Add PDDL, 3D-assets & SDF-URDF generator from Blender Scene Config

pddl/mocks/domain.txt

@@ -1,9 +1,7 @@
-;; 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
+        workspace - zone
         part
         arm
         assembly
@@ -12,9 +10,29 @@
     (: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 ;;;;;;;;;;;;;;;;;;;;;;;;
+
+    (:functions)
+
+
+    (:durative-action assemble
+        :parameters (?p - part ?prev ?next - assembly ?w - workspace ?arm - arm)
+        :duration (= ?duration 5)
+        :condition (and
+            (at start (assembled ?prev ?w))
+            (at start (part_at ?p ?w))
+            (at start (part_of ?p ?next))
+            (at start (arm_available ?arm))
+            (at start (assembly_order ?prev ?next))
+        )
+        :effect (and
+            (at start (not (arm_available ?arm)))
+            (at end (not (part_at ?p ?w)))
+            (at end (arm_available ?arm))
+            (at end (assembled ?next ?w))
+        )
+    )
+)

pddl/mocks/problem.txt

@@ -0,0 +1,25 @@
+(define (problem robossembler-p1)
+    (:domain robossembler)
+    (:objects
+        ;; information from Scene
+        rasmt - arm
+        workspace1 - workspace
+        ;; information from CAD
+        ${types}
+    )
+    (:init
+        ;; information from Scene 
+        (assembled subasm0 workspace1)
+        ${part_at}
+        (arm_available rasmt)
+
+        ;; information from CAD
+        ${assembled}
+    )
+    (:goal
+        (and
+            ;; information from CAD
+            (assembled ${target} workspace1)
+        )
+    )
+)-=