aiddl-test.planning.task-network.dock-worker-robot.problem-01.aiddl Maven / Gradle / Ivy

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Provides common types and algorithm implementations for the fast prototyping integrative AI systems with the AIDDL framework.

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(#mod self org.aiddl.test.planning.task-network.dwr.p-01)

(#req SVP org.aiddl.common.planning.state-variable)
(#req TN  org.aiddl.common.planning.task-network)
(#req DWR-basic "../../state-variable/dock-worker-robot/domain.aiddl")
(#req DWR-htn   "domain.aiddl")

(^State@SVP S0
  {
    (belong crane1 loc1) : true
    (belong crane2 loc2) : true
    (belong crane3 loc3) : true

    (attached p1a loc1) : true
    (attached p1b loc1) : true
    (attached p1c loc1) : true

    (attached p2a loc2) : true
    (attached p2b loc2) : true
    (attached p2c loc2) : true

    (attached p3a loc3) : true
    (attached p3b loc3) : true
    (attached p3c loc3) : true

    (empty crane1) : true
    (empty crane2) : true
    (empty crane3) : true 

    (in c11 p1a) : true
    (in c12 p1a) : true
    (top c11 p1a) : true
    (on c11 c12) : true    
    (on c12 pallet) : true
    (top pallet p1b) : true
    (top pallet p1c) : true
    

    (in c21 p2a) : true
    (in c22 p2a) : true
    (in c23 p2a) : true   
    (top c21 p2a) : true
    (on c21 c22) : true        
    (on c22 c23) : true    
    (on c23 pallet) : true
    (top pallet p2b) : true
    (top pallet p2c) : true
    

    (in c31 p3a) : true
    (in c32 p3a) : true
    (in c33 p3a) : true
    (in c34 p3a) : true       
    (top c31 p3a) : true
    (on c31 c32) : true            
    (on c32 c33) : true        
    (on c33 c34) : true    
    (on c34 pallet) : true
    (top pallet p3b) : true
    (top pallet p3c) : true

  })

(^Goal@SVP G
  {
    (on c11 c12) : true
    (on c12 pallet) : true
    (in c12 p1c) : true

    ;; (on c21 c22) : true
    ;; (on c22 c23) : true
    ;; (on c23 pallet) : true
    ;; (in c23 p2c) : true

    ;; (on c31 c32) : true
    ;; (on c32 c33) : true
    ;; (on c33 c34) : true   
    ;; (on c34 pallet) : true
    ;; (in c34 p3c) : true

  }
)

(^org.aiddl.type.term.collection.set D
  {
    t_robot:{}
    t_location:{loc1 loc2 loc3}
    t_crane:{crane1 crane2 crane3}
    t_pile:{p1a p1b p1c p2a p2b p2c p3a p3b p3c}
    t_container:{pallet c11 c12 c13 c21 c22 c23 c31 c32 c33}
  })

(^TotalOrderStnProblem@TN problem
  (
    operators:O@DWR-basic
    domains:$D
    methods:M@DWR-htn
    initial-state:$S0
    
    open-tasks:[(move-stack p1a p1b)]
  )
)