def test_ground_actions_for_small_gripper():
problem = create_sample_problem()
# First try with the variable-only grounding strategy
varonly_grounding = LPGroundingStrategy(problem, ground_actions=False)
varonly_variables = varonly_grounding.ground_state_variables()
assert len(varonly_variables) == 20
# Now try full LP grounding
grounding = LPGroundingStrategy(problem)
actions = grounding.ground_actions()
assert len(actions['pick']) == len(
actions['drop']) == 16 # 4 balls, two rooms, two grippers
assert len(actions['move']) == 2 # 2 rooms
lpvariables = grounding.ground_state_variables()
assert len(lpvariables) == 20
# Check both grounding methods produce same set of ground variables
assert set(lpvariables) == set(varonly_variables)
grounding = NaiveGroundingStrategy(problem)
naive_variables = grounding.ground_state_variables()
# The naive grounding strategy will result in many unreachable state variables such as 'carry(left,left)'
assert len(set(naive_variables) - set(lpvariables)) == 124
def test_ground_actions_on_negated_preconditions():
problem = create_sample_problem()
# We negate all atoms in the precondition, which makes all 8^3 combinations of objects be a valid grounding,
# since all precondition atoms are ignored
pick_prec = problem.actions['pick'].precondition
pick_prec.subformulas = tuple(neg(f) for f in pick_prec.subformulas)
actions = compute_action_groundings(problem)
assert len(actions['pick']) == 512
def test_ground_actions_for_small_gripper():
problem = create_sample_problem()
grounding = LPGroundingStrategy(problem)
actions = grounding.ground_actions()
assert len(actions['pick']) == len(
actions['drop']) == 16 # 4 balls, two rooms, two grippers
assert len(actions['move']) == 2 # 2 rooms
as_list2 = lambda symbols: sorted(map(str, symbols))
lpvariables = grounding.ground_state_variables()
assert len(lpvariables) == 20
grounding = NaiveGroundingStrategy(problem)
naive_variables = grounding.ground_state_variables()
# The naive grounding strategy will result in many unreachable state variables such as 'carry(left,left)'
assert len(set(as_list2(naive_variables)) -
set(as_list2(lpvariables))) == 124
def test_ignore_unused_types():
# Regression test for issue #83
problem = create_sample_problem()
lp, tr = create_reachability_lp(problem, ground_actions=False)
ruleset = set(lp.rules)
# Now add an empty type and check that the set of LP rules is exactly the same, i.e. the type is ignored
problem.language.sort('empty_type')
lp, tr = create_reachability_lp(problem, ground_actions=False)
ruleset2 = set(lp.rules)
assert ruleset == ruleset2
problem = generate_strips_problem(
"organic-synthesis-opt18-strips:p01.pddl")
lp, tr = create_reachability_lp(problem, ground_actions=True)
ruleset = set(lp.rules)
assert not any(s.startswith("action_oxidationofborane") for s in ruleset)
actions = compute_action_groundings(problem)
assert actions['oxidationofborane'] == set()