Single rovers domain first draft

planetarium/oracle.py

@@ -17,7 +17,6 @@
     _fully_specify_gripper,
     _plan_gripper,
 )
-from .oracles.rover import _reduce_rover, _inflate_rover, _fully_specify_rover
 from .oracles.rover_single import _reduce_rover_single, _inflate_rover_single, _fully_specify_rover_single
 
 
@@ -53,8 +52,6 @@ def reduce(
             return _reduce_blocksworld(graph)
         case "gripper":
             return _reduce_gripper(graph)
-        case "rover":
-            return _reduce_rover(graph)
         case "rover-single":
             return _reduce_rover_single(graph)
         case _:
@@ -81,8 +78,6 @@ def inflate(
             return _inflate_blocksworld(scene)
         case "gripper":
             return _inflate_gripper(scene)
-        case "rover":
-            return _inflate_rover(scene)
         case "rover-single":
             return _inflate_rover_single(scene)
         case _:
@@ -119,10 +114,6 @@ def fully_specify(
                 reduced_init,
                 reduced_goal,
             )
-        case "rover":
-            reduced_init, fully_specified_goal = _fully_specify_rover(
-                *problem.decompose()
-            )
         case "rover-single":
             reduced_init, fully_specified_goal = _fully_specify_rover_single(
                 *problem.decompose()

planetarium/oracles/rover_single.py

@@ -491,7 +491,7 @@ def _init_waypoint() -> list[int]:
 
         endpoints = {rover_map.graph.nodes()[e] for e in endpoints}
 
-    if not final_destination():
+    if not final_pos:
         # rover doesn't need to be at a particular location,
         # check how many locations he can be at
         if len(endpoints) == 1:

tests/problem_fixtures.py

@@ -1731,3 +1731,66 @@ def rover_single_line_fully_specified_2():
             )
         )
     )"""
+
+
+@pytest.fixture
+def rover_single_line_fully_specified_3():
+    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)
+                (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)
+            )
+        )
+    )"""

tests/test_evaluate.py

@@ -9,8 +9,6 @@
     blocksworld_missing_ontables,
     blocksworld_fully_specified,
     blocksworld_invalid_1,
-    rover_line_fully_specified_1,
-    rover_line_fully_specified_2,
 )
 
 
@@ -283,23 +281,6 @@ def test_evaluate_inequivalent(
                 False,
             )
 
-    def test_unsolveable_rovers(
-        self,
-        rover_line_fully_specified_1,
-        rover_line_fully_specified_2,
-    ):
-        """
-        Test if the evaluation of PDDL problem descriptions is correct.
-        """
-        assert planetarium.evaluate(
-            rover_line_fully_specified_1,
-            rover_line_fully_specified_1,
-        ) == (True, True, True)
-        assert planetarium.evaluate(
-            rover_line_fully_specified_2,
-            rover_line_fully_specified_2,
-        ) == (True, False, False)
-
 
 class TestUnsupportedDomain:
     """

tests/test_metric.py

@@ -22,8 +22,6 @@
     blocksworld_fully_specified,
     gripper_fully_specified,
     gripper_no_robby,
-    rover_line_fully_specified,
-    rover_line_fully_specified_1,
 )
 
 
@@ -290,14 +288,3 @@ def test_blocksworld_equivalence(
                 assert not metric.equals(p2, p1, is_placeholder=True)
                 assert not metric.equals(p2, p1, is_placeholder=False)
 
-    def test_rover_equivalence(self, rover_line_fully_specified_1):
-        """Test the equivalence of rover problems."""
-        p1 = builder.build(rover_line_fully_specified_1)
-        p2 = oracle.fully_specify(p1)
-
-        assert metric.equals(p1.init(), p2.init(), is_placeholder=True)
-        assert metric.equals(p1.init(), p2.init(), is_placeholder=False)
-        assert metric.equals(p1.goal(), p2.goal(), is_placeholder=True)
-        assert metric.equals(p1.goal(), p2.goal(), is_placeholder=False)
-        assert metric.equals(p1, p2, is_placeholder=True)
-        assert metric.equals(p1, p2, is_placeholder=False)