def assert_frame_axioms(self):
ml = self.metalang
tvar = _get_timestep_var(ml)
# First deal with predicates;
for p in get_symbols(self.lang, type_="all", include_builtin=False):
if not self.symbol_is_fluent(p):
continue
self.comments[len(self.theory)] = f";; Frame axiom for symbol {p}:"
lvars = generate_symbol_arguments(self.lang, p)
atom = p(*lvars)
fquant = generate_symbol_arguments(ml, p) + [tvar]
if isinstance(p, Predicate):
# pos: not p(x, t) and p(x, t+1) => \gamma_p^+(x, t)
# neg: p(x, t) and not p(x, t+1) => \gamma_p^-(x, t)
at_t = self.to_metalang(atom, tvar)
at_t1 = self.to_metalang(atom, tvar + 1)
pos = forall(*fquant,
implies(~at_t & at_t1, self.gamma_pos[p.name]))
neg = forall(*fquant,
implies(at_t & ~at_t1, self.gamma_neg[p.name]))
self.theory += [pos, neg]
else:
# fun: f(x, t) != f(x, t+1) => \gamma_f[y/f(x, t+1)]
yvar = ml.variable("y", ml.get_sort(p.codomain.name))
at_t = self.to_metalang(atom, tvar)
at_t1 = self.to_metalang(atom, tvar + 1)
gamma_replaced = term_substitution(self.gamma_fun[p.name],
{symref(yvar): at_t1})
fun = forall(*fquant, implies(at_t != at_t1, gamma_replaced))
self.theory += [fun]
def test_simplifier():
problem = generate_fstrips_counters_problem(ncounters=3)
lang = problem.language
value, max_int, counter, val_t, c1 = lang.get('value', 'max_int',
'counter', 'val', 'c1')
x = lang.variable('x', counter)
two, three, six = [lang.constant(c, val_t) for c in (2, 3, 6)]
s = Simplify(problem, problem.init)
assert symref(s.simplify_expression(x)) == symref(x)
assert symref(s.simplify_expression(value(c1) < max_int())) == symref(
value(c1) < six) # max_int evaluates to 6
assert s.simplify_expression(two < max_int()) is True
assert s.simplify_expression(two > three) is False
# conjunction evaluates to false because of first conjunct:
falseconj = land(two > three, value(c1) < max_int())
assert s.simplify_expression(falseconj) is False
assert s.simplify_expression(neg(falseconj)) is True
# first conjunct gets removed:
assert str(s.simplify_expression(land(
two < three,
value(c1) < max_int()))) == '<(value(c1),6)'
# first disjunct gets removed because it is false
assert str(s.simplify_expression(lor(
two > three,
value(c1) < max_int()))) == '<(value(c1),6)'
assert str(s.simplify_expression(forall(
x,
value(x) < max_int()))) == 'forall x : (<(value(x),6))'
assert s.simplify_expression(forall(x, two + three <= 6)) is True
inc = problem.get_action('increment')
simp = s.simplify_action(inc)
assert str(simp.precondition) == '<(value(c),6)'
assert str(simp.effects) == str(inc.effects)
eff = UniversalEffect(x, [value(x) << three])
assert str(
s.simplify_effect(eff)) == '(T -> forall (x) : ((T -> value(x) := 3)))'
simp = s.simplify()
assert str(simp.get_action('increment').precondition) == '<(value(c),6)'
# Make sure there is no mention to the compiled away "max_int" symbol in the language
assert not simp.language.has_function("max_int")
# Make sure there is no mention to the compiled away "max_int" symbol in the initial state
exts = list(simp.init.list_all_extensions().keys())
assert ('max_int', 'val') not in exts
def create_small_bw_task():
lang = generate_small_fstrips_bw_language()
init = tarski.model.create(lang)
b1, b2, b3, b4, clear, loc, table = lang.get('b1', 'b2', 'b3', 'b4',
'clear', 'loc', 'table')
block, place = lang.get('block', 'place')
init.set(loc, b1, b2) # loc(b1) := b2
init.set(loc, b2, b3) # loc(b2) := b3
init.set(loc, b3, table) # loc(b3) := table
init.set(loc, b4, table) # loc(b4) := table
init.add(clear, b1) # clear(b1)
init.add(clear, b4) # clear(b4)
init.add(clear, table) # clear(table)
src = lang.variable('src', block)
dest = lang.variable('dest', place)
x = lang.variable('x', block)
y = lang.variable('y', block)
clear_constraint = forall(
x, equiv(neg(clear(x)), land(x != table, exists(y,
loc(y) == x))))
G = land(loc(b1) == b2, loc(b2) == b3, loc(b3) == b4, loc(b4) == table)
problem = fs.Problem("tower4", "blocksworld")
problem.language = lang
problem.init = init
problem.goal = G
problem.constraints += [clear_constraint]
problem.action('move', [src, dest], land(clear(src), clear(dest)),
[fs.FunctionalEffect(loc(src), dest)])
return problem
def test_simple_expression_substitutions():
lang = tarski.benchmarks.blocksworld.generate_strips_bw_language(nblocks=2)
