change non deterministic test domain

data/blocks-non-deterministic/domain-missing-requirement.pddl

@@ -1,33 +1,73 @@
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-;;; 3 Op-blocks world
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+(define (domain blocks-domain)
 
-(define (domain blocks3ops)
-  (:requirements :strips :equality :negative-preconditions)
-  (:predicates (on ?x ?y)
-               (ontable ?x)
-               (clear ?x)
+  (:requirements :negative-preconditions :equality :typing)
+
+  (:types
+    block
+  )
+
+  (:predicates
+    (holding-one)
+    (holding-two)
+    (holding ?b - block)
+    (emptyhand)
+    (on-table ?b - block)
+    (on ?b1 ?b2 - block)
+    (clear ?b - block)
   )
 
-  (:action newtower
-    :parameters (?x ?y)
-    :precondition (and (clear ?x) (on ?x ?y))
-    :effect (and (ontable ?x) (clear ?y) (not (on ?x ?y)))
+  (:action pick-up
+    :parameters (?b1 ?b2 - block)
+    :precondition (and (not (= ?b1 ?b2)) (emptyhand) (clear ?b1) (on ?b1 ?b2))
+    :effect (and (clear ?b2) (not (on ?b1 ?b2))
+      (oneof
+        (and (holding-one) (holding ?b1) (not (emptyhand)) (not (clear ?b1)))
+        (on-table ?b1)))
   )
 
-  (:action stack
-    :parameters (?x ?y)
-    :precondition (and (not (= ?x ?y)) (clear ?x) (clear ?y) (ontable ?x))
+  (:action pick-up-from-table
+    :parameters (?b - block)
+    :precondition (and (emptyhand) (clear ?b) (on-table ?b))
     :effect (oneof
-              (and (on ?x ?y) (not (ontable ?x)) (not (clear ?y)))
-              (and))
+      (and)
+      (and (holding-one) (holding ?b) (not (emptyhand)) (not (on-table ?b)) (not (clear ?b))))
   )
 
-  (:action move
-    :parameters (?x ?y ?z)
-    :precondition (and (not (= ?x ?z)) (clear ?x) (clear ?z) (on ?x ?y))
+  (:action put-on-block
+    :parameters (?b1 ?b2 - block)
+    :precondition (and (not (= ?b1 ?b2)) (holding-one) (holding ?b1) (clear ?b2))
+    :effect (and (emptyhand) (clear ?b1) (not (holding-one)) (not (holding ?b1))
+      (oneof
+        (and (on ?b1 ?b2) (not (clear ?b2)))
+        (on-table ?b1)))
+  )
+
+  (:action put-down
+    :parameters (?b - block)
+    :precondition (and (holding-one) (holding ?b))
+    :effect (and (on-table ?b) (emptyhand) (clear ?b) (not (holding-one)) (not (holding ?b)))
+  )
+
+  (:action pick-tower
+    :parameters (?b1 ?b2 ?b3 - block)
+    :precondition (and (emptyhand) (on ?b1 ?b2) (on ?b2 ?b3) (clear ?b1))
     :effect (oneof
-              (and (on ?x ?z) (not (clear ?z)) (clear ?y) (not (on ?x ?y)))
-              (and (ontable ?x) (clear ?y) (not (on ?x ?y))))
+      (and)
+      (and (holding-two) (holding ?b2) (clear ?b3) (not (emptyhand)) (not (on ?b2 ?b3)) (not (clear ?b1))))
+  )
+
+  (:action put-tower-on-block
+    :parameters (?b1 ?b2 ?b3 - block)
+    :precondition (and (holding-two) (holding ?b2) (on ?b1 ?b2) (clear ?b3))
+    :effect (and (emptyhand) (not (holding-two)) (not (holding ?b2)) (clear ?b1)
+      (oneof
+        (and (on ?b2 ?b3) (not (clear ?b3)))
+        (and (on-table ?b1) (on-table ?b2) (clear ?b2) (not (on ?b1 ?b2)))))
+  )
+
+  (:action put-tower-down
+    :parameters (?b1 ?b2 - block)
+    :precondition (and (holding-two) (holding ?b2) (on ?b1 ?b2))
+    :effect (and (on-table ?b2) (emptyhand) (not (holding-two)) (not (holding ?b2)) (clear ?b1))
   )
-)
+)

data/blocks-non-deterministic/domain.pddl

@@ -1,33 +1,73 @@
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-;;; 3 Op-blocks world
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+(define (domain blocks-domain)
 
-(define (domain blocks3ops)
-  (:requirements :strips :non-deterministic :equality :negative-preconditions)
-  (:predicates (on ?x ?y)
-               (ontable ?x)
-               (clear ?x)
+  (:requirements :non-deterministic :negative-preconditions :equality :typing)
+
+  (:types
+    block
+  )
+
+  (:predicates
+    (holding-one)
+    (holding-two)
+    (holding ?b - block)
+    (emptyhand)
+    (on-table ?b - block)
+    (on ?b1 ?b2 - block)
+    (clear ?b - block)
   )
 
-  (:action newtower
-    :parameters (?x ?y)
-    :precondition (and (clear ?x) (on ?x ?y))
-    :effect (and (ontable ?x) (clear ?y) (not (on ?x ?y)))
+  (:action pick-up
+    :parameters (?b1 ?b2 - block)
+    :precondition (and (not (= ?b1 ?b2)) (emptyhand) (clear ?b1) (on ?b1 ?b2))
+    :effect (and (clear ?b2) (not (on ?b1 ?b2))
+      (oneof
+        (and (holding-one) (holding ?b1) (not (emptyhand)) (not (clear ?b1)))
+        (on-table ?b1)))
   )
 
