Работоспособный скрипт и результаты
This commit is contained in:
Mark Voltov
parent
da7a3c995c
commit
e6c1a3fece
4 changed files with 392 additions and 243 deletions
97
cg/freecad/Frames/pddl/Printer_domain.pddl
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97
cg/freecad/Frames/pddl/Printer_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 ?z - zone ?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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@ -1,42 +1,61 @@
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import FreeCAD as App
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import FreeCADGui as Gui
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doc = App.ActiveDocument
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#функции для создания обьекта действия
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#скорее всего, пойдем как-то по-тупому
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#но вообще, тут прям жесть как нужен нормальный интерфейс
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#функции для создания обьектов PDDL
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def add_types():
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types = doc.addObject('App::FeaturePython', 'Types')
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types.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
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types.addProperty("App::PropertyStringList", 'Type', 'PDDL').Type = 'Types'
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types.addProperty("App::PropertyStringList", 'Types', 'PDDL')
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sortEntity(types)
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print('Types of objects added successfully')
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return(types)
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def add_parameters():
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params = doc.addObject('App::FeaturePython', 'Parameters')
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params.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
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params.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Parameters'
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params.addProperty('App::PropertyPythonObject', 'Parameters','PDDl')
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sortEntity(params)
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print('Domain parameters added successfully')
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return(params)
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def add_action(name):
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#создаем обьект по шаблону, потом заполним ее вручную
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#
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#в следующих сериях мы вытащим из нее все дерьмо
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#name = input('Название действия:')
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# name = input('Название действия:')
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action = doc.addObject('App::FeaturePython', str(name))
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action.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
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action.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Action'
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action.addProperty("App::PropertyStringList", 'Parameters', 'PDDL')
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action.addProperty("App::PropertyStringList", 'Conditions', 'PDDL')
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action.addProperty("App::PropertyStringList", 'Effects', 'PDDL')
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sortEntity(action)
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print('Action ' + name + 'added successfully')
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return(action)
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def add_predicate():
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#предикат - это одна штука на все
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def add_predicate(name, parms):
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#вероятно, нужно создавать предикаты отдельно и функции отдельно
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#ссылаться на них ссылками внутри обьектов
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#нужно название предиката и вовлеченные в него сущности
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# name = input('Название предиката:')
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predicate = doc.addObject('App::FeaturePython', 'Predicates')
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predicate = doc.addObject('App::FeaturePython', str(name))
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predicate.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
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predicate.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Predicate'
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predicate.addProperty("App::PropertyStringList", 'Name', 'PDDL')
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predicate.addProperty("App::PropertyStringList", 'Parameters', 'PDDL')
