add rovers domain

tests/conftest.py

@@ -53,19 +53,20 @@
     "acrobatics",
     "beam-walk",
     "blocksworld-ipc08",
+    "blocksworld_fond",
     "doors",
     # "earth_observation",
     "elevators",
     # "faults-ipc08",
     # "first-responders-ipc08",
     "islands",
     "miner",
+    "rovers_fond",
     "spiky-tireworld",
     "tireworld",
     "tireworld-truck",
     "triangle-tireworld",
     # "zenotravel",
-    "blocksworld_fond"
 ]
 
 DOMAIN_FILES = [

tests/fixtures/pddl_files/rovers_fond/domain.pddl

@@ -0,0 +1,220 @@
+(define (domain dom)
+
+(:requirements :strips :non-deterministic :typing)
+  (:types
+    rover - NO_TYPE
+    waypoint - NO_TYPE
+    store - NO_TYPE
+    camera - NO_TYPE
+    mode - NO_TYPE
+    lander - NO_TYPE
+    objective - NO_TYPE
+  )
+
+  (:predicates
+    (at ?x0 - rover ?x1 - waypoint)
+    (at_lander ?x0 - lander ?x1 - waypoint)
+    (can_traverse ?x0 - rover ?x1 - waypoint ?x2 - waypoint)
+    (equipped_for_soil_analysis ?x0 - rover)
+    (equipped_for_rock_analysis ?x0 - rover)
+    (equipped_for_imaging ?x0 - rover)
+    (empty ?x0 - store)
+    (have_rock_analysis ?x0 - rover ?x1 - waypoint)
+    (have_soil_analysis ?x0 - rover ?x1 - waypoint)
+    (full ?x0 - store)
+    (calibrated ?x0 - camera ?x1 - rover)
+    (supports ?x0 - camera ?x1 - mode)
+    (available ?x0 - rover)
+    (visible ?x0 - waypoint ?x1 - waypoint)
+    (have_image ?x0 - rover ?x1 - objective ?x2 - mode)
+    (communicatedsoildata ?x0 - waypoint)
+    (communicatedrockdata ?x0 - waypoint)
+    (communicatedimagedata ?x0 - objective ?x1 - mode)
+    (at_soil_sample ?x0 - waypoint)
+    (at_rock_sample ?x0 - waypoint)
+    (visible_from ?x0 - objective ?x1 - waypoint)
+    (store_of ?x0 - store ?x1 - rover)
+    (calibration_target ?x0 - camera ?x1 - objective)
+    (on_board ?x0 - camera ?x1 - rover)
+    (channel_free ?x0 - lander)
+  )
+  (:action navigate
+    :parameters (?x0 - rover ?x1 - waypoint ?x2 - waypoint)
+    :precondition 
+      (and
+        (can_traverse ?x0 ?x1 ?x2)
+        (available ?x0)
+        (at ?x0 ?x1)
+        (visible ?x1 ?x2))
+    :effect
+      (and
+        (at ?x0 ?x2)
+        (not 
+          (at ?x0 ?x1))
+      )
+    )
+  (:action sample_soil
+    :parameters (?x0 - rover ?x1 - store ?x2 - waypoint)
+    :precondition 
+      (and
+        (at ?x0 ?x2)
+        (at_soil_sample ?x2)
+        (equipped_for_soil_analysis ?x0)
+        (store_of ?x1 ?x0)
+        (empty ?x1))
+    :effect
+      (and
+        (oneof
+          (and
+            (full ?x1)
+            (have_soil_analysis ?x0 ?x2)
+            (not 
+              (empty ?x1))
+          )
+          (and 
+            (when (at_rock_sample ?x2)
+              (and
+                (full ?x1)
+                (have_rock_analysis ?x0 ?x2)
+                (not 
+                  (empty ?x1))
+              )
+            )
+          )
+        )
+      )
+    )
+  (:action sample_rock
+    :parameters (?x0 - rover ?x1 - store ?x2 - waypoint)
+    :precondition 
+      (and
+        (at ?x0 ?x2)
+        (at_rock_sample ?x2)