clear, b1, b2 = [lang.get(name) for name in ('clear', 'b1', 'b2')]
x, y = lang.variable('x', 'object'), lang.variable('y', 'object')
formula = clear(x)
replaced = substitute_expression(formula,
substitution={symref(x): b1},
inplace=False)
replaced2 = substitute_expression(formula,
substitution={symref(x): b2},
inplace=False)
assert not formula.is_syntactically_equal(replaced)
assert str(formula) == "clear(x)" and str(replaced) == "clear(b1)" and str(
replaced2) == "clear(b2)"
# Now let's do the same but inplace
replaced = substitute_expression(formula,
substitution={symref(x): b1},
inplace=True)
assert formula.is_syntactically_equal(replaced)
assert str(formula) == str(replaced) == "clear(b1)"
formula = forall(x, clear(x) & clear(y))
replaced = substitute_expression(formula,
substitution={
symref(x): b1,
symref(y): b2
},
inplace=False)
assert str(formula) == "forall x : ((clear(x) and clear(y)))" and \
str(replaced) == "forall b1 : ((clear(b1) and clear(b2)))"
def assert_action(self, op):
""" For given operator op and timestep t, assert the SMT expression:
op@t --> op.precondition@t
op@t --> op.effects@(t+1)
"""
ml = self.metalang
vart = _get_timestep_var(ml)
apred = ml.get_predicate(op.name)
vars_ = generate_action_arguments(ml, op) # Don't use the timestep arg
substitution = {
symref(param): arg
for param, arg in zip(op.parameters, vars_)
}
args = vars_ + [vart]
happens = apred(*args)
prec = term_substitution(flatten(op.precondition), substitution)
a_implies_prec = forall(*args,
implies(happens, self.to_metalang(prec, vart)))
self.theory.append(a_implies_prec)
for eff in op.effects:
eff = term_substitution(eff, substitution)
antec = happens
# Prepend the effect condition, if necessary:
if not isinstance(eff.condition, Tautology):
antec = land(antec, self.to_metalang(eff.condition, vart))
if isinstance(eff, fs.AddEffect):
a_implies_eff = implies(
antec, self.to_metalang(eff.atom, vart + 1, subt=vart))
elif isinstance(eff, fs.DelEffect):
a_implies_eff = implies(
antec, self.to_metalang(~eff.atom, vart + 1, subt=vart))
elif isinstance(eff, fs.FunctionalEffect):
lhs = self.to_metalang(eff.lhs, vart + 1, subt=vart)
rhs = self.to_metalang(eff.rhs, vart, subt=vart)
a_implies_eff = implies(antec, lhs == rhs)
else:
raise TransformationError(f"Can't compile effect {eff}")
self.theory.append(forall(*args, a_implies_eff))
def test_formula_writing1():
problem, loc, clear, b1, table = get_bw_elements()
lang = problem.language
assert print_formula(clear(b1)) == "(clear b1)"
assert print_formula(loc(b1) == table) == "(= (loc b1) table)"
assert print_formula(loc(b1) != table) == "(not (= (loc b1) table))"
assert print_formula(clear(b1) | clear(table)) == "(or (clear b1) (clear table))"
b = lang.variable('B', lang.ns.block)
assert print_formula(forall(b, clear(b))) == "(forall (?B - block) (clear ?B))"
assert print_formula(exists(b, clear(b))) == "(exists (?B - block) (clear ?B))"
def test_node_collection():
lang = generate_bw_loc_and_clear(3)
b1, b2, b3, clear, loc = lang.get('b1', 'b2', 'b3', 'clear', 'loc')
e = clear(b1) & clear(b2)
assert len(collect_unique_nodes(e)) == 5 # (clear(b1) and clear(b2)), clear(b2), b1, clear(b1), b2
assert len(collect_unique_nodes(e, lambda x: isinstance(x, Constant))) == 2
assert len(collect_unique_nodes(e, lambda x: isinstance(x, Atom))) == 2
assert len(collect_unique_nodes(e, lambda x: isinstance(x, Variable))) == 0
e = clear(b1) | (loc(b2) == b3)
assert len(collect_unique_nodes(e)) == 7
v = Variable('x', lang.Object)
e = forall(v, e | (loc(v) == v))
assert len(collect_unique_nodes(e)) == 12
assert len(collect_unique_nodes(e, lambda x: isinstance(x, Variable))) == 1
def assert_interference_axioms(self):
ml = self.metalang
tvar = _get_timestep_var(ml)
for a1, a2 in itertools.combinations_with_replacement(
self.problem.actions.values(), 2):
a1_args = generate_action_arguments(ml, a1, char="x")
a2_args = generate_action_arguments(ml, a2, char="y")
a1_happens_at_t = ml.get_predicate(a1.name)(*a1_args, tvar)
a2_happens_at_t = ml.get_predicate(a2.name)(*a2_args, tvar)
allargs = a1_args + a2_args + [tvar]
sentence = lor(~a1_happens_at_t, ~a2_happens_at_t)
if a1.name == a2.name:
x_neq_y = lor(*(x != y for x, y in zip(a1_args, a2_args)),
flat=True)
sentence = implies(x_neq_y, sentence)
self.theory += [forall(*allargs, sentence)]