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# predicate.addProperty("App::PropertyStringList", 'Name', 'PDDL')
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predicate.addProperty("App::PropertyStringList", 'Parameters', 'PDDL').Parameters = parms
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sortEntity(predicate)
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print('Predicate ' + name + 'added successfully')
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return(predicate)
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def add_durative_action(name):
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@ -48,23 +67,30 @@ def add_durative_action(name):
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action.addProperty("App::PropertyStringList", 'Parameters', 'PDDL')
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action.addProperty("App::PropertyStringList", 'Conditions', 'PDDL')
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action.addProperty("App::PropertyStringList", 'Effects', 'PDDL')
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action.addProperty('App::PropertyStringList', 'Duration', 'PDDL')
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action.addProperty('App::PropertyString', 'Duration', 'PDDL')
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sortEntity(action)
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print('Durative Action ' + name + ' added successfully')
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return(action)
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def add_goal(name):
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# name = input('Название цели:')
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goal = doc.addObject('App::FeaturePython', str(name))
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goal.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
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goal.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Goal'
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goal.addProperty("App::PropertyStringList", 'Conditions', 'PDDL')
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#цель задается не здесь, а в problem
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# def add_goal(name):
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file_path = '/home/mark-voltov/GitProjects/framework/cg/freecad/Frames/domain.pddl'
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# # name = input('Название цели:')
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# goal = doc.addObject('App::FeaturePython', str(name))
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# goal.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
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# goal.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Goal'
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# goal.addProperty("App::PropertyStringList", 'Conditions', 'PDDL')
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#сюда нужно поставить нормальную относительную ссылку
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#лучше вообще сохранять это туда, где лежит директория с файлом freecad
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def export_to_file(file_path):
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objs = doc.Objects
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with open(file_path, 'w') as f:
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f.write('(define (domain roboarm)\n \n')
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f.write('(:requirements :strips :typing)\n')
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f.write('(define (domain '+ filename +')\n \n')
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f.write('(:requirements :strips :typing :fluents :durative-actions)\n')
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# Типы обьектов
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types = doc.getObjectsByLabel('Types')[0]
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@ -75,17 +101,19 @@ def export_to_file(file_path):
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f.write(')\n')
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# предикаты
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f.write('(:predicates\n')
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f.write(' (:predicates\n')
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for obj in objs:
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if hasattr(obj, 'PDDL') and hasattr(obj, 'Type') and obj.Type == 'Predicate':
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for names in obj.Name:
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f.write(' (' + names + ' ')
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f.write(' ('+ obj.Label)
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for params in obj.Parameters:
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f.write('(' + params + ') ')
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f.write(' ' + params)
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f.write(')\n')
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f.write(' )\n')
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# функции
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f.write(' (:functions\n')
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f.write(' )\n')
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#действия:
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for obj in objs:
