114 lines
2.9 KiB
Text
114 lines
2.9 KiB
Text
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;; Modified domain taken from
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;; "Knowledge transfer in robot manipulation tasks" by Jacob O. Huckaby 2014
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(define (domain assembly_domain_hackaby)
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(:requirements :strips :typing :adl :fluents)
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(:types
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arm ; robotic manipulator arm
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workspace ; workspace for assembly operations and storage
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grip weld scan - tool ; manipulator tool for grip, weld, solder and other operations
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part ; solid part, that cannot be disassembled
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assembly ; assembly - can dissassembled
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)
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(:predicates
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(arm-canreach ?a - arm ?s - workspace)
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(arm-at ?a - arm ?s - workspace)
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(arm-capabilities ?a - arm ?t - tool)
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(arm-active ?a - arm ?t - tool)
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(arm-holding ?a - arm ?p - part)
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(part-at ?p - part ?s - workspace)
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(part-state ?p - part ?t - tool)
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(pose-detected ?a - arm ?p - part ?s - workspace)
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)
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(:action activate
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:parameters (?a - arm ?old - tool ?new - tool)
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:precondition (and
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(arm-capabilities ?a ?new)
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(arm-active ?a ?old))
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:effect (and
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(arm-active ?a ?new)
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(not (arm-active ?a ?old))) )
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(:action detect-pose-part
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:parameters (?a - arm ?p - part ?s - workspace ?t - scan)
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:precondition (and
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(arm-at ?a ?s)
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(arm-active ?a ?t)
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(part-at ?p ?s))
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:effect (pose-detected ?a ?p ?s)
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)
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(:action detect-pose-workspace
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:parameters (?a - arm ?p - part ?s - workspace)
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:precondition (and
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(arm-at ?a ?s)
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(arm-active ?a detect)
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(arm-holding ?a ?p))
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:effect (pose-detected ?a ?p ?s)
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)
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(:action grasp
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:parameters (?a - arm ?p - part ?s - workspace)
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:precondition (and
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(arm-at ?a ?s)
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(arm-active ?a grip)
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(arm-holding ?a no-part)
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(part-at ?p ?s)
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(pose-detected ?a ?p ?s))
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:effect (and
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(arm-holding ?a ?p)
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(not (arm-holding ?a no-part))
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(not (part-at ?p ?s))
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(not (pose-detected ?a ?p ?s)))
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)
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(:action ungrasp
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:parameters (?a - arm ?p - part ?s - workspace)
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:precondition (and
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(arm-at ?a ?s)
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(arm-active ?a grip)
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(arm-holding ?a ?p)
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(pose-detected ?a ?p ?s))
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:effect (and
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(arm-holding ?a no-part)
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(not (arm-holding ?a ?p))
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(part-at ?p ?s)
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(not (pose-detected ?a ?p ?s)))
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)
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(:action move
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:parameters (?a - arm ?from - workspace ?to - workspace)
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:precondition (and
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(arm-at ?a ?from)
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(arm-canreach ?a ?to)
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(arm-holding ?a no-part))
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:effect (and
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(arm-at ?a ?to)
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(not (arm-at ?a ?from)))
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)
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(:action carry
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:parameters (?a - arm ?p - part ?from - workspace ?to - workspace)
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:precondition (and
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(arm-at ?a ?from)
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(arm-canreach ?a ?to)
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(arm-holding ?a ?p))
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:effect (and
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(arm-at ?a ?to)
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(not (arm-at ?a ?from)))
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)
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(:action employ
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:parameters (?a - arm ?t - tool ?p - part ?s - workspace)
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:precondition (and
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(arm-at ?a ?s)
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(arm-active ?a ?t)
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(arm-holding ?a no-part)
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(part-at ?p ?s)
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(pose-detected ?a ?p ?s))
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:effect (and
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(part-state ?p ?t)
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(not (pose-detected ?a ?p ?s)))
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)
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)
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