def test_type_map1():
"""type map: maps each type to a list of objects"""
type_object = Type("object", None)
type_vehicle = Type("vehicle", type_object)
type_car = Type("car", type_vehicle)
type_truck = Type("truck", type_vehicle)
type_city = Type("city", type_object)
objects = {
"red_car": type_car,
"green_car": type_car,
"blue_truck": type_truck,
"motorbike": type_vehicle,
"freiburg": type_city,
"basel": type_city,
}
type_map = grounding._create_type_map(objects)
expected = [
("red_car", type_map[type_car]),
("green_car", type_map[type_car]),
("blue_truck", type_map[type_truck]),
("red_car", type_map[type_vehicle]),
("green_car", type_map[type_vehicle]),
("blue_truck", type_map[type_vehicle]),
("motorbike", type_map[type_vehicle]),
("freiburg", type_map[type_city]),
("basel", type_map[type_city]),
("green_car", type_map[type_object]),
("motorbike", type_map[type_object]),
("basel", type_map[type_object]),
]
for object, object_list in expected:
assert object in object_list
def test_add_del_effects():
parser = Parser("")
def parse_problem(domain, problem):
parser.domInput = domain
parser.probInput = problem
domain = parser.parse_domain(False)
return parser.parse_problem(domain, False)
dom_pddl = """
(define (domain dom)
(:requirements :typing)
(:predicates (ok ?v - object))
(:action theaction
:parameters (?x - object)
:precondition {0}
:effect {1}
)
)
"""
prob_pddl = """
;; See domain file for description of this test.
(define (problem prob)
(:domain dom)
(:objects y - object)
(:init)
(:goal (ok y)))
"""
tests = [
# Only add effect
("(and)", "(ok ?x)", set(), {"(ok y)"}, set()),
# Only delete effect
("(and)", "(and (not (ok ?x)))", set(), set(), {"(ok y)"}),
# Both add and delete effect
("(and)", "(and (ok ?x) (not (ok ?x)))", set(), {"(ok y)"}, set()),
# Precondition and add effect
("(and (ok ?x))", "(ok ?x)", {"(ok y)"}, set(), set()),
# Precondition and delete effect
("(and (ok ?x))", "(and (not (ok ?x)))", {"(ok y)"}, set(), {"(ok y)"}),
# Precondition and both add and delete effect
("(and (ok ?x))", "(and (ok ?x) (not (ok ?x)))", {"(ok y)"}, set(), set()),
]
for pre_in, eff_in, pre_exp, add_exp, del_exp in tests:
dom = dom_pddl.format(pre_in, eff_in)
problem = parse_problem(dom, prob_pddl)
domain = problem.domain
actions = domain.actions.values()
predicates = domain.predicates.values()
# Objects
objects = problem.objects
objects.update(domain.constants)
# Get the names of the static predicates
statics = grounding._get_statics(predicates, actions)
# Create a map from types to objects
type_map = grounding._create_type_map(objects)
# Transform initial state into a specific
init = grounding._get_partial_state(problem.initial_state)
# Ground actions
operators = grounding._ground_actions(actions, type_map, statics, init)
assert len(operators) == 1
op = operators[0]
assert op.preconditions == pre_exp
assert op.add_effects == add_exp
assert op.del_effects == del_exp
def test_operators():
# action with signature with 2 types
action_drive_vehicle = get_action(
"DRIVE-VEHICLE",
[
("vehicle", [types["car"], types["truck"]]),
("orig", [types["city"]]),
("dest", [types["city"]]),
],
[predicate_veh_orig],
[predicate_veh_dest],
[predicate_veh_orig],
)
# action with predicate in add & delete list
action_add_delete = get_action(
"STAY",
[("car", [types["car"]]), ("in", [types["city"]])],
[predicate_in],
[predicate_in],
[predicate_in],
)
# action with constant input
action_constant = get_action(
"CONSTANT-ACTION",
[("my_car", [types["my_car"]]), ("city", [types["city"]])],
[],
[
Predicate(
"in", [("basel", [types["city"]]), ("switzerland", [types["country"]])]
)
],
[],
)
# action with only delete effects
action_only_delete = get_action(
"LEAVE",
[("car", [types["car"]]), ("in", [types["city"]])],
[predicate_in],
[],
[predicate_in],
)
# action with delete effect which does not occur in precondition
action_delete = get_action(
"DELETE",
[("car", [types["car"]]), ("orig", [types["city"]]), ("dest", [types["city"]])],
[],
[predicate_car_orig],
[predicate_car_dest],
)
type_map = grounding._create_type_map(objects)
grounded_initial_state = grounding._get_partial_state(initial_state)
grounded_drive_car = list(
grounding._ground_action(action_drive_car, type_map, [], grounded_initial_state)
)
grounded_drive_vehicle = list(
grounding._ground_action(
action_drive_vehicle, type_map, [], grounded_initial_state
)
)
grounded_add_delete = list(
grounding._ground_action(
action_add_delete, type_map, [], grounded_initial_state
)
)
grounded_only_delete = list(
grounding._ground_action(
action_only_delete, type_map, [], grounded_initial_state
)
)
grounded_delete = list(
grounding._ground_action(action_delete, type_map, [], grounded_initial_state)
)
domain = Domain(
"test_domain",
types,
{
"in": Predicate(
"in", [("city", types["city"]), ("country", types["country"])]
)
},
{"action-constant": action_constant},
{"my_car": types["car"]},
)
problem = Problem("test_problem", domain, objects, initial_state, goal_state)
task = grounding.ground(problem)
expected = [
("(DRIVE-CAR red_car freiburg basel)", grounded_drive_car),
("(DRIVE-VEHICLE blue_truck freiburg basel)", grounded_drive_vehicle),
("(STAY red_car freiburg)", grounded_add_delete),
("(LEAVE red_car freiburg)", grounded_only_delete),
("(DELETE red_car freiburg basel)", grounded_delete),
]
for operator, grounded_operators in expected:
assert any(op.name == operator for op in grounded_operators)
def test_type_map2():
type_object = Type("object", None)
objects = {"object1": type_object}
type_map = grounding._create_type_map(objects)
assert "object1" in type_map[type_object]