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if hasattr(obj, 'PDDL') and hasattr(obj, 'Type') and obj.Type == 'Action':
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@ -111,223 +139,180 @@ def export_to_file(file_path):
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f.write(' )\n')
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# цели
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f.write(' (:goal (and \n')
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# длительные действия:
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for obj in objs:
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if hasattr(obj, 'PDDL') and hasattr(obj, 'Type') and obj.Type == 'Goal':
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f.write(' (')
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for conds in obj.Conditions:
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if hasattr(obj, 'PDDL') and hasattr(obj, 'Type') and obj.Type == 'DurativeAction':
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f.write('(:durative-action ' + obj.Label + '\n')
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f.write(' :parameters (')
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for params in obj.Parameters:
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f.write(' ' + params )
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f.write(' )\n')
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f.write(' :duration ( = ?duration '+ str(obj.Duration) +')\n')
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f.write(' :condition (and \n')
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f.write( conds + ' ')
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for condition in obj.Conditions:
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f.write(' (' + condition + ') \n')
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# f.write(') ')
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# f.write(')\n')
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f.write(' )\n')
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f.write(') ')
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f.write(' :effect (and \n')
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for effect in obj.Effects:
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f.write(' (' + effect + ') \n')
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# f.write(' ')
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f.write(')\n')
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f.write('))\n')
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# f.write(' )\n')
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f.write(' )\n')
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#сделаем задание обьектов прямо здесь, без лишней головной боли
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f.write(' )\n')
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add_types()
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doc.getObject('Types').Types = ['roboarm', 'workspace', 'assemble']
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# def set_parameters()
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add_action('take')
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obj = doc.getObject('take')
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obj.Parameters = ['?r - roboarm', '?w - workspace']
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obj.Conditions = ['roboarm_free ?r', 'roboarm_available ?r']
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obj.Effects = ['not (roboarm_free ?r)', 'not (roboarm_available ?r)']
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def sortEntity(object):
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#если нету директории, то создадим ее
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if doc.getObjectsByLabel(object.Type) == 0:
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pddl_group = doc.addObject("App::DocumentObjectGroup", str(object.Type))
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else:
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pddl_group = doc.getObject(str(object.Type))
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pddl_group.addObject(object)
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Gui.updateGui()
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add_action('assemble')
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obj = doc.getObject('assemble')
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obj.Parameters = ['?r - roboarm' ,'?w - workspace', '?a - assembly']
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obj.Conditions = ['not(roboarm_free ?r)', 'not(roboarm_available ?r)']
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obj.Effects = ['roboarm_free ?r', 'roboarm_available ?r', 'assembled ?a']
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add_predicate()
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obj = doc.getObject('Predicates')
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obj.Name = ['roboarm_free', 'roboarm_available', 'assembled']
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obj.Parameters = ['?r - roboarm', '?w - workspace']
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#сделаем задание обьектов прямо здесь
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add_goal('goal')
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doc.getObject('goal').Conditions = ['roboarm_free ?r', 'assembled ?a']
