Примеры PDDL для роботизированной сборки

docs/pddl/assembly_domain_hackaby.pddl

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

docs/pddl/assembly_domain_soar.pddl

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+;; Assembly domain in ADL (from the SGP distribution).
+
+(define (domain assembly_soar)
+   (:requirements :adl)
+   (:types
+   	assembly
+   	resource
+ )  ;; individual parts are atomic assemblies
+   (:predicates
+   	(available ?x - (either resource assembly))
+		(complete ?a - assembly)
+		(requires ?a - assembly ?r - resource)
+		(committed ?r - resource ?a - assembly)
+		(incorporated ?part ?whole - assembly)
+		(part-of ?part ?whole - assembly)
+		(to-be-removed ?part ?whole - assembly)
+		(assemble-order ?part1 ?part2 ?whole - assembly)
+		(transient-part ?part ?whole - assembly)
+		;; after ?part1 is included, ?part2 must be removed
+		;; for the ?whole to be complete:
+		(remove-order ?part1 ?part2 ?whole - assembly))
+
+   (:action detect
+      :parameters (?res - resource ?as - assembly)
+      :precondition (available ?res)
+      :effect (and (not (available ?res))
+		   (object-detected ?res ?as)))
+
+   (:action commit
+      :parameters (?res - resource ?as - assembly)
+      :precondition (available ?res)
+      :effect (and (not (available ?res))
+		   (committed ?res ?as)))
+
+   (:action release
+      :parameters (?res - resource ?as - assembly)
+      :precondition (committed ?res ?as)
+      :effect (and (not (committed ?res ?as))
+		   (available ?res)))
+
+   (:action assemble
+      :parameters (?part ?whole - assembly)
+      :precondition (and (forall (?res - resource)
+			    (imply (requires ?whole ?res)
+				   (committed ?res ?whole)))
+			 (or (part-of ?part ?whole)
+			     (transient-part ?part ?whole))
+			 (available ?part)
+			 (forall (?prev - assembly)
+			    (imply (assemble-order ?prev ?part ?whole)
+				   (incorporated ?prev ?whole))))
+      :effect (and (incorporated ?part ?whole)
+		   (not (available ?part))
+		   (when (and (not (exists (?p - assembly)
+				      (and (part-of ?p ?whole)
+	                                   (not (= ?p ?part))
+					   (not (incorporated ?p ?whole)))))
+			      (not (exists (?tp - assembly)
+				      (and (transient-part ?tp ?whole)
+					   (incorporated ?tp ?whole)))))
+			 (and (complete ?whole)
+			      (available ?whole)))))
+
+   ;; you can remove the last part added, or a cleanup part at the
+   ;; end.
+   (:action remove
+      :parameters (?part ?whole - assembly)
+      :precondition (and (forall (?res - resource)
+			    (imply (requires ?whole ?res)
+				   (committed ?res ?whole)))
+			 (incorporated ?part ?whole)
+			 (or (and (transient-part ?part ?whole)
+				  (forall (?prev1 - assembly)
+				     (imply
+				        (remove-order ?prev1 ?part ?whole)
+					(incorporated ?prev