adding domain

pddl/helper/fs.py

@@ -13,3 +13,5 @@ class FS:
 
         f.write(data)
 
+    def readFile(path:str):
+        return open(path).read()

pddl/mocks/domain.txt

@@ -0,0 +1,20 @@
+;; Modified domain taken from
+;; "Knowledge transfer in robot manipulation tasks" by Jacob O. Huckaby 2014 
+(define (domain robossembler)
+    (:requirements :strips :typing :adl :fluents :durative-actions)
+    (:types
+        printer workspace - zone
+        part
+        arm
+        assembly
+    )
+
+    (:predicates
+        (arm_available ?a - arm)
+        (part_at ?p - part ?z - zone)
+        (printer_ready ?p - printer)
+        (part_of ?part - part ?whole - assembly)
+        (assembly_order ?prev ?next - assembly)
+        (assembled ?whole - assembly ?z - zone)
+    )
+);; end Domain ;;;;;;;;;;;;;;;;;;;;;;;;

pddl/src/usecases/assembly_to_pddl_use_case.py

@@ -1,6 +1,8 @@
 from typing import List
+from helper.fs import FS
 from unified_planning.shortcuts import *
 from unified_planning import *
+import os
 
 
 class AssemblyToPddlUseCase:
@@ -34,4 +36,8 @@ class AssemblyToPddlUseCase:
         goal = Fluent(rootLabel)
         problem.add_goal(connected(objectsPartPddl[objectsPartPddl.__len__(
         ) - 1], objectsAsmToPddl[objectsAsmToPddl.__len__() - 1]),)
-        return {"problem": unified_planning.io.PDDLWriter(problem).get_problem(), 'domain': unified_planning.io.PDDLWriter(problem).get_domain()}
+
+        return {
+            "problem": unified_planning.io.PDDLWriter(problem).get_problem(),
+            'domain':  FS.readFile(os.path.dirname(os.path.realpath(__file__)) + '/../../mocks' + '/domain.txt'),
+        }