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filename = doc.Name
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file_path = '/home/mark-voltov/GitProjects/framework/cg/freecad/Frames/pddl/'+ str(filename) + '_domain.pddl'
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obj = add_types()
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obj.Types = ['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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obj = add_parameters()
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obj.Parameters = {
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'arm':['?a'],
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'zone':['?z'],
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'part':['?part'],
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'assembly': ['?whole', '?prev', '?next'],
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'human':['?h'],
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'filament': ['?f']
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}
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#list_of_predicates
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#temp
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add_predicate('arm_available', '?a - arm' )
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add_predicate('part_at', '?p - part ?z - zone' )
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add_predicate('printer_ready', '?p - printer' )
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add_predicate('printer_checked', '?p - printer' )
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add_predicate('printer_at_work', '?p - printer' )
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add_predicate('part_of', '?part - part ?whole - assembly' )
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add_predicate('assembly_order', '?prev ?next - assembly' )
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add_predicate('assembled', '?whole - assembly ?z - zone' )
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add_predicate('observer_free', '?h - human' )
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add_predicate('filament_at', '?f - filament ?z - zone' )
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# doc.getObject(name).Parameters = '?a - arm'
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obj = add_durative_action('print')
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obj.Parameters = ['?p - part', '?pr - printer']
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obj.Duration = '20'
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obj.Conditions = ['at start(printer_ready ?pr)'] #должно быть at start и at end, todo
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obj.Effects = ['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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obj = add_durative_action('remove')
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obj.Parameters = ['?p - part',
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'?pr - printer',
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'?z - zone',
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'?a - arm'
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]
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obj.Duration = '1'
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obj.Conditions = ['at start (part_at ?p ?pr)',
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'at start (arm_available ?a)']
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obj.Effects = ['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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obj = add_durative_action('assemble')
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obj.Parameters = ['?p - part',
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'?prev ?next - assembly',
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'?z - zone',
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'?arm - arm',
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'?w - workspace'
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]
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obj.Duration = '5'
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obj.Conditions = ['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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obj.Effects = ['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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obj = add_durative_action('printer_check')
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obj.Parameters = ['?p - printer',
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'?h - human'
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]
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obj.Duration = '1'
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obj.Conditions = ['at start ( observer_free ?h )']
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obj.Effects = ['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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obj = add_durative_action('printer_filament_load')
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obj.Parameters = ['?p - printer',
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'?h - human',
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'?f - filament',
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'?z - zone'
