Additional tests for rover-single

planetarium/ASSUMPTIONS.md

@@ -3,6 +3,8 @@
 For each domain, the following assumptions are made regarding the types of problems evaluated.
 We also assume that problems are solvable via the domain's actions.
 
+Our equivalence check is based on the assumption that the problems are solvable already (i.e. our evaluator checks solvability before equivalence).
+
 ## Blocksworld
 
 Generally, since Blocks World has reversible actions, essentially all problems are evaluable.
@@ -23,15 +25,8 @@ Generally, since Grippers has reversible actions, essentially all problems are e
 - All grippers have only one location
 - All grippers hold up to 1 ball
 
-## Rover
-Rover has the capability of being a much more complex domain, but for the purposes of this benchmark, we assume all problems will have symmetry of traversal.
-This changes our `fullySpecify` function from essentially a multi-agent traveling salesman problem into simple pathfinding between two points.
-Our goal is not to be *complete*, but to be *correct* for the problems we do support evaluating.
+## Rover Single
+Rover has the capability of being a much more complex domain, but for the purposes of this benchmark, we work only with a single rover and a single lander.
 
 `:init` conditions:
-- All objects have 1 type
-- All rovers only have one location
-- All landers only have one location
-- If `can_traverse ?rover ?x ?y`, then `can_traverse ?rover ?y ?x`
-
-**Note**: For the special case of up to 1 rover and up to 1 sample per analysis (rock, soil, imaging), we do not require symmmetry.
+- No double `at_*` predicates (rover and lander can only be in one location at a time)

planetarium/oracle.py

@@ -17,7 +17,11 @@
     _fully_specify_gripper,
     _plan_gripper,
 )
-from .oracles.rover_single import _reduce_rover_single, _inflate_rover_single, _fully_specify_rover_single
+from .oracles.rover_single import (
+    _reduce_rover_single,
+    _inflate_rover_single,
+    _fully_specify_rover_single,
+)
 
 
 plan_template = jinja.Template(

planetarium/oracles/rover_single.py

@@ -299,7 +299,6 @@ def rover_subgraph(scene: ReducedSceneGraph) -> ReducedSceneGraph:
                 subgraph.add_edge(v, u, copy.deepcopy(edge))
                 # add visible edges from waypoint to lander
                 for waypoint, in_edge in scene.in_edges(v):
-                    # print(in_edge, waypoint.node, u.node, "IN EDGE")
                     if in_edge.predicate == "visible":
                         subgraph.add_edge(waypoint, u, copy.deepcopy(in_edge))
 
@@ -406,7 +405,7 @@ def _fully_specify_rover_single(
     for pred in inflated_goal.predicates:
         params = pred["parameters"]
         match pred["typing"].split("_"):
-            case [_, sample, _] if sample in ("rock", "soil", "image"):
+            case ["communicated", sample, "data"]:
                 have_pred = {
                     "typing": f"have_{sample}{'_analysis' if sample != 'image' else ''}",
                     "parameters": params,
@@ -424,7 +423,6 @@ def _fully_specify_rover_single(
     for pred in inflated_goal.predicates:
         match pred["typing"].split("_"):
             case ["have", sample, *_] if sample in ("rock", "soil", "image"):
-                print(pred)
                 waypoint = pred["parameters"][0]
                 # check if the rover needs to communicate the data
                 com_pred = {

