заработал экспорт из path в domain.pddl
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Mark Voltov
parent
b18a9421ab
commit
a57ab8e9bd
8 changed files with 223 additions and 55 deletions
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cg/freecad/Frames/pddl/MillingMachine.FCStd
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cg/freecad/Frames/pddl/MillingMachine.FCStd
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cg/freecad/Frames/pddl/PartDesignExample.FCStd
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cg/freecad/Frames/pddl/PartDesignExample.FCStd
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@ -1,97 +1,86 @@
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(define (domain Printer)
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(define (domain fabrication)
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(:requirements :strips :typing :fluents :durative-actions)
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(:types
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printer workspace - zone
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endmill workspace - zone
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part
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arm
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assembly
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human
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filament
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)
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(:predicates
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(arm_available ?a - arm)
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(endmill_is_ready endmill task observer)
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(part_at ?p - part ?z - zone)
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(printer_ready ?p - printer)
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(printer_checked ?p - printer)
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(printer_at_work ?p - printer)
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(part_of ?part - part ?whole - assembly)
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(endmill_ready ?p - printer)
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(endmill_checked ?p - printer)
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(endmill_at_work ?p - printer)
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(assembly_order ?prev ?next - assembly)
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(assembled ?whole - assembly ?z - zone)
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(observer_free ?h - human)
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(filament_at ?f - filament ?z - zone)
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)
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(:functions
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)
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(:durative-action print
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:parameters ( ?p - part ?pr - printer )
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:duration ( = ?duration 20)
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(:action predpreparing
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:parameters ()
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:condition (and
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(at start(printer_ready ?pr))
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(not endmill_is_ready)
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)
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:effect (and
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(at start (not (printer_ready ?pr)))
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(at start (printer_at_work ?pr ))
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(at end(part_at ?p ?pr))
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(at end (not (printer_at_work ?pr )))
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(endmill_is_ready)
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)
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)
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(:durative-action remove
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:parameters ( ?p - part ?pr - printer ?z - zone ?a - arm )
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:duration ( = ?duration 1)
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(:durative-action PartDesignExample_TC: Default Tool
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:parameters ( )
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:duration ( = ?duration 157)
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:condition (and
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(at start (part_at ?p ?pr))
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(at start (arm_available ?a))
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(endmill_is_ready)
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)
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:effect (and
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(at start (not (arm_available ?a)))
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(at end (part_at ?p ?z))
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(at end (arm_available ?a))
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(at end (printer_ready ?pr))
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)
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)
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(:durative-action assemble
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:parameters ( ?p - part ?prev ?next - assembly ?z - zone ?arm - arm ?w - workspace )
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:duration ( = ?duration 5)
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(:durative-action PartDesignExample_TC: Default Tool
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:parameters ( )
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:duration ( = ?duration 170)
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:condition (and
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(at start (assembled ?prev ?w))
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(at start (part_at ?p ?w))
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(at start (part_of ?p ?next))
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(at start (arm_available ?arm))
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(at start (assembly_order ?prev ?next))
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(endmill_is_ready)
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)
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:effect (and
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(at start (not (arm_available ?arm)))
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(at end (not (part_at ?p ?w)))
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(at end (arm_available ?arm))
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(at end (assembled ?next ?w))
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)
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)
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(:durative-action printer_check
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:parameters ( ?p - printer ?h - human )
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:duration ( = ?duration 1)
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(:durative-action PartDesignExample_TC: Default Tool
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:parameters ( )
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:duration ( = ?duration 78)
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:condition (and
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(at start ( observer_free ?h ))
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(endmill_is_ready)
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)
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:effect (and
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(at start (not (observer_free ?h)))
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(at end (observer_free ?h))
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(at end (printer_checked ?p))
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)
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)
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(:durative-action printer_filament_load
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:parameters ( ?p - printer ?h - human ?f - filament ?z - zone )
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:duration ( = ?duration 5)
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(:durative-action PartDesignExample_TC: Default Tool
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:parameters ( )
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:duration ( = ?duration 157)
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:condition (and
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(at start (printer_checked ?p))
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(at start (observer_free ?h))
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(at start (filament_at ?f ?z))
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(endmill_is_ready)
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)
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:effect (and
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)
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)
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(:durative-action PartDesignExample_TC: Default Tool
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:parameters ( )
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:duration ( = ?duration 170)
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:condition (and
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(endmill_is_ready)
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)
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:effect (and
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)
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)
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(:durative-action PartDesignExample_TC: Default Tool
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:parameters ( )
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:duration ( = ?duration 78)
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:condition (and
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(endmill_is_ready)
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)
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:effect (and
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(at start (not(observer_free ?h)))
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(at end (observer_free ?h))
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(at end (printer_ready ?p))
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(at end (not (filament_at ?f ?z)))
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)
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)
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)
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97
cg/freecad/Frames/pddl/etalon_domain.pddl
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cg/freecad/Frames/pddl/etalon_domain.pddl
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@ -0,0 +1,97 @@
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(define (domain Printer)
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(:requirements :strips :typing :fluents :durative-actions)
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(:types
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printer workspace - zone
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part
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arm
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assembly
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human
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filament
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)
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(:predicates
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(arm_available ?a - arm)
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(part_at ?p - part ?z - zone)
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(printer_ready ?p - printer)