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]
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obj.Duration = '5'
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obj.Conditions = ['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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# 'at start (not (printer_at_work ?p))'
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]
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obj.Effects = ['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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# add_action('assemble')
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# obj = doc.getObject('assemble')
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||||
# obj.Parameters = ['?r - roboarm' ,'?w - workspace', '?a - assembly']
|
||||
# obj.Conditions = ['not(roboarm_free ?r)', 'not(roboarm_available ?r)']
|
||||
# obj.Effects = ['roboarm_free ?r', 'roboarm_available ?r', 'assembled ?a']
|
||||
|
||||
# add_predicate()
|
||||
# obj = doc.getObject('Predicates')
|
||||
# obj.Name = ['roboarm_free', 'roboarm_available', 'assembled']
|
||||
# obj.Parameters = ['?r - roboarm', '?w - workspace']
|
||||
|
||||
|
||||
# # add_goal('goal')
|
||||
# doc.getObject('goal').Conditions = ['roboarm_free ?r', 'assembled ?a']
|
||||
|
||||
|
||||
export_to_file(file_path)
|
||||
|
||||
# (:action load-material
|
||||
# :parameters (?m - material ?c - component)
|
||||
# :precondition (and (at ?m ?c) (compatible ?m ?c))
|
||||
# :effect (has-material ?m))
|
||||
|
||||
|
||||
# class PDDLExporter:
|
||||
# def __init__(self):
|
||||
# self.actions = []
|
||||
# self.predicates = []
|
||||
# self.object_types = []
|
||||
# self.goals = []
|
||||
|
||||
# def add_action(self, name, parameters, preconditions, effects):
|
||||
# action = {
|
||||
# 'name': name,
|
||||
# 'parameters': parameters,
|
||||
# 'preconditions': preconditions,
|
||||
# 'effects': effects
|
||||
# }
|
||||
# self.actions.append(action)
|
||||
|
||||
# def add_predicate(self, name, parameters, types):
|
||||
# predicate = {
|
||||
# 'name': name,
|
||||
# 'parameters': parameters,
|
||||
# 'types': types
|
||||
# }
|
||||
# self.predicates.append(predicate)
|
||||
|
||||
# def add_object_type(self, name):
|
||||
# self.object_types.append(name)
|
||||
|
||||
# def add_goal(self, predicates):
|
||||
# self.goals = predicates
|
||||
|
||||
# def export_to_file(self, file_path):
|
||||
# with open(file_path, 'w') as f:
|
||||
# f.write('(define (domain my_domain)\n')
|
||||
# f.write(' (:requirements :strips :typing)\n')
|
||||
|
||||
# # Export object types
|
||||
# f.write(' (:types ')
|
||||
# for obj_type in self.object_types:
|
||||
# f.write(obj_type + ' ')
|
||||
# f.write(')\n')
|
||||
|
||||
# # Export predicates
|
||||
# f.write(' (:predicates\n')
|
||||
# for predicate in self.predicates:
|
||||
# f.write(' (' + predicate['name'] + ' ')
|
||||
# for i, param in enumerate(predicate['parameters']):
|
||||
# f.write('(' + param + ' ' + predicate['types'][i] + ') ')
|
||||
# f.write(')\n')
|
||||
# f.write(' )\n')
|
||||
|
||||
# # Export actions
|
||||
# for action in self.actions:
|
||||
# f.write(' (:action ' + action['name'] + '\n')
|
||||
# f.write(' :parameters (')
|
||||
# for i, param in enumerate(action['parameters']):
|
||||
# f.write('(' + param + ' ' + action['parameters'][param] + ') ')
|
||||
# f.write(')\n')
|
||||
|
||||
# f.write(' :precondition (and ')
|
||||
# for precondition in action['preconditions']:
|
||||
# f.write('(' + precondition['predicate'] + ' ')
|
||||
# for i, param in enumerate(precondition['parameters']):
|
||||
# f.write(param + ' ')
|
||||
# f.write(') ')
|
||||
# f.write(')\n')
|
||||
|
||||
# f.write(' :effect (and ')
|
||||
# for effect in action['effects']:
|
||||
# f.write('(' + effect['predicate'] + ' ')
|
||||
# for i, param in enumerate(effect['parameters']):
|
||||
# f.write(param + ' ')
|
||||
# f.write(') ')
|
||||
# f.write(')\n')
|
||||
|
||||
# f.write(' )\n')
|
||||
|
||||
# # Export goals
|
||||
# f.write(' (:goal (and ')
|
||||
# for goal in self.goals:
|
||||
# f.write('(' + goal['predicate'] + ' ')
|
||||
# for i, param in enumerate(goal['parameters']):
|
||||
# f.write(param + ' ')
|
||||
# f.write(') ')
|
||||
# f.write('))\n')
|
||||
|
||||
# f.write(')\n')
|
||||
|
||||
# # Пример использования
|
||||
# exporter = PDDLExporter()
|
||||
|
||||
# # Добавляем действия
|
||||
# exporter.add_action('move', {'obj': 'object'}, [{'predicate': 'at', 'parameters': ['obj', 'loc']}], [{'predicate': 'at', 'parameters': ['obj', 'new-loc']}, {'predicate': 'not-at', 'parameters': ['obj', 'loc']}])
|
||||
# exporter.add_action('pick', {'obj': 'object', 'hand': 'hand'}, [{'predicate': 'at', 'parameters': ['obj', 'loc']}, {'predicate': 'empty', 'parameters': ['hand']}], [{'predicate': 'holding', 'parameters': ['obj', 'hand']}, {'predicate': 'not-at', 'parameters': ['obj', 'loc']}, {'predicate': 'not-empty', 'parameters': ['hand']}])
|
||||
|
||||
# # Добавляем предикаты
|
||||
# exporter.add_predicate('at', ['obj', 'loc'], ['object', 'location'])
|
||||
# exporter.add_predicate('not-at', ['obj', 'loc'], ['object', 'location'])
|
||||
# exporter.add_predicate('empty', ['hand'], ['hand'])
|
||||
# exporter.add_predicate('holding', ['obj', 'hand'], ['object', 'hand'])
|
||||
|
||||
# # Добавляем типы объектов
|
||||
# exporter.add_object_type('object')
|
||||
# exporter.add_object_type('location')
|
||||
# exporter.add_object_type('hand')
|
||||
|
||||
# # Добавляем цели
|
||||
