
new_domain_string = clean_up_str(new_domain_string)
self.assertEqual(expected,new_domain_string)
def test_print_problem_labeled(self):
test_problem_string = '(define (problem p1)\n\t(:domain no_running_1)\n\t(:init\n\t\t(at c2)\n\t\t(adj c2 c1)\n\t\t(adj c1 c0)\n\t\t(adj c0 c1)\n\t\t(adj c1 c2))\n\t(:goal (and \n\t\t(d3 (and (at c0) (not (scratch)) (not (broken))))\n\t\t(d2 (and (at c0) (not (broken))))\n\t\t(d1 (and (at c2) (not (broken))))\n\t\t))\n)'
problem = PDDLParser.parse('pddl/mtp-example/labeled-problem.pddl')
new_problem_string = repr(problem)
self.assertEqual(test_problem_string,new_problem_string)
'--multi-tier-compilation',
action='store_true',
default=False,
help='translate labeled PDDL to MTD and MTP (default: %(default)s)')
args = vars(
parser.parse_args()) # vars returns a dictionary of the arguments
if args['out_problem']:
args['print_problem'] = True
if args['out_domain']:
args['print_domain'] = True
#print(args) # just print the options that will be used
# Parse the domain and problem given, build data structures
domain = PDDLParser.parse(args['domain-problem'][0])
# print("==========> Domain parsed into memory....")
problem = None
# the first file already contained both domain + problem
# So, extract domain and problem
if type(domain) is tuple:
problem = domain[1]
domain = domain[0]
# two files have been given: domain and problem, load problem now
if len(args['domain-problem']) == 2:
print(args['domain-problem'][1])
problem = PDDLParser.parse(args['domain-problem'][1])
# print("==========> Problem parsed into memory....")