+        (equipped_for_rock_analysis ?x0)
+        (store_of ?x1 ?x0)
+        (empty ?x1))
+    :effect
+      (and
+        (full ?x1)
+        (have_rock_analysis ?x0 ?x2)
+        (not 
+          (empty ?x1))
+      )
+    )
+  (:action drop
+    :parameters (?x0 - rover ?x1 - store)
+    :precondition 
+      (and
+        (store_of ?x1 ?x0)
+        (full ?x1))
+    :effect
+      (and
+        (empty ?x1)
+        (not 
+          (full ?x1))
+      )
+    )
+  (:action calibrate
+    :parameters (?x0 - rover ?x1 - camera ?x2 - objective ?x3 - waypoint)
+    :precondition 
+      (and
+        (equipped_for_imaging ?x0)
+        (calibration_target ?x1 ?x2)
+        (at ?x0 ?x3)
+        (visible_from ?x2 ?x3)
+        (on_board ?x1 ?x0))
+    :effect
+(calibrated ?x1 ?x0)    )
+  (:action take_image
+    :parameters (?x0 - rover ?x1 - waypoint ?x2 - objective ?x3 - camera ?x4 - mode)
+    :precondition 
+      (and
+        (calibrated ?x3 ?x0)
+        (on_board ?x3 ?x0)
+        (equipped_for_imaging ?x0)
+        (supports ?x3 ?x4)
+        (visible_from ?x2 ?x1)
+        (at ?x0 ?x1))
+    :effect
+      (and
+        (oneof
+          (have_image ?x0 ?x2 ?x4)
+          (and)
+        )
+        (not 
+          (calibrated ?x3 ?x0))
+      )
+    )
+  (:action communicate_soil_data
+    :parameters (?x0 - rover ?x1 - lander ?x2 - waypoint ?x3 - waypoint ?x4 - waypoint)
+    :precondition 
+      (and
+        (at ?x0 ?x3)
+        (at_lander ?x1 ?x4)
+        (have_soil_analysis ?x0 ?x2)
+        (visible ?x3 ?x4)
+        (available ?x0)
+        (channel_free ?x1))
+    :effect
+      (and
+        (channel_free ?x1)
+        (oneof
+          (communicatedsoildata ?x2)
+          (and)
+        )
+        (not
+          (have_soil_analysis ?x0 ?x2))
+        (available ?x0)
+        (not 
+          (channel_free ?x1))
+      )
+    )
+  (:action communicate_rock_data
+    :parameters (?x0 - rover ?x1 - lander ?x2 - waypoint ?x3 - waypoint ?x4 - waypoint)
+    :precondition 
+      (and
+        (at ?x0 ?x3)
+        (at_lander ?x1 ?x4)
+        (have_rock_analysis ?x0 ?x2)
+        (visible ?x3 ?x4)
+        (available ?x0)
+        (channel_free ?x1))
+    :effect
+      (and
+        (channel_free ?x1)
+        (oneof
+          (communicatedrockdata ?x2)
+          (and)
+        )
+        (not 
+          (have_rock_analysis ?x0 ?x2))
+        (available ?x0)
+        (not 
+          (channel_free ?x1))
+      )
+    )
+  (:action communicate_image_data
+    :parameters (?x0 - rover ?x1 - lander ?x2 - objective ?x3 - mode ?x4 - waypoint ?x5 - waypoint)
+    :precondition 
+      (and
+        (at ?x0 ?x4)
+        (at_lander ?x1 ?x5)
+        (have_image ?x0 ?x2 ?x3)
+        (visible ?x4 ?x5)
+        (available ?x0)
+        (channel_free ?x1))
+    :effect
+      (and
+        (channel_free ?x1)
+        (oneof 
+          (communicatedimagedata ?x2 ?x3)
+          (and)
+        )
+        (not
+          (have_image ?x0 ?x2 ?x3))
+        (available ?x0)
+        (not 
+          (channel_free ?x1))
+      )
+    )
+)