# exporter.add_goal([{'predicate': 'at', 'parameters': ['obj', 'final-loc']}])
|
||||
|
||||
# # Экспортируем в файл PDDL domain
|
||||
# exporter.export_to_file('domain.pddl')
|
||||
|
||||
|
||||
|
||||
# #генерируем pddl
|
||||
# #импортируем кучу обьектов из дерева построения freecad
|
||||
|
||||
# #задаем шаблон на действие
|
||||
|
||||
# # predicates = ';; Предикаты \n(:predicates \n(at ?c - component ?location - component) \n(printed ?c - component) \n(has-material ?m - material) \n(compatible ?m - material ?c - component))'
|
||||
|
||||
# # # print(predicates)
|
||||
|
||||
|
||||
# # predicates =
|
||||
|
||||
|
||||
# (" ;; Предикаты \
|
||||
# '(:predicates (at ?c - component ?location - component)' \
|
||||
# '(printed ?c - component)' \
|
||||
# '(printed ?c - component))'
|
||||
|
||||
|
||||
|
||||
# (:predicates
|
||||
# (at ?c - component ?location - component)
|
||||
# (printed ?c - component)
|
||||
# (has-material ?m - material)
|
||||
# (compatible ?m - material ?c - component))''
|
||||
|
||||
|
||||
|
||||
# ;; Предикаты
|
||||
# (:predicates
|
||||
# (at ?c - component ?location - component)
|
||||
# (printed ?c - component)
|
||||
# (has-material ?m - material)
|
||||
# (compatible ?m - material ?c - component))
|
||||
|
||||
# ;; Действия
|
||||
# (:action load-material
|
||||
# :parameters (?m - material ?c - component)
|
||||
# :precondition (and (at ?m ?c) (compatible ?m ?c))
|
||||
# :effect (has-material ?m))
|
||||
|
||||
# (:action unload-material
|
||||
# :parameters (?m - material ?c - component)
|
||||
# :precondition (has-material ?m)
|
||||
# :effect (and (not (has-material ?m)) (at ?m ?c)))
|
||||
|
||||
# (:action print-component
|
||||
# :parameters (?c - component)
|
||||
# :precondition (and (at ?c ?printer) (has-material ?m) (compatible ?m ?c))
|
||||
# :effect (printed ?c))
|
||||
|
||||
# ;; Цель
|
||||
# (:goal (forall (?c - component) (printed ?c))))
|
||||
|
|
|
|||
|
|
@ -1,34 +1,45 @@
|
|||
;; 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)
|
||||
(:requirements :strips :typing :adl :fluents :durative-actions )
|
||||
(:types
|
||||
printer workspace - zone
|
||||
part
|
||||
arm
|
||||
assembly
|
||||
human
|
||||
filament
|
||||
)
|
||||
|
||||
(:predicates
|
||||
(arm_available ?a - arm)
|
||||
(part_at ?p - part ?z - zone)
|
||||
|
||||
(printer_ready ?p - printer)
|
||||
(printer_checked ?p - printer)
|
||||
(printer_at_work ?p - printer )
|
||||
|
||||
(part_of ?part - part ?whole - assembly)
|
||||
(assembly_order ?prev ?next - assembly)
|
||||
(assembled ?whole - assembly ?z - zone)
|
||||
(observer_free ?h - human)
|
||||
|
||||
(filament_at ?f - filament ?z - zone)
|
||||
)
|
||||
|
||||
(:functions)
|
||||
|
||||
(:durative-action print
|
||||
:parameters (?p - part ?pr - printer)
|
||||
:duration ( = ?duration 10)
|
||||
:duration ( = ?duration 20)
|
||||
:condition (and
|
||||
(at start(printer_ready ?pr))
|
||||
)
|
||||
:effect (and
|
||||
(at start (not (printer_ready ?pr)))
|
||||
; (at start (printer_at_work ?pr ))
|
||||
(at end(part_at ?p ?pr))
|
||||
; (at end (not (printer_at_work ?pr )))
|
||||
)
|
||||
)
|
||||
|
||||
|
|
@ -38,6 +49,7 @@
|
|||
:condition (and
|
||||
(at start (part_at ?p ?pr))
|
||||
(at start (arm_available ?a))
|
||||
|
||||
)
|
||||
:effect (and
|
||||
(at start (not (arm_available ?a)))
|
||||
|
|
@ -64,4 +76,49 @@
|
|||
(at end (assembled ?next ?w))
|
||||
)
|
||||
)
|
||||
);; end Domain ;;;;;;;;;;;;;;;;;;;;;;;;
|
||||
|
||||
(:durative-action printer_check ; здесь мы подготавливаем сам механизм 3д-принтера
|
||||
:parameters (?p - printer ?h - human)
|
||||
:duration (= ?duration 1)
|
||||
:condition (and
|
||||
(at start ( observer_free ?h ))
|
||||
)
|
||||
|
||||
:effect (and
|
||||
(at start (not (observer_free ?h)))
|
||||
(at end (observer_free ?h))
|
||||
(at end (printer_checked ?p))
|
||||
)
|
||||
|
||||
|
||||
)
|
||||
|
||||
(:durative-action printer_filament_load ; а здесь - заправляем пластик, чтобы он был готов к печати
|
||||
:parameters (?p - printer ?h - human ?f - filament ?w - workspace)
|
||||
:duration (= ?duration 5)
|
||||
:condition (and
|
||||
(at start (printer_checked ?p))
|
||||
(at start (observer_free ?h))
|
||||
(at start (filament_at ?f ?w)) ; филамент в зоне
|
||||
; (at start (not(printer_ready ?p)))
|
||||
|
||||
)
|
||||
:effect (and
|
||||
(at start (not(observer_free ?h)))
|
||||
(at end (observer_free ?h))
|
||||
(at end (printer_ready ?p))
|
||||
(at end (not (filament_at ?f ?w)))
|
||||
|
||||
)
|
||||
)
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
)
|
||||
|
||||
;; end Domain ;;;;;;;;;;;;;;;;;;;;;;;;
|
||||
|
|
|
|||
|
|
@ -5,15 +5,25 @@
|
|||
rasmt - arm
|
||||
printer1 printer2 printer3 - printer
|
||||
workspace1 - workspace
|
||||
worker - human
|
||||
filament1 filament2 filament3 - filament
|
||||
;; information from CAD
|
||||
part1 part2 part3 part4 - part
|
||||
subasm0 subasm1 subasm2 subasm3 subasm4 - assembly
|
||||
)
|
||||
(:init
|
||||
;; information from Scene
|
||||
(printer_ready printer1)
|
||||
(printer_ready printer2)
|
||||
(printer_ready printer3)
|
||||
|
||||
(observer_free worker)
|
||||
; (not(printer_ready printer1))
|
||||
|
||||
; (printer_ready printer2)
|
||||
; (printer_ready printer3)
|
||||
(filament_at filament1 workspace1)
|
||||
(filament_at filament2 workspace1)
|
||||
(filament_at filament3 workspace1)
|
||||
|
||||
|
||||
(arm_available rasmt)
|
||||
;; information from CAD
|
||||
(assembled subasm0 workspace1)
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue