working in reduced space, removed store and changed domain

planetarium/__init__.py

@@ -22,7 +22,7 @@
 
 # load domains
 for domain in resources.files(domains).iterdir():
-  with domain.open() as f:
-    DOMAINS[os.path.basename(domain).split(".")[0]] = f.read()
+    with domain.open() as f:
+        DOMAINS[os.path.basename(domain).split(".")[0]] = f.read()
 
 from .evaluate import evaluate

planetarium/domains/rover-single.pddl

@@ -1,17 +1,15 @@
 (define (domain rover-single)
   (:requirements :strips :typing)
   (:types
-    waypoint store camera mode objective
+    waypoint camera mode objective
   )
 
   (:predicates
     (at_rover ?y - waypoint)
     (at_lander ?y - waypoint)
     (can_traverse ?x - waypoint ?y - waypoint)
-    (empty ?s - store)
     (have_rock_analysis ?w - waypoint)
     (have_soil_analysis ?w - waypoint)
-    (full ?s - store)
     (supports ?c - camera ?m - mode)
     (available)
     (visible ?w - waypoint ?p - waypoint)
@@ -33,23 +31,15 @@
   )
 
   (: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 ?p)
-      (not (at_soil_sample ?p)))
+    :parameters (?p - waypoint)
+    :precondition (and (at_rover ?p) (at_soil_sample ?p))
+    :effect (and (have_soil_analysis ?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 ?p)
-      (not (at_rock_sample ?p)))
-  )
-
-  (:action drop
-    :parameters (?y - store)
-    :precondition (full ?y)
-    :effect (and (not (full ?y)) (empty ?y))
+    :parameters (?p - waypoint)
+    :precondition (and (at_rover ?p) (at_rock_sample ?p))
+    :effect (and (have_rock_analysis ?p))
   )
 
   (:action take_image

planetarium/evaluate.py

@@ -10,6 +10,7 @@
 VALIDATE = os.getenv("VALIDATE", "Validate")
 DOWNWARD = os.getenv("DOWNWARD", "downward")
 
+
 def evaluate(
     source_pddl_str: str,
     target_pddl_str: str,

planetarium/graph.py

@@ -8,6 +8,11 @@
 import networkx as nx
 import rustworkx as rx
 
+from pddl.core import And, Problem, Domain
+from pddl.logic.predicates import Predicate
+from pddl.logic.terms import Constant
+from pddl.formatter import problem_to_string
+
 
 class Label(str, enum.Enum):
     CONSTANT = "constant"
@@ -578,3 +583,49 @@ def join(init: SceneGraph, goal: SceneGraph) -> "ProblemGraph":
             domain=init.domain,
             requirements=init._requirements,
         )
+
+    def to_pddl_str(self) -> str:
+        """
+        Convert a ProblemGraph object to a PDDL problem description string.
+
+        NOTE: REQUIREMENTS ARE NOT SUPPORTED YET.
+
+        Parameters:
+            graph (ProblemGraph): The ProblemGraph object to convert.
+
+        Returns:
+            str: A string containing the PDDL problem description.
+        """
+        constant_objs = [
+            Constant(name=n.name)
+            for n in self.nodes
+            if n.label == Label.CONSTANT
+        ]
+
+        init_predicates = []
+        goal_predicates = []
+        for n in (n for n in self.nodes if n.label == Label.PREDICATE):
+            args: list[PlanGraphNode] = [
+                v for v, _ in sorted(self.out_edges(n), key=lambda e: e[1].position)
+            ]
+            pddl_args = [
+                Constant(name=v.name)
+                for v in args
+            ]
+
+            predicate = Predicate(n.typing, *pddl_args)
+            if n.scene == Scene.INIT:
+                init_predicates.append(predicate)
+            elif n.scene == Scene.GOAL:
+                goal_predicates.append(predicate)
+
+        return problem_to_string(
+            Problem(
+                name="name",
+                domain=Domain(name=self.domain, requirements=[]),
+                objects=constant_objs,
+                init=sorted(init_predicates),
+                goal=And(*sorted(goal_predicates)),
+                requirements=[],
+            )
+        )