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(printer_checked ?p - printer)
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(printer_at_work ?p - printer)
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(part_of ?part - part ?whole - assembly)
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(assembly_order ?prev ?next - assembly)
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(assembled ?whole - assembly ?z - zone)
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(observer_free ?h - human)
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(filament_at ?f - filament ?z - zone)
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)
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(:functions
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)
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(:durative-action print
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:parameters ( ?p - part ?pr - printer )
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:duration ( = ?duration 20)
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:condition (and
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(at start(printer_ready ?pr))
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)
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:effect (and
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(at start (not (printer_ready ?pr)))
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(at start (printer_at_work ?pr ))
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(at end(part_at ?p ?pr))
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(at end (not (printer_at_work ?pr )))
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)
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)
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(:durative-action remove
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:parameters ( ?p - part ?pr - printer ?z - zone ?a - arm )
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:duration ( = ?duration 1)
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:condition (and
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(at start (part_at ?p ?pr))
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(at start (arm_available ?a))
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)
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:effect (and
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(at start (not (arm_available ?a)))
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(at end (part_at ?p ?z))
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(at end (arm_available ?a))
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(at end (printer_ready ?pr))
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)
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)
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(:durative-action assemble
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:parameters ( ?p - part ?prev ?next - assembly ?arm - arm ?w - workspace )
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:duration ( = ?duration 5)
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:condition (and
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(at start (assembled ?prev ?w))
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(at start (part_at ?p ?w))
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(at start (part_of ?p ?next))
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(at start (arm_available ?arm))
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(at start (assembly_order ?prev ?next))
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)
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:effect (and
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(at start (not (arm_available ?arm)))
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(at end (not (part_at ?p ?w)))
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(at end (arm_available ?arm))
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(at end (assembled ?next ?w))
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)
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)
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(:durative-action printer_check
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:parameters ( ?p - printer ?h - human )
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:duration ( = ?duration 1)
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:condition (and
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(at start ( observer_free ?h ))
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)
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:effect (and
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(at start (not (observer_free ?h)))
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(at end (observer_free ?h))
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(at end (printer_checked ?p))
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)
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)
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(:durative-action printer_filament_load
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:parameters ( ?p - printer ?h - human ?f - filament ?z - zone )
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:duration ( = ?duration 5)
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:condition (and
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(at start (printer_checked ?p))
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(at start (observer_free ?h))
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(at start (filament_at ?f ?z))
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)
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:effect (and
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(at start (not(observer_free ?h)))
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(at end (observer_free ?h))
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(at end (printer_ready ?p))
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(at end (not (filament_at ?f ?z)))
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)
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)
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)
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BIN
cg/freecad/Frames/pddl/test_asm.FCStd
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cg/freecad/Frames/pddl/test_asm.FCStd
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82
cg/freecad/Frames/pddldomain.pddl
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82
cg/freecad/Frames/pddldomain.pddl
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(define (domain fabrication)
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(:requirements :strips :typing :fluents :durative-actions)
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(:types
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['endmill workspace - zone', 'part', 'arm', 'assembly', 'human', '']
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)
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(:predicates
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(endmill_is_ready endmill task observer)
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(part_at [?p - part ?z - zone])
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(endmill_ready ?p - printer)
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(endmill_checked ?p - printer)
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(endmill_at_work ?p - printer)
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(assembly_order ?prev ?next - assembly)
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(assembled ?whole - assembly ?z - zone)
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(observer_free ?h - human)
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)
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(:functions
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)
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(:action predpreparing
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:parameters ()
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:condition (and
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(not endmill_is_ready)
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)
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:effect (and
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(endmill_is_ready)
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)
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)
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(:durative-action PartDesignExample_TC: Default Tool
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:parameters ( )
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:duration ( = ?duration 00:02:37)
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:condition (and
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(endmill_is_ready)
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)
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:effect (and
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)
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)
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(:durative-action PartDesignExample_TC: Default Tool
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:parameters ( )
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:duration ( = ?duration 00:02:50)
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:condition (and
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(endmill_is_ready)
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)
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:effect (and
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)
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)
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(:durative-action PartDesignExample_TC: Default Tool
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:parameters ( )
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:duration ( = ?duration 00:01:18)
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:condition (and
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(endmill_is_ready)
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)
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:effect (and
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)
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)
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(:durative-action PartDesignExample_TC: Default Tool
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:parameters ( )
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:duration ( = ?duration 00:02:37)
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:condition (and
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(endmill_is_ready)
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)
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:effect (and
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)
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)
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(:durative-action PartDesignExample_TC: Default Tool
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:parameters ( )
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:duration ( = ?duration 00:02:50)
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:condition (and
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(endmill_is_ready)
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)
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:effect (and
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)
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)
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(:durative-action PartDesignExample_TC: Default Tool
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:parameters ( )
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:duration ( = ?duration 00:01:18)
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:condition (and
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(endmill_is_ready)
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)
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:effect (and
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)
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)
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)
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