AriaBlocksWorldTest

A test application that implements and validates the classic blocks world planning domain from GTpyhop's blocks_gtn examples. This app serves as a comprehensive test suite for the AriaEngine planning system using the well-known blocks world domain.

Purpose

This application provides:

1. GTpyhop Compatibility Testing: Validates that AriaEngine can handle the same problems as GTpyhop's blocks_gtn domain
2. Planning System Validation: Tests the core planning capabilities with a well-understood domain
3. Example Problem Suite: Provides classic planning problems including the Sussman Anomaly
4. Integration Testing: Verifies the integration between AriaEngine, AriaState, and AriaHybridPlanner

Domain Overview

The blocks world domain includes:

Predicates

• pos(block, location): Position of blocks (on table, on other blocks, or in hand)
• clear(block, boolean): Whether a block has nothing on top of it
• holding(hand, block_or_false): What the robot hand is holding

Actions

• pickup(block): Pick up a block from the table
• putdown(block): Put down a held block on the table
• stack(block, target): Stack a held block on another block
• unstack(block, from): Remove a block from on top of another block

Task Methods

• move_block(block, destination): High-level task to move a block
• achieve_position(block, location): Achieve a specific position goal
• achieve_clear(block, clear_state): Achieve a clear/not-clear state

Example Problems

Simple Pickup

Basic test of picking up a block from the table.

Simple Stack

Basic test of stacking one block on another.

Sussman Anomaly

The classic planning problem that demonstrates subgoal interaction:

• Initial: A on C, B on table, C on table
• Goal: A on B, B on C
• Requires careful ordering to avoid undoing progress

Complex Multiblock

A more complex rearrangement problem:

• Initial: A on B on C (stack of 3)
• Goal: C on B on A (reverse the stack)

Usage

# Create a state
state = AriaBlocksWorldTest.create_state(%{
  pos: %{"a" => "table", "b" => "table"},
  clear: %{"a" => true, "b" => true},
  holding: %{"hand" => false}
})

# Create goals
goal = AriaBlocksWorldTest.create_multigoal(%{
  pos: %{"a" => "b"}
})

# Run planning
result = AriaBlocksWorldTest.solve_problem(state, [goal])

# Run predefined examples
{:ok, result} = AriaBlocksWorldTest.run_example(:sussman_anomaly)

Testing

The app includes comprehensive test suites:

• AriaBlocksWorldTestTest: Basic functionality tests
• AriaBlocksWorldTest.DomainTest: Domain action and method tests
• AriaBlocksWorldTest.GtpyhopExamplesTest: GTpyhop compatibility tests

Run tests with:

mix test apps/aria_blocks_world_test

Integration with AriaEngine

This app demonstrates the integration between:

• AriaState.RelationalState: For managing world state
• AriaEngineCore: For domain definition and action execution
• AriaHybridPlanner: For planning and goal achievement
• AriaCore: For multigoal handling

GTpyhop Reference

This implementation is based on the blocks_gtn domain from GTpyhop, located in: thirdparty/GTPyhop/Examples/blocks_gtn/

The goal is to maintain compatibility with GTpyhop's problem definitions while leveraging AriaEngine's capabilities for planning and execution.