def gen_heuristic_test(dom,
prob,
search_class,
heuristic_class,
h_values_plan,
plan_length=None):
parser = Parser('')
parser.domInput = dom
parser.probInput = prob
domain = parser.parse_domain(False)
problem = parser.parse_problem(domain, False)
task = grounding.ground(problem)
heuristic = heuristic_class(task)
plan = search_class(task, heuristic)
if plan_length:
assert len(plan) == plan_length
# run through plan and validate heuristic value
# the true_h_values are taken from fast downward with astar and lm cut
# heuristic
computed_h_values = list(_gen_h_values(task.initial_state, plan,
heuristic))
assert h_values_plan == computed_h_values
def test_lm_cut_blocksworld_initial_state():
parser = Parser("")
parser.domInput = blocks_dom
parser.probInput = blocks_problem_1
domain = parser.parse_domain(False)
problem = parser.parse_problem(domain, False)
task = grounding.ground(problem)
heuristic = LmCutHeuristic(task)
h_val = heuristic(make_root_node(task.initial_state))
assert h_val == 6.0
def test_lm_cut_blocksworld_initial_state():
parser = Parser('')
parser.domInput = blocks_dom
parser.probInput = blocks_problem_1
domain = parser.parse_domain(False)
problem = parser.parse_problem(domain, False)
task = grounding.ground(problem)
heuristic = LmCutHeuristic(task)
h_val = heuristic(make_root_node(task.initial_state))
assert h_val == 6.
def gen_heuristic_test(dom, prob, search_class, heuristic_class, h_values_plan,
plan_length=None):
parser = Parser('')
parser.domInput = dom
parser.probInput = prob
domain = parser.parse_domain(False)
problem = parser.parse_problem(domain, False)
task = grounding.ground(problem)
heuristic = heuristic_class(task)
plan = search_class(task, heuristic)
if plan_length:
assert len(plan) == plan_length
# run through plan and validate heuristic value
# the true_h_values are taken from fast downward with astar and lm cut
# heuristic
computed_h_values = list(_gen_h_values(task.initial_state, plan, heuristic))
assert h_values_plan == computed_h_values
(not (on ?x ?y)))))
"""
_problem_input = """(define (problem BLOCKS-5-0)
(:domain BLOCKS)
(:story_objs B E A C D - block)
(:INIT (CLEAR D) (CLEAR C) (ONTABLE D) (ONTABLE A) (ON C E) (ON E B) (ON B A)
(HANDEMPTY))
(:goal (AND (ON A E) (ON E B) (ON B D) (ON D C)))
)
"""
_parser = Parser('')
_parser.domInput = _domain_input
_parser.probInput = _problem_input
_domain = _parser.parse_domain(False)
_problem = _parser.parse_problem(_domain, False)
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_default_pddl_visitor_problem():
(not (on ?x ?y)))))
"""
_problem_input = """(define (problem BLOCKS-5-0)
(:domain BLOCKS)
(:objects B E A C D - block)
(:INIT (CLEAR D) (CLEAR C) (ONTABLE D) (ONTABLE A) (ON C E) (ON E B) (ON B A)
(HANDEMPTY))
(:goal (AND (ON A E) (ON E B) (ON B D) (ON D C)))
)
"""
_parser = Parser("")
_parser.domInput = _domain_input
_parser.probInput = _problem_input
_domain = _parser.parse_domain(False)
_problem = _parser.parse_problem(_domain, False)
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_default_pddl_visitor_problem():
def test_writer_complex():
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)))))
""", """
(define (problem BLOCKS-4-0)
(:domain BLOCKS)
(:objects D B A C - block)
(:INIT (CLEAR C) (CLEAR A) (CLEAR B) (CLEAR D) (ONTABLE C) (ONTABLE A)
(ONTABLE B) (ONTABLE D) (HANDEMPTY))
(:goal (AND (ON D C) (ON C B) (ON B A)))
)
"""
]
parser = Parser(None)
parser.domInput = test[0]
parser.probInput = test[1]
domain = parser.parse_domain(False)
problem = parser.parse_problem(domain, False)
writer = PDDLWriter()
domain_string = writer.write_domain(domain)
# print(domain_string)
parser.domInput = domain_string
domain = parser.parse_domain(False) # Checking if our output is valid pddl
assert domain is not None
# print(writer.write_domain(domain))
# assert domain_string == writer.write_domain(domain)
print(writer.write_problem(problem))