-  (:action stack
-    :parameters (?x ?y)
-    :precondition (and (not (= ?x ?y)) (clear ?x) (clear ?y) (ontable ?x))
+  (:action pick-up-from-table
+    :parameters (?b - block)
+    :precondition (and (emptyhand) (clear ?b) (on-table ?b))
     :effect (oneof
-              (and (on ?x ?y) (not (ontable ?x)) (not (clear ?y)))
-              (and))
+      (and)
+      (and (holding-one) (holding ?b) (not (emptyhand)) (not (on-table ?b)) (not (clear ?b))))
   )
 
-  (:action move
-    :parameters (?x ?y ?z)
-    :precondition (and (not (= ?x ?z)) (clear ?x) (clear ?z) (on ?x ?y))
+  (:action put-on-block
+    :parameters (?b1 ?b2 - block)
+    :precondition (and (not (= ?b1 ?b2)) (holding-one) (holding ?b1) (clear ?b2))
+    :effect (and (emptyhand) (clear ?b1) (not (holding-one)) (not (holding ?b1))
+      (oneof
+        (and (on ?b1 ?b2) (not (clear ?b2)))
+        (on-table ?b1)))
+  )
+
+  (:action put-down
+    :parameters (?b - block)
+    :precondition (and (holding-one) (holding ?b))
+    :effect (and (on-table ?b) (emptyhand) (clear ?b) (not (holding-one)) (not (holding ?b)))
+  )
+
+  (:action pick-tower
+    :parameters (?b1 ?b2 ?b3 - block)
+    :precondition (and (emptyhand) (on ?b1 ?b2) (on ?b2 ?b3) (clear ?b1))
     :effect (oneof
-              (and (on ?x ?z) (not (clear ?z)) (clear ?y) (not (on ?x ?y)))
-              (and (ontable ?x) (clear ?y) (not (on ?x ?y))))
+      (and)
+      (and (holding-two) (holding ?b2) (clear ?b3) (not (emptyhand)) (not (on ?b2 ?b3)) (not (clear ?b1))))
+  )
+
+  (:action put-tower-on-block
+    :parameters (?b1 ?b2 ?b3 - block)
+    :precondition (and (holding-two) (holding ?b2) (on ?b1 ?b2) (clear ?b3))
+    :effect (and (emptyhand) (not (holding-two)) (not (holding ?b2)) (clear ?b1)
+      (oneof
+        (and (on ?b2 ?b3) (not (clear ?b3)))
+        (and (on-table ?b1) (on-table ?b2) (clear ?b2) (not (on ?b1 ?b2)))))
+  )
+
+  (:action put-tower-down
+    :parameters (?b1 ?b2 - block)
+    :precondition (and (holding-two) (holding ?b2) (on ?b1 ?b2))
+    :effect (and (on-table ?b2) (emptyhand) (not (holding-two)) (not (holding ?b2)) (clear ?b1))
   )
-)
+)

data/blocks-non-deterministic/p20.pddl

@@ -0,0 +1,6 @@
+(define (problem bw_10_20)
+  (:domain blocks-domain)
+  (:objects b1 b2 b3 b4 b5 b6 b7 b8 b9 b10 - block)
+  (:init (emptyhand) (on b1 b6) (on b2 b8) (on-table b3) (on b4 b9) (on b5 b3) (on b6 b10) (on b7 b5) (on-table b8) (on b9 b1) (on b10 b2) (clear b4) (clear b7))
+  (:goal (and (emptyhand) (on b1 b9) (on b2 b1) (on-table b3) (on-table b4) (on-table b5) (on b6 b7) (on-table b7) (on-table b8) (on b9 b6) (on b10 b3) (clear b2) (clear b4) (clear b5) (clear b8) (clear b10)))
+)

tests/unit/parser.cpp

@@ -43,18 +43,18 @@ TEST(LokiTests, ParserTest)
 TEST(LokiTests, ParserNonDeterministicTest)
 {
     const auto domain_file = fs::path(std::string(DATA_DIR) + "blocks-non-deterministic/domain.pddl");
-    const auto problem_file = fs::path(std::string(DATA_DIR) + "blocks-non-deterministic/p003-1.pddl");
+    const auto problem_file = fs::path(std::string(DATA_DIR) + "blocks-non-deterministic/p20.pddl");
     auto domain_parser = DomainParser(domain_file);
     auto problem_parser = ProblemParser(problem_file, domain_parser);
 
     const auto domain = domain_parser.get_domain();
     EXPECT_EQ(domain->get_constants().size(), 0);
-    EXPECT_EQ(domain->get_predicates().size(), 3);
-    EXPECT_EQ(domain->get_actions().size(), 3);
+    EXPECT_EQ(domain->get_predicates().size(), 7);
+    EXPECT_EQ(domain->get_actions().size(), 7);
 
     const auto problem = problem_parser.get_problem();
-    EXPECT_EQ(problem->get_objects().size(), 3);
-    EXPECT_EQ(problem->get_initial_literals().size(), 4);
+    EXPECT_EQ(problem->get_objects().size(), 10);
+    EXPECT_EQ(problem->get_initial_literals().size(), 13);
 }
 
 TEST(LokiTests, ParserNonDeterministicMissingRequirementTest)