tests/problem_fixtures.py

@@ -1916,3 +1916,262 @@ def rover_single_line_fully_specified_4a():
             )
         )
     )"""
+
+
+@pytest.fixture
+def rover_single_line_equiv():
+    return """
+    (define (problem rover)
+        (:domain rover-single)
+        (:objects
+            site1 site2 site3 site4 site5 site6 - waypoint
+            store1 store2 - store
+            rgb - mode
+            camera1 camera2 camera3 - camera
+            objective1 objective2 objective3 - objective
+        )
+        (:init
+            (can_traverse site1 site2)
+            (can_traverse site2 site3)
+            (can_traverse site3 site4)
+            (can_traverse site4 site5)
+            (can_traverse site5 site6)
+            (visible site1 site2)
+            (visible site2 site3)
+            (visible site3 site4)
+            (visible site4 site5)
+            (visible site5 site6)
+            (at_rover site1)
+            (available)
+            (at_lander site6)
+            (empty store1)
+            (full store2)
+            (supports camera1 rgb)
+            (supports camera2 rgb)
+            (supports camera3 rgb)
+            (visible_from objective1 site5)
+            (channel_free)
+        )
+        (:goal
+            (and
+                (at_lander site6)
+                (communicated_image_data objective1 rgb)
+            )
+        )
+    )"""
+
+
+@pytest.fixture
+def rover_single_line_equiva():
+    return """
+    (define (problem rover)
+        (:domain rover-single)
+        (:objects
+            site1 site2 site3 site4 site5 site6 - waypoint
+            store1 store2 - store
+            rgb - mode
+            camera1 camera2 camera3 - camera
+            objective1 objective2 objective3 - objective
+        )
+        (:init
+            (can_traverse site1 site2)
+            (can_traverse site2 site3)
+            (can_traverse site3 site4)
+            (can_traverse site4 site5)
+            (can_traverse site5 site6)
+            (visible site1 site2)
+            (visible site2 site3)
+            (visible site3 site4)
+            (visible site4 site5)
+            (visible site5 site6)
+            (at_rover site1)
+            (available)
+            (at_lander site6)
+            (empty store1)
+            (full store2)
+            (supports camera1 rgb)
+            (supports camera2 rgb)
+            (supports camera3 rgb)
+            (visible_from objective1 site5)
+            (channel_free)
+        )
+        (:goal
+            (and
+                (can_traverse site1 site2)
+                (can_traverse site2 site3)
+                (can_traverse site3 site4)
+                (can_traverse site4 site5)
+                (can_traverse site5 site6)
+                (visible site1 site2)
+                (visible site2 site3)
+                (visible site3 site4)
+                (visible site4 site5)
+                (visible site5 site6)
+                (available)
+                (supports camera1 rgb)
+                (supports camera2 rgb)
+                (supports camera3 rgb)
+                (visible_from objective1 site5)
+                (channel_free)
+                (have_image objective1 rgb)
+                (communicated_image_data objective1 rgb)
+            )
+        )
+    )"""
+
+
+@pytest.fixture
+def rover_single_line_equiv_1():
+    return """
+    (define (problem rover)
+        (:domain rover-single)
+        (:objects
+            site1 site2 site3 site4 site5 site6 - waypoint
+            store1 store2 - store
+            rgb - mode
+            camera1 camera2 camera3 - camera
+            objective1 objective2 objective3 - objective
+        )
+        (:init
+            (can_traverse site1 site2)
+            (can_traverse site2 site3)
+            (can_traverse site3 site4)
+            (can_traverse site4 site5)
+            (can_traverse site5 site6)
+            (visible site1 site2)
+            (visible site2 site3)
+            (visible site3 site4)
+            (visible site4 site5)
+            (visible site5 site6)
+            (visible site6 site6)
+            (at_rover site1)
+            (available)
+            (at_lander site6)
+            (at_rock_sample site6)
+            (empty store1)
+            (full store2)
+            (supports camera1 rgb)
+            (supports camera2 rgb)
+            (supports camera3 rgb)
+            (visible_from objective1 site5)
+            (channel_free)
+        )
+        (:goal
+            (and
+                (can_traverse site1 site2)
+                (can_traverse site2 site3)
+                (can_traverse site3 site4)
+                (can_traverse site4 site5)
+                (can_traverse site5 site6)
+                (visible site1 site2)
+                (visible site2 site3)
+                (visible site3 site4)
+                (visible site4 site5)
+                (visible site5 site6)
+                (visible site6 site6)
+                (available)
+                (at_lander site6)
+                (supports camera1 rgb)
+                (supports camera2 rgb)
+                (supports camera3 rgb)
+                (visible_from objective1 site5)
+                (channel_free)
+                (at_rover site6)
+                (have_rock_analysis site6)
+                (communicated_rock_data site6)
+                (have_image objective1 rgb)
+                (communicated_image_data objective1 rgb)
+            )
+        )
+    )"""
+
+
+@pytest.fixture
+def rover_single_line_equiv_1a():
+    return """
+    (define (problem rover)
+        (:domain rover-single)
+        (:objects
+            site1 site2 site3 site4 site5 site6 - waypoint
+            store1 store2 - store
+            rgb - mode
+            camera1 camera2 camera3 - camera
+            objective1 objective2 objective3 - objective
+        )
+        (:init
+            (can_traverse site1 site2)
+            (can_traverse site2 site3)
+            (can_traverse site3 site4)
+            (can_traverse site4 site5)
+            (can_traverse site5 site6)
+            (visible site1 site2)
+            (visible site2 site3)
+            (visible site3 site4)
+            (visible site4 site5)
+            (visible site5 site6)
+            (visible site6 site6)
+            (at_rover site1)
+            (available)
+            (at_lander site6)
+            (at_rock_sample site6)
+            (empty store1)
+            (full store2)
+            (supports camera1 rgb)
+            (supports camera2 rgb)
+            (supports camera3 rgb)
+            (visible_from objective1 site5)
+            (channel_free)
+        )
+        (:goal
+            (and
+                (at_rover site6)
+                (communicated_rock_data site6)
+                (communicated_image_data objective1 rgb)
+            )
+        )
+    )"""
+
+
+@pytest.fixture
+def rover_single_line_equiv_1b():
+    return """
+    (define (problem rover)
+        (:domain rover-single)
+        (:objects
+            site1 site2 site3 site4 site5 site6 - waypoint
+            store1 store2 - store
+            rgb - mode
+            camera1 camera2 camera3 - camera
+            objective1 objective2 objective3 - objective
+        )
+        (:init
+            (can_traverse site1 site2)
+            (can_traverse site2 site3)
+            (can_traverse site3 site4)
+            (can_traverse site4 site5)
+            (can_traverse site5 site6)
+            (visible site1 site2)
+            (visible site2 site3)
+            (visible site3 site4)
+            (visible site4 site5)
+            (visible site5 site6)
+            (visible site6 site6)
+            (at_rover site1)
+            (available)
+            (at_lander site6)
+            (at_rock_sample site6)
+            (empty store1)
+            (full store2)
+            (supports camera1 rgb)
+            (supports camera2 rgb)
+            (supports camera3 rgb)
+            (visible_from objective1 site5)
+            (channel_free)
+        )
+        (:goal
+            (and
+                (communicated_rock_data site6)
+                (communicated_image_data objective1 rgb)
+            )
+        )
+    )"""

tests/test_evaluate.py

@@ -9,6 +9,11 @@
     blocksworld_missing_ontables,
     blocksworld_fully_specified,
     blocksworld_invalid_1,
+    rover_single_line_equiv,
+    rover_single_line_equiva,
+    rover_single_line_equiv_1,
+    rover_single_line_equiv_1a,
+    rover_single_line_equiv_1b,
 )
 
 
@@ -281,6 +286,47 @@ def test_evaluate_inequivalent(
                 False,
             )
 
+    def test_rover_single_equivalent(
+        self,
+        subtests,
+        rover_single_line_equiv,
+        rover_single_line_equiva,
+        rover_single_line_equiv_1,
+        rover_single_line_equiv_1a,
+        rover_single_line_equiv_1b,
+    ):
+        """
+        Test if the evaluation of PDDL problem descriptions is correct.
+        """
+        def print_diff(desc1, desc2):
+            full_1 = planetarium.oracle.fully_specify(planetarium.builder.build(desc1))
+            full_2 = planetarium.oracle.fully_specify(planetarium.builder.build(desc2))
+            print([p for p in full_1.goal().predicates if p not in full_2.goal().predicates])
+            print([p for p in full_2.goal().predicates if p not in full_1.goal().predicates])
+        def print_diff_init(desc1, desc2):
+            full_1 = planetarium.oracle.fully_specify(planetarium.builder.build(desc1))
+            full_2 = planetarium.oracle.fully_specify(planetarium.builder.build(desc2))
+            print([p for p in full_1.init().predicates if p not in full_2.init().predicates])
+            print([p for p in full_2.init().predicates if p not in full_1.init().predicates])
+
+        with subtests.test("rover_single_line_equiv equals rover_single_line_equiva"):
+            print_diff(rover_single_line_equiv, rover_single_line_equiva)
+            assert all(
+                planetarium.evaluate(
+                    rover_single_line_equiv,
+                    rover_single_line_equiva,
+                )
+            )
+
+        descs = {
+            "rover_single_line_equiv_1": rover_single_line_equiv_1,
+            "rover_single_line_equiv_1a": rover_single_line_equiv_1a,
+            "rover_single_line_equiv_1b": rover_single_line_equiv_1b,
+        }
+        for (name1, desc1), (name2, desc2) in product(descs.items(), descs.items()):
+            with subtests.test(f"{name1} equals {name2}"):
+                assert all(planetarium.evaluate(desc1, desc2))
+
 
 class TestUnsupportedDomain:
     """