domain file fix

planetarium/domains/rover-single.pddl

@@ -35,14 +35,14 @@
   (:action sample_soil
     :parameters (?s - store ?p - waypoint)
     :precondition (and (at_rover ?p) (at_soil_sample ?p) (empty ?s))
-    :effect (and (not (empty ?s)) (full ?s) (have_soil_analysis ?x ?p)
+    :effect (and (not (empty ?s)) (full ?s) (have_soil_analysis ?p)
       (not (at_soil_sample ?p)))
   )
 
   (:action sample_rock
     :parameters (?s - store ?p - waypoint)
     :precondition (and (at_rover ?p) (at_rock_sample ?p) (empty ?s))
-    :effect (and (not (empty ?s)) (full ?s) (have_rock_analysis ?x ?p)
+    :effect (and (not (empty ?s)) (full ?s) (have_rock_analysis ?p)
       (not (at_rock_sample ?p)))
   )
 
@@ -61,7 +61,7 @@
   (:action communicate_soil_data
     :parameters (?p - waypoint ?x - waypoint ?y - waypoint)
     :precondition (and (at_rover ?x)
-      (at_lander ?y)(have_soil_analysis ?r ?p)
+      (at_lander ?y)(have_soil_analysis ?p)
       (visible ?x ?y)(available)(channel_free))
     :effect (and (not (available))
       (not (channel_free))(channel_free)

planetarium/oracles/rover_single.py

@@ -305,6 +305,7 @@ def rover_subgraph(scene: ReducedSceneGraph) -> ReducedSceneGraph:
 
     return subgraph
 
+
 def all_endpoints(
     scene: ReducedSceneGraph,
     path_map: rx.AllPairsMultiplePathMapping,

tests/problem_fixtures.py

@@ -1793,4 +1793,126 @@ def rover_single_line_fully_specified_3():
                 (communicated_image_data objective1 rgb)
             )
         )
-    )"""
+    )"""
+
+
+@pytest.fixture
+def rover_single_line_fully_specified_4():
+    # rock and soil samples after lander
+    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)
+            (at_rock_sample site6)
+            (at_soil_sample site6)
+        )
+        (: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)
+                (at_rover site6)
+                (at_lander site6)
+                (empty store1)
+                (full store2)
+                (supports camera1 rgb)
+                (supports camera2 rgb)
+                (supports camera3 rgb)
+                (visible_from objective1 site5)
+                (channel_free)
+                (have_image objective1 rgb)
+                (communicated_image_data objective1 rgb)
+                (have_rock_analysis site6)
+                (communicated_rock_data site6)
+                (have_soil_analysis site6)
+                (communicated_soil_data site6)
+                (at_rock_sample site6)
+                (at_soil_sample site6)
+            )
+        )
+    )"""
+
+
+@pytest.fixture
+def rover_single_line_fully_specified_4a():
+    # rock and soil samples after lander
+    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)
+            (at_rock_sample site6)
+            (at_soil_sample site6)
+        )
+        (:goal
+            (and
+                (have_image objective1 rgb)
+                (communicated_image_data objective1 rgb)
+                (have_rock_analysis site6)
+                (communicated_rock_data site6)
+                (have_soil_analysis site6)
+                (communicated_soil_data site6)
+            )
+        )
+    )"""

tests/test_metric.py

@@ -22,6 +22,8 @@
     blocksworld_fully_specified,
     gripper_fully_specified,
     gripper_no_robby,
+    rover_single_line_fully_specified_4,
+    rover_single_line_fully_specified_4a,
 )
 
 
@@ -287,3 +289,21 @@ def test_blocksworld_equivalence(
                 assert not metric.equals(p1, p2, is_placeholder=False)
                 assert not metric.equals(p2, p1, is_placeholder=True)
                 assert not metric.equals(p2, p1, is_placeholder=False)
+
+    def test_rover_single_eqquivalence(self, subtests, rover_single_line_fully_specified_4, rover_single_line_fully_specified_4a,):
+        """Test the equivalence of rover single line problems."""
+        p1 = builder.build(rover_single_line_fully_specified_4)
+        p2 = builder.build(rover_single_line_fully_specified_4a)
+
+        p1 = oracle.fully_specify(p1)
+        p2 = oracle.fully_specify(p2)
+
+        # equivalence to itself
+        assert metric.equals(p1, p1, is_placeholder=True)
+        assert metric.equals(p1, p1, is_placeholder=False)
+
+        # check invalid equivalence
+        assert not metric.equals(p1, p2, is_placeholder=True)
+        assert not metric.equals(p1, p2, is_placeholder=False)
+        assert not metric.equals(p2, p1, is_placeholder=True)
+        assert not metric.equals(p2, p1, is_placeholder=False)

tests/test_oracle.py

@@ -21,6 +21,7 @@
     rover_single_line_fully_specified_1,
     rover_single_line_fully_specified_2,
     rover_single_line_fully_specified_3,
+    rover_single_line_fully_specified_4,
 )
 
 
@@ -195,6 +196,7 @@ def test_fully_specified(
         rover_single_line_fully_specified_1,
         rover_single_line_fully_specified_2,
         rover_single_line_fully_specified_3,
+        rover_single_line_fully_specified_4,
     ):
         """
         Test the fully specified rover problem.
@@ -204,6 +206,7 @@ def test_fully_specified(
             ("rover_single_line_fully_specified_1", rover_single_line_fully_specified_1),
             ("rover_single_line_fully_specified_2", rover_single_line_fully_specified_2),
             ("rover_single_line_fully_specified_3", rover_single_line_fully_specified_3),
+            ("rover_single_line_fully_specified_4", rover_single_line_fully_specified_4),
         ]
         for name, desc in descs:
             with subtests.test(name):