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| # -*- coding: utf-8 -*- | ||
| # | ||
| # Copyright 2021 WhiteMech | ||
| # | ||
| # ------------------------------ | ||
| # | ||
| # This file is part of pddl. | ||
| # | ||
| # pddl is free software: you can redistribute it and/or modify | ||
| # it under the terms of the GNU Lesser General Public License as published by | ||
| # the Free Software Foundation, either version 3 of the License, or | ||
| # (at your option) any later version. | ||
| # | ||
| # pddl is distributed in the hope that it will be useful, | ||
| # but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| # GNU Lesser General Public License for more details. | ||
| # | ||
| # You should have received a copy of the GNU Lesser General Public License | ||
| # along with pddl. If not, see <https://www.gnu.org/licenses/>. | ||
| # | ||
|
|
||
| """This test module contains the fixtures for 'blocksworld-ipc08' domain and problem.""" | ||
| import pytest | ||
|
|
||
| from pddl.core import Action, Domain, Problem, Requirements | ||
| from pddl.logic import Constant | ||
| from pddl.logic.base import And, OneOf | ||
| from pddl.logic.effects import When, AndEffect | ||
| from pddl.logic.helpers import constants, variables | ||
| from pddl.logic.predicates import EqualTo, Predicate | ||
|
|
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|
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| @pytest.fixture(scope="session") | ||
| def blocksworld_fond_domain(): | ||
| """The 'blocksworld' FOND domain.""" | ||
| # terms | ||
| x, y, z, b= variables("x y z b") | ||
|
|
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| # constants: | ||
| table = Constant("Table") | ||
|
|
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| # predicates | ||
| on = Predicate("on", x, y) | ||
| clear = Predicate("clear", x) | ||
| block = Predicate("block", b) | ||
| predicates = {on, clear, block} | ||
|
|
||
| # actions | ||
| # put-on | ||
| put_on_name = "puton" | ||
| put_on_parameters = [x, y, z] | ||
| put_on_precondition = on(x, z) & clear(x) & clear(y) & ~EqualTo(y, z) & ~EqualTo(x, z) & ~EqualTo(x, y) & ~EqualTo( | ||
| x, table) | ||
| put_on_effect = OneOf( | ||
| AndEffect(on(x, y), ~on(x, z), | ||
| When(~EqualTo(z, table), clear(z)), When(~EqualTo(y, table), ~clear(y))), | ||
| AndEffect(on(x, table), | ||
| When(~EqualTo(z, table), ~on(x, z) & clear(z)), When(~EqualTo(y, table), ~clear(y))), | ||
| ) | ||
| put_on = Action(put_on_name, put_on_parameters, put_on_precondition, put_on_effect) | ||
|
|
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| name = "blocks-world-domain" | ||
| requirements = { | ||
| Requirements.STRIPS, | ||
| Requirements.EQUALITY, | ||
| Requirements.NON_DETERMINISTIC, | ||
| Requirements.CONDITIONAL_EFFECTS | ||
| } | ||
| actions = { | ||
| put_on | ||
| } | ||
| domain = Domain( | ||
| name=name, | ||
| requirements=requirements, | ||
| constants={table}, | ||
| predicates=predicates, | ||
| actions=actions, | ||
| ) | ||
| return domain | ||
|
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|
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| @pytest.fixture(scope="session") | ||
| def blocksworld_fond_01(): | ||
| """Blocksworld FOND problem 01.""" | ||
| # objects | ||
| objects = [A, B, C] = constants("A B C") | ||
|
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| Table = Constant("Table") | ||
|
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||
| # predicates | ||
| block = Predicate("block", A) | ||
| on = Predicate("on", C, A) | ||
| clear = Predicate("clear", B) | ||
|
|
||
| init = { | ||
| block(A), | ||
| block(B), | ||
| block(C), | ||
| block(Table), | ||
| on(C, A), | ||
| on(A, Table), | ||
| on(B, Table), | ||
| clear(C), | ||
| clear(B), | ||
| clear(Table) | ||
| } | ||
|
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| goal = (And()) | ||
|
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| problem_name = "sussman-anomaly" | ||
|
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| problem = Problem( | ||
| problem_name, | ||
| domain_name="blocks-world-domain", | ||
| objects=objects, | ||
| init=init, | ||
| goal=goal, | ||
| ) | ||
| return problem |
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