tests/fixtures/pddl_files/rovers_fond/p01.pddl

@@ -0,0 +1,54 @@
+(define (problem problem5)
+
+  (:domain dom)
+  (:objects camera0 - camera colour - mode general - lander highres - mode low_res - mode objective0 - objective objective1 - objective rover0 - rover rover0store - store waypoint0 - waypoint waypoint1 - waypoint waypoint2 - waypoint waypoint3 - waypoint)
+  (:init 
+    (visible waypoint1 waypoint0)
+    (visible waypoint0 waypoint1)
+    (visible waypoint2 waypoint0)
+    (visible waypoint0 waypoint2)
+    (visible waypoint2 waypoint1)
+    (visible waypoint1 waypoint2)
+    (visible waypoint3 waypoint0)
+    (visible waypoint0 waypoint3)
+    (visible waypoint3 waypoint1)
+    (visible waypoint1 waypoint3)
+    (visible waypoint3 waypoint2)
+    (visible waypoint2 waypoint3)
+    (at_soil_sample waypoint0)
+    (at_rock_sample waypoint1)
+    (at_soil_sample waypoint2)
+    (at_rock_sample waypoint2)
+    (at_soil_sample waypoint3)
+    (at_rock_sample waypoint3)
+    (at_lander general waypoint0)
+    (channel_free general)
+    (at rover0 waypoint3)
+    (available rover0)
+    (store_of rover0store rover0)
+    (empty rover0store)
+    (equipped_for_soil_analysis rover0)
+    (equipped_for_rock_analysis rover0)
+    (equipped_for_imaging rover0)
+    (can_traverse rover0 waypoint3 waypoint0)
+    (can_traverse rover0 waypoint0 waypoint3)
+    (can_traverse rover0 waypoint3 waypoint1)
+    (can_traverse rover0 waypoint1 waypoint3)
+    (can_traverse rover0 waypoint1 waypoint2)
+    (can_traverse rover0 waypoint2 waypoint1)
+    (on_board camera0 rover0)
+    (calibration_target camera0 objective1)
+    (supports camera0 colour)
+    (supports camera0 highres)
+    (visible_from objective0 waypoint0)
+    (visible_from objective0 waypoint1)
+    (visible_from objective0 waypoint2)
+    (visible_from objective0 waypoint3)
+    (visible_from objective1 waypoint0)
+    (visible_from objective1 waypoint1)
+    (visible_from objective1 waypoint2)
+    (visible_from objective1 waypoint3)
+  )
+  (:goal (and (communicatedsoildata waypoint2)))
+
+)

tests/fixtures/pddl_files/rovers_fond/p02.pddl

@@ -0,0 +1,55 @@
+(define (problem problem5)
+
+  (:domain dom)
+  (:objects camera0 - camera colour - mode general - lander highres - mode low_res - mode objective0 - objective objective1 - objective rover0 - rover rover0store - store waypoint0 - waypoint waypoint1 - waypoint waypoint2 - waypoint waypoint3 - waypoint)
+  (:init 
+    (visible waypoint1 waypoint0)
+    (visible waypoint0 waypoint1)
+    (visible waypoint2 waypoint0)
+    (visible waypoint0 waypoint2)
+    (visible waypoint2 waypoint1)
+    (visible waypoint1 waypoint2)
+    (visible waypoint3 waypoint0)
+    (visible waypoint0 waypoint3)
+    (visible waypoint3 waypoint1)
+    (visible waypoint1 waypoint3)
+    (visible waypoint3 waypoint2)
+    (visible waypoint2 waypoint3)
+    (at_soil_sample waypoint0)
+    (at_rock_sample waypoint1)
+    (at_soil_sample waypoint2)
+    (at_rock_sample waypoint2)
+    (at_soil_sample waypoint3)
+    (at_rock_sample waypoint3)
+    (at_lander general waypoint0)
+    (channel_free general)
+    (at rover0 waypoint3)
+    (available rover0)
+    (store_of rover0store rover0)
+    (empty rover0store)
+    (equipped_for_soil_analysis rover0)
+    (equipped_for_rock_analysis rover0)
+    (equipped_for_imaging rover0)
+    (can_traverse rover0 waypoint3 waypoint0)
+    (can_traverse rover0 waypoint0 waypoint3)
+    (can_traverse rover0 waypoint3 waypoint1)
+    (can_traverse rover0 waypoint1 waypoint3)
+    (can_traverse rover0 waypoint1 waypoint2)
+    (can_traverse rover0 waypoint2 waypoint1)
+    (on_board camera0 rover0)
+    (calibration_target camera0 objective1)
+    (supports camera0 colour)
+    (supports camera0 highres)
+    (visible_from objective0 waypoint0)
+    (visible_from objective0 waypoint1)
+    (visible_from objective0 waypoint2)
+    (visible_from objective0 waypoint3)
+    (visible_from objective1 waypoint0)
+    (visible_from objective1 waypoint1)
+    (visible_from objective1 waypoint2)
+    (visible_from objective1 waypoint3)
+  )
+  (:goal (and (communicatedsoildata waypoint2)
+  (communicatedrockdata waypoint3)))
+
+)