def test_default_pddl_visitor_domain():
defaultVisitor = pddl_tree_visitor.PDDLVisitor()
input = _domain_input.split('\n')
iter = parse_lisp_iterator(input)
domAST = parse_domain_def(iter)
# and traverse the AST
domAST.accept(defaultVisitor)
def test_parseAction():
test = ["""
(: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)))
"""]
iter = parse_lisp_iterator(test)
action = parse_action_stmt(iter)
assert action.name == "pick-up"
assert action.parameters[0].name == "?x"
assert action.parameters[0].types[0] == "block"
pre = action.precond.formula
assert pre.key == 'and'
assert [c.key for c in pre.children] == ['clear', 'ontable', 'handempty']
assert pre.children[0].children[0].key.name == '?x'
assert pre.children[1].children[0].key.name == '?x'
assert pre.children[2].children == []
eff = action.effect.formula
assert eff.key == 'and'
assert [c.key for c in eff.children] == ['not', 'not', 'not', 'holding']
assert eff.children[0].children[0].key == 'ontable'
assert [c.key.name for c in eff.children[0].children[0].children] == ['?x']
def test_parseInitStmt():
test = [
"""
(:INIT (CLEAR C) (CLEAR A H) (CLEAR B) (CLEAR D) (ONTABLE C) (ONTABLE A)
(ONTABLE B) (ONTABLE D) (HANDEMPTY))"""
]
iter = parse_lisp_iterator(test)
init = parse_init_stmt(iter)
assert [p.name for p in init.predicates] == [
"clear",
"clear",
"clear",
"clear",
"ontable",
"ontable",
"ontable",
"ontable",
"handempty",
]
assert [p.parameters for p in init.predicates] == [
["c"],
["a", "h"],
["b"],
["d"],
["c"],
["a"],
["b"],
["d"],
[],
]
def test_predList2():
test = [
"""
(:predicates (at ?x - (either person aircraft) ?c - city)
(in ?p - person ?a - aircraft)
(fuel-level ?a - aircraft ?l - flevel)
(next ?l1 ?l2 - flevel))
"""
]
iter = parse_lisp_iterator(test)
pred = parse_predicates_stmt(iter)
assert [p.name
for p in pred.predicates] == ["at", "in", "fuel-level", "next"]
assert [
p.parameters[0].name for p in pred.predicates if p.parameters != []
] == [
"?x",
"?p",
"?a",
"?l1",
]
assert [
p.parameters[0].types[0] for p in pred.predicates
if p.parameters[0].types != None
] == ["person", "person", "aircraft", "flevel"]
def test_parseProblemDef():
test = ["""
(define (problem logistics-4-1)
(:domain logistics)
(:story_objs
apn1 - airplane
apt2 apt1 - airport
pos2 pos1 - location
cit2 cit1 - city
tru2 tru1 - truck
obj23 obj22 obj21 obj13 obj12 obj11 - package)
(:init (at apn1 apt2) (at tru1 pos1) (at obj11 pos1)
(at obj12 pos1) (at obj13 pos1) (at tru2 pos2) (at obj21 pos2)
(at obj22 pos2) (at obj23 pos2) (in-city pos1 cit1) (in-city apt1 cit1)
(in-city pos2 cit2) (in-city apt2 cit2))
(:goal (and (at obj12 apt2) (at obj13 apt1) (at obj21 apt2)
(at obj11 pos2)))
)
"""]
iter = parse_lisp_iterator(test)
prob = parse_problem_def(iter)
assert prob.name == 'logistics-4-1'
assert prob.domainName == 'logistics'
objectsTest(prob.objects)
predNames = [p.name for p in prob.init.predicates]
assert len(predNames) == 13
assert set(predNames) == set(['at', 'in-city'])
def test_default_pddl_visitor_problem():
defaultVisitor = pddl_tree_visitor.PDDLVisitor()
input = _problem_input.split("\n")
iter = parse_lisp_iterator(input)
probAST = parse_problem_def(iter)
# and traverse the AST
probAST.accept(defaultVisitor)
def test_default_pddl_visitor_problem():
defaultVisitor = pddl_tree_visitor.PDDLVisitor()
input = _problem_input.split('\n')
iter = parse_lisp_iterator(input)
probAST = parse_problem_def(iter)
# and traverse the AST
probAST.accept(defaultVisitor)
def test_default_pddl_visitor_domain():
defaultVisitor = pddl_tree_visitor.PDDLVisitor()
input = _domain_input.split("\n")
iter = parse_lisp_iterator(input)
domAST = parse_domain_def(iter)
# and traverse the AST
domAST.accept(defaultVisitor)
def test_parseAction():
test = ["""
(: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)))
"""]
iter = parse_lisp_iterator(test)
action = parse_action_stmt(iter)
assert action.name == "pick-up"
assert action.parameters[0].name == "?x"
assert action.parameters[0].types[0] == "block"
pre = action.precond.formula
assert pre.key == 'and'
assert [c.key for c in pre.children] == ['clear', 'ontable', 'handempty']
assert pre.children[0].children[0].key.name == '?x'
assert pre.children[1].children[0].key.name == '?x'
assert pre.children[2].children == []
eff = action.effect.formula
assert eff.key == 'and'
assert [c.key for c in eff.children] == ['not', 'not', 'not', 'holding']
assert eff.children[0].children[0].key == 'ontable'
assert [c.key.name for c in eff.children[0].children[0].children] == ['?x']
def test_parseVariableNoTyping():
test = [" ( ?x)"]
iter = parse_lisp_iterator(test)
key = parse_variable(next(iter))
assert key.name == "?x"
assert key.typed == False
assert key.types == None
def test_parseProblemDef():
test = ["""
(define (problem logistics-4-1)
(:domain logistics)
(:objects
apn1 - airplane
apt2 apt1 - airport
pos2 pos1 - location
cit2 cit1 - city
tru2 tru1 - truck
obj23 obj22 obj21 obj13 obj12 obj11 - package)
(:init (at apn1 apt2) (at tru1 pos1) (at obj11 pos1)
(at obj12 pos1) (at obj13 pos1) (at tru2 pos2) (at obj21 pos2)
(at obj22 pos2) (at obj23 pos2) (in-city pos1 cit1) (in-city apt1 cit1)
(in-city pos2 cit2) (in-city apt2 cit2))
(:goal (and (at obj12 apt2) (at obj13 apt1) (at obj21 apt2)
(at obj11 pos2)))
)
"""]
iter = parse_lisp_iterator(test)
prob = parse_problem_def(iter)
assert prob.name == 'logistics-4-1'
assert prob.domainName == 'logistics'
objectsTest(prob.objects)
predNames = [p.name for p in prob.init.predicates]
assert len(predNames) == 13
assert set(predNames) == set(['at', 'in-city'])
def test_parseVariableNoTyping():
test = [' ( ?x)']
iter = parse_lisp_iterator(test)
key = parse_variable(next(iter))
assert key.name == '?x'
assert key.typed == False
assert key.types == None
def test_parsePredicates():
test = [
"""
(:predicates (on ?x - block ?y - block)
(ontable ?x - block)
(clear ?x - plane)
(handempty)
(holding ?x - block)
)
"""
]
iter = parse_lisp_iterator(test)
pred = parse_predicates_stmt(iter)
assert [p.name for p in pred.predicates
] == ['on', 'ontable', 'clear', 'handempty', 'holding']
assert [
p.parameters[0].name for p in pred.predicates if p.parameters != []
] == ['?x', '?x', '?x', '?x']
assert [
p.parameters[0].types[0] for p in pred.predicates
if p.parameters != []
] == ['block', 'block', 'plane', 'block']
assert [
p.parameters[1].types[0] for p in pred.predicates
if len(p.parameters) > 1
] == ['block']
def test_parsePredicateMixed():
test = ['(on ?x - block ?y)']
iter = parse_lisp_iterator(test)
pred = parse_predicate(iter)
assert pred.name == 'on'
assert [x.name for x in pred.parameters] == ['?x', '?y']
assert [x.types[0] for x in pred.parameters
if x.types != None] == ['block']
def test_parseVariableTyping():
test = [' ( ?x - block)']
iter = parse_lisp_iterator(test)
vlist = parse_typed_var_list(iter)
assert len(vlist) == 1
assert vlist[0].name == '?x'
assert vlist[0].typed == True
assert vlist[0].types[0] == 'block'
def test_parseVariableTyping():
test = [" ( ?x - block)"]
iter = parse_lisp_iterator(test)
vlist = parse_typed_var_list(iter)
assert len(vlist) == 1
assert vlist[0].name == "?x"
assert vlist[0].typed == True
assert vlist[0].types[0] == "block"
def test_parsePredicateMixed():
test = ["(on ?x - block ?y)"]
iter = parse_lisp_iterator(test)
pred = parse_predicate(iter)
assert pred.name == "on"
assert [x.name for x in pred.parameters] == ["?x", "?y"]
assert [x.types[0] for x in pred.parameters
if x.types != None] == ["block"]
def test_parseConstants():
test = [
"""
(:constants
north
south - direction
light
medium
heavy - airplanetype
seg_pp_0_60
seg_ppdoor_0_40
seg_tww1_0_200
seg_twe1_0_200
seg_tww2_0_50
seg_tww3_0_50
seg_tww4_0_50
seg_rww_0_50
seg_rwtw1_0_10
seg_rw_0_400
seg_rwe_0_50
seg_twe4_0_50
seg_rwte1_0_10
seg_twe3_0_50
seg_twe2_0_50
seg_rwte2_0_10
seg_rwtw2_0_10 - segment
airplane_CFBEG - airplane
)
"""
]
iter = parse_lisp_iterator(test)
const = parse_constants_stmt(iter)
nameList = ['north', 'south', 'light', 'medium', 'heavy']
nameList += """seg_pp_0_60
seg_ppdoor_0_40
seg_tww1_0_200
seg_twe1_0_200
seg_tww2_0_50
seg_tww3_0_50
seg_tww4_0_50
seg_rww_0_50
seg_rwtw1_0_10
seg_rw_0_400
seg_rwe_0_50
seg_twe4_0_50
seg_rwte1_0_10
seg_twe3_0_50
seg_twe2_0_50
seg_rwte2_0_10
seg_rwtw2_0_10
airplane_CFBEG""".split()
nameList = [n.lower() for n in nameList]
assert [c.name for c in const] == nameList
ttest = [c.typeName for c in const][:5]
assert ttest == [
'direction', 'direction', 'airplanetype', 'airplanetype',
'airplanetype'
]
def test_predList4():
test = ["""
(:predicates (at ?x - (either person aircraft) ?c - city)
(in p - person a - aircraft)
(fuel-level ?a - aircraft ?l - flevel)
(next ?l1 ?l2 - flevel))
"""]
iter = parse_lisp_iterator(test)
with raises(ValueError):
pred = parse_predicates_stmt(iter)
def test_predList4():
test = ["""
(:predicates (at ?x - (either person aircraft) ?c - city)
(in p - person a - aircraft)
(fuel-level ?a - aircraft ?l - flevel)
(next ?l1 ?l2 - flevel))
"""]
iter = parse_lisp_iterator(test)
with raises(ValueError):
pred = parse_predicates_stmt(iter)
def test_parseDomainDef():
test = [
"""
(define (domain BLOCKS)
(:requirements :strips :typing)
(: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 (holding ?x)
:effect
(and (not (holding ?x))
(clear ?x)
(handempty)
(ontable ?x)))
(:action stack
:parameters (?x - block ?y - block)
:precondition (and (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 (on ?x ?y) (clear ?x) (handempty))
:effect
(and (holding ?x)
(clear ?y)
(not (clear ?x))
(not (handempty))
(not (on ?x ?y))))
(:unkownKeyword lksdf)
)
"""
]
iter = parse_lisp_iterator(test)
with raises(ValueError):
dom = parse_domain_def(iter)
def test_parseGoalStmt():
test = ["""(:goal (AND (ON D C) (ON C B) (ON B A)))"""]
iter = parse_lisp_iterator(test)
goal = parse_goal_stmt(iter)
f = goal.formula
assert f.key == 'and'
assert [c.key for c in f.children] == ['on', 'on', 'on']
assert [c2[0].key
for c2 in [c1.children for c1 in f.children]] == ['d', 'c', 'b']
assert [c2[1].key
for c2 in [c1.children for c1 in f.children]] == ['c', 'b', 'a']
def test_parseGoalStmt():
test = ["""(:goal (AND (ON D C) (ON C B) (ON B A)))"""]
iter = parse_lisp_iterator(test)
goal = parse_goal_stmt(iter)
f = goal.formula
assert f.key == "and"
assert [c.key for c in f.children] == ["on", "on", "on"]
assert [c2[0].key
for c2 in [c1.children for c1 in f.children]] == ["d", "c", "b"]
assert [c2[1].key
for c2 in [c1.children for c1 in f.children]] == ["c", "b", "a"]
def test_parseConstants():
test = ["""
(:constants
north
south - direction
light
medium
heavy - airplanetype
seg_pp_0_60
seg_ppdoor_0_40
seg_tww1_0_200
seg_twe1_0_200
seg_tww2_0_50
seg_tww3_0_50
seg_tww4_0_50
seg_rww_0_50
seg_rwtw1_0_10
seg_rw_0_400
seg_rwe_0_50
seg_twe4_0_50
seg_rwte1_0_10
seg_twe3_0_50
seg_twe2_0_50
seg_rwte2_0_10
seg_rwtw2_0_10 - segment
airplane_CFBEG - airplane
)
"""]
iter = parse_lisp_iterator(test)
const = parse_constants_stmt(iter)
nameList = ['north', 'south', 'light', 'medium', 'heavy']
nameList += """seg_pp_0_60
seg_ppdoor_0_40
seg_tww1_0_200
seg_twe1_0_200
seg_tww2_0_50
seg_tww3_0_50
seg_tww4_0_50
seg_rww_0_50
seg_rwtw1_0_10
seg_rw_0_400
seg_rwe_0_50
seg_twe4_0_50
seg_rwte1_0_10
seg_twe3_0_50
seg_twe2_0_50
seg_rwte2_0_10
seg_rwtw2_0_10
airplane_CFBEG""".split()
nameList = [n.lower() for n in nameList]
assert [c.name for c in const] == nameList
ttest = [c.typeName for c in const][:5]
assert ttest == ['direction', 'direction', 'airplanetype', 'airplanetype',
'airplanetype']
def test_parseGoalStmt():
test = ["""(:goal (AND (ON D C) (ON C B) (ON B A)))"""]
iter = parse_lisp_iterator(test)
goal = parse_goal_stmt(iter)
f = goal.formula
assert f.key == 'and'
assert [c.key for c in f.children] == ['on', 'on', 'on']
assert [c2[0].key
for c2 in [c1.children for c1 in f.children]] == ['d', 'c', 'b']
assert [c2[1].key
for c2 in [c1.children for c1 in f.children]] == ['c', 'b', 'a']
def test_parseObjectsStmt():
test = ["""(:objects
apn1 - airplane
apt2 apt1 - airport
pos2 pos1 - location
cit2 cit1 - city
tru2 tru1 - truck
obj23 obj22 obj21 obj13 obj12 obj11 - package)"""]
iter = parse_lisp_iterator(test)
objects = parse_objects_stmt(iter)
objectsTest(objects)
def test_parseObjectsStmt():
test = ["""(:story_objs
apn1 - airplane
apt2 apt1 - airport
pos2 pos1 - location
cit2 cit1 - city
tru2 tru1 - truck
obj23 obj22 obj21 obj13 obj12 obj11 - package)"""]
iter = parse_lisp_iterator(test)
objects = parse_objects_stmt(iter)
objectsTest(objects)
def test_parseDomainDef():
test = ["""
(define (domain BLOCKS)
(:requirements :strips :typing)
(: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 (holding ?x)
:effect
(and (not (holding ?x))
(clear ?x)
(handempty)
(ontable ?x)))
(:action stack
:parameters (?x - block ?y - block)
:precondition (and (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 (on ?x ?y) (clear ?x) (handempty))
:effect
(and (holding ?x)
(clear ?y)
(not (clear ?x))
(not (handempty))
(not (on ?x ?y))))
(:unkownKeyword lksdf)
)
"""]
iter = parse_lisp_iterator(test)
with raises(ValueError):
dom = parse_domain_def(iter)
def test_parseInitStmt():
test = ["""
(:INIT (CLEAR C) (CLEAR A H) (CLEAR B) (CLEAR D) (ONTABLE C) (ONTABLE A)
(ONTABLE B) (ONTABLE D) (HANDEMPTY))"""]
iter = parse_lisp_iterator(test)
init = parse_init_stmt(iter)
assert [p.name
for p in init.predicates] == ['clear', 'clear', 'clear', 'clear',
'ontable', 'ontable', 'ontable',
'ontable', 'handempty']
assert [p.parameters
for p in init.predicates] == [['c'], ['a', 'h'], ['b'], ['d'],
['c'], ['a'], ['b'], ['d'], []]
def test_parseInitStmt():
test = ["""
(:INIT (CLEAR C) (CLEAR A H) (CLEAR B) (CLEAR D) (ONTABLE C) (ONTABLE A)
(ONTABLE B) (ONTABLE D) (HANDEMPTY))"""]
iter = parse_lisp_iterator(test)
init = parse_init_stmt(iter)
assert [p.name
for p in init.predicates] == ['clear', 'clear', 'clear', 'clear',
'ontable', 'ontable', 'ontable',
'ontable', 'handempty']
assert [p.parameters
for p in init.predicates] == [['c'], ['a', 'h'], ['b'], ['d'],
['c'], ['a'], ['b'], ['d'], []]
def test_parseFormula():
test = ['(and (on ?x table) (true) (free ?x))']
iter = parse_lisp_iterator(test)
print(iter)
formula = parse_formula(iter)
assert formula.key == 'and'
assert [c.key for c in formula.children] == ['on', 'true', 'free']
assert [c.key.name for c in formula.children[0].children
if c.type == TypeVariable] == ['?x']
assert [c.key for c in formula.children[0].children
if c.type == TypeConstant] == ['table']
assert [c.key.name for c in formula.children[2].children
if c.type == TypeVariable] == ['?x']
assert [c for c in formula.children[1].children] == []
def test_parsePredicatesLogistics():
test = ["""
(:predicates (in-city ?loc - place ?city - city)
(at ?obj - physobj ?loc - place)
(in ?pkg - package ?veh - vehicle))
"""]
iter = parse_lisp_iterator(test)
pred = parse_predicates_stmt(iter)
assert [p.name for p in pred.predicates] == ['in-city', 'at', 'in']
assert [p.parameters[0].name
for p in pred.predicates
if p.parameters != []] == ['?loc', '?obj', '?pkg']
assert [p.parameters[0].types[0]
for p in pred.predicates
if p.parameters != []] == ['place', 'physobj', 'package']
def _parse_observations(self,domain,observations_file):
observations = []
with open(observations_file, encoding='utf-8') as file:
for obs in file:
iter = parse_lisp_iterator(obs)
act = parse_predicate_instance(self.parser._read_input(obs))
observations.append(act)
# iter = self.parser._read_input(file)
# while not iter.empty():
# observations.append()
# observations = parse_predicate_instance_list(iter)
# TODO validate parsed actions
return observations
def test_parsePredicatesLogistics():
test = ["""
(:predicates (in-city ?loc - place ?city - city)
(at ?obj - physobj ?loc - place)
(in ?pkg - package ?veh - vehicle))
"""]
iter = parse_lisp_iterator(test)
pred = parse_predicates_stmt(iter)
assert [p.name for p in pred.predicates] == ['in-city', 'at', 'in']
assert [p.parameters[0].name
for p in pred.predicates
if p.parameters != []] == ['?loc', '?obj', '?pkg']
assert [p.parameters[0].types[0]
for p in pred.predicates
if p.parameters != []] == ['place', 'physobj', 'package']
def test_predList2():
test = ["""
(:predicates (at ?x - (either person aircraft) ?c - city)
(in ?p - person ?a - aircraft)
(fuel-level ?a - aircraft ?l - flevel)
(next ?l1 ?l2 - flevel))
"""]
iter = parse_lisp_iterator(test)
pred = parse_predicates_stmt(iter)
assert [p.name
for p in pred.predicates] == ['at', 'in', 'fuel-level', 'next']
assert [p.parameters[0].name for p in pred.predicates
if p.parameters != []] == ['?x', '?p', '?a', '?l1']
assert [p.parameters[0].types[0] for p in pred.predicates
if p.parameters[0].types != None] == ['person', 'person',
'aircraft', 'flevel']
def test_predList2():
test = ["""
(:predicates (at ?x - (either person aircraft) ?c - city)
(in ?p - person ?a - aircraft)
(fuel-level ?a - aircraft ?l - flevel)
(next ?l1 ?l2 - flevel))
"""]
iter = parse_lisp_iterator(test)
pred = parse_predicates_stmt(iter)
assert [p.name
for p in pred.predicates] == ['at', 'in', 'fuel-level', 'next']
assert [p.parameters[0].name for p in pred.predicates
if p.parameters != []] == ['?x', '?p', '?a', '?l1']
assert [p.parameters[0].types[0] for p in pred.predicates
if p.parameters[0].types != None] == ['person', 'person',
'aircraft', 'flevel']
def test_parseDomainDef2():
test = ["""
(define (domain BLOCKS)
(:requirements :strips :typing)
(:types block)
(:predicates (on ?x - block ?y - block)
(ontable ?x - block)
(clear ?x - block)
(handempty)
(holding ?x - block)
)
(:unkownKeyword lksdf)
)
"""]
iter = parse_lisp_iterator(test)
with raises(ValueError):
dom = parse_domain_def(iter)
def test_parseDomainDef2():
test = ["""
(define (domain BLOCKS)
(:requirements :strips :typing)
(:types block)
(:predicates (on ?x - block ?y - block)
(ontable ?x - block)
(clear ?x - block)
(handempty)
(holding ?x - block)
)
(:unkownKeyword lksdf)
)
"""]
iter = parse_lisp_iterator(test)
with raises(ValueError):
dom = parse_domain_def(iter)
def test_parsePredicates():
test = ["""
(:predicates (on ?x - block ?y - block)
(ontable ?x - block)
(clear ?x - plane)
(handempty)
(holding ?x - block)
)
"""]
iter = parse_lisp_iterator(test)
pred = parse_predicates_stmt(iter)
assert [p.name for p in pred.predicates] == ['on', 'ontable', 'clear',
'handempty', 'holding']
assert [p.parameters[0].name for p in pred.predicates
if p.parameters != []] == ['?x', '?x', '?x', '?x']
assert [p.parameters[0].types[0] for p in pred.predicates
if p.parameters != []] == ['block', 'block', 'plane', 'block']
assert [p.parameters[1].types[0] for p in pred.predicates
if len(p.parameters) > 1] == ['block']
def test_parseFormula():
test = ["(and (on ?x table) (true) (free ?x))"]
iter = parse_lisp_iterator(test)
print(iter)
formula = parse_formula(iter)
assert formula.key == "and"
assert [c.key for c in formula.children] == ["on", "true", "free"]
assert [
c.key.name for c in formula.children[0].children
if c.type == TypeVariable
] == ["?x"]
assert [
c.key for c in formula.children[0].children if c.type == TypeConstant
] == ["table"]
assert [
c.key.name for c in formula.children[2].children
if c.type == TypeVariable
] == ["?x"]
assert [c for c in formula.children[1].children] == []
def test_parseTypes():
test = ["""
(:types truck
airplane - vehicle
package
vehicle - physobj
airport
location - place
city
place
physobj - object)
"""]
iter = parse_lisp_iterator(test)
types = parse_types_stmt(iter)
assert [t.name for t in types] == ['truck', 'airplane', 'package',
'vehicle', 'airport', 'location',
'city', 'place', 'physobj']
assert [t.parent for t in types
if t.parent != None] == ['vehicle', 'vehicle', 'physobj',
'physobj', 'place', 'place', 'object',
'object', 'object']
def test_parseTypes():
test = ["""
(:types truck
airplane - vehicle
package
vehicle - physobj
airport
location - place
city
place
physobj - object)
"""]
iter = parse_lisp_iterator(test)
types = parse_types_stmt(iter)
assert [t.name for t in types] == ['truck', 'airplane', 'package',
'vehicle', 'airport', 'location',
'city', 'place', 'physobj']
assert [t.parent for t in types
if t.parent != None] == ['vehicle', 'vehicle', 'physobj',
'physobj', 'place', 'place', 'object',
'object', 'object']
def test_parsePredicatesLogistics():
test = [
"""
(:predicates (in-city ?loc - place ?city - city)
(at ?obj - physobj ?loc - place)
(in ?pkg - package ?veh - vehicle))
"""
]
iter = parse_lisp_iterator(test)
pred = parse_predicates_stmt(iter)
assert [p.name for p in pred.predicates] == ["in-city", "at", "in"]
assert [
p.parameters[0].name for p in pred.predicates if p.parameters != []
] == [
"?loc",
"?obj",
"?pkg",
]
assert [
p.parameters[0].types[0] for p in pred.predicates
if p.parameters != []
] == ["place", "physobj", "package"]
def test_parseTypes():
test = [
"""
(:types truck
airplane - vehicle
package
vehicle - physobj
airport
location - place
city
place
physobj - object)
"""
]
iter = parse_lisp_iterator(test)
types = parse_types_stmt(iter)
assert [t.name for t in types] == [
"truck",
"airplane",
"package",
"vehicle",
"airport",
"location",
"city",
"place",
"physobj",
]
assert [t.parent for t in types if t.parent != None] == [
"vehicle",
"vehicle",
"physobj",
"physobj",
"place",
"place",
"object",
"object",
"object",
]
def test_parsePredicates():
test = [
"""
(:predicates (on ?x - block ?y - block)
(ontable ?x - block)
(clear ?x - plane)
(handempty)
(holding ?x - block)
)
"""
]
iter = parse_lisp_iterator(test)
pred = parse_predicates_stmt(iter)
assert [p.name for p in pred.predicates] == [
"on",
"ontable",
"clear",
"handempty",
"holding",
]
assert [
p.parameters[0].name for p in pred.predicates if p.parameters != []
] == [
"?x",
"?x",
"?x",
"?x",
]
assert [
p.parameters[0].types[0] for p in pred.predicates
if p.parameters != []
] == ["block", "block", "plane", "block"]
assert [
p.parameters[1].types[0] for p in pred.predicates
if len(p.parameters) > 1
] == ["block"]
def test_parseParameters():
test = ['(:parameters ( ?x - block ?y - foo ?z - block ))']
iter = parse_lisp_iterator(test)
key = parse_parameters(iter)
varListTest(key)
def test_parseParameters2():
test = ['(:predicates ( ?x - block ?y - foo ?z - block ))']
iter = parse_lisp_iterator(test)
with raises(ValueError):
parse_parameters(iter)
def test_parseParameters2():
test = ["(:predicates ( ?x - block ?y - foo ?z - block ))"]
iter = parse_lisp_iterator(test)
with raises(ValueError):
parse_parameters(iter)
def test_parseParameters():
test = ["(:parameters ( ?x - block ?y - foo ?z - block ))"]
iter = parse_lisp_iterator(test)
key = parse_parameters(iter)
varListTest(key)
def test_parse_problem_name_fail():
test = ['(domain test)']
iter = parse_lisp_iterator(test)
with raises(ValueError):
parse_problem_name(iter)
def test_parse_problem_def_fail():
test = ['(definiere problem)']
iter = parse_lisp_iterator(test)
with raises(ValueError):
parse_problem_def(iter)
def test_parse_goal_stmt_fail():
test = ['(:init ssdfsdf)']
iter = parse_lisp_iterator(test)
with raises(ValueError):
parse_goal_stmt(iter)
def test_parseVariableList():
test = [' ( ?x - block ?y - foo ?z - block )']
iter = parse_lisp_iterator(test)
key = parse_typed_var_list(iter)
varListTest(key)
def test_parseKeywordComplex():
test = [' ( :name)']
iter = parse_lisp_iterator(test)
key = parse_keyword(next(iter))
assert key.name == 'name'
def test_parseRequirements2():
test = ['(:predicates :name :parameters :foo )']
iter = parse_lisp_iterator(test)
with raises(ValueError):
parse_requirements_stmt(iter)
def test_parseKeywordList():
test = ['(:name :parameters :foo )']
iter = parse_lisp_iterator(test)
keys = parse_keyword_list(iter)
assert iter.empty()
keywordListTest(keys)
def test_parseRequirements():
test = ['(:requirements :name :parameters :foo )']
iter = parse_lisp_iterator(test)
req = parse_requirements_stmt(iter)
assert iter.empty()
keywordListTest(req.keywords)
def test_parseDomainDef():
test = ["""
(define (domain BLOCKS)
(:requirements :strips :typing)
(: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 (holding ?x)
:effect
(and (not (holding ?x))
(clear ?x)
(handempty)
(ontable ?x)))
(:action stack
:parameters (?x - block ?y - block)
:precondition (and (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 (on ?x ?y) (clear ?x) (handempty))
:effect
(and (holding ?x)
(clear ?y)
(not (clear ?x))
(not (handempty))
(not (on ?x ?y)))))
"""]
iter = parse_lisp_iterator(test)
dom = parse_domain_def(iter)
assert dom.name == 'blocks'
assert [key.name
for key in dom.requirements.keywords] == ['strips', 'typing']
assert [t.name for t in dom.types] == ['block']
pred = dom.predicates
assert [p.name
for p in pred.predicates] == ['on', 'ontable', 'clear',
'handempty', 'holding']
assert [p.parameters[0].name
for p in pred.predicates
if p.parameters != []] == ['?x', '?x', '?x', '?x']
assert [p.parameters[0].types[0]
for p in pred.predicates
if p.parameters != []] == ['block', 'block', 'block', 'block']
assert [p.parameters[1].types[0] for p in pred.predicates
if len(p.parameters) > 1] == ['block']
assert len(dom.actions) == 4
action = dom.actions[3]
assert action.name == 'unstack'
assert action.parameters[0].name == '?x'
assert action.parameters[0].types[0] == 'block'
assert action.parameters[1].name == '?y'
assert action.parameters[1].types[0] == 'block'
pre = action.precond.formula
assert pre.key == 'and'
assert [c.key for c in pre.children] == ['on', 'clear', 'handempty']
assert pre.children[0].children[0].key.name == '?x'
assert pre.children[0].children[1].key.name == '?y'
assert pre.children[1].children[0].key.name == '?x'
assert pre.children[2].children == []
eff = action.effect.formula
assert eff.key == 'and'
assert [c.key
for c in eff.children] == ['holding', 'clear', 'not', 'not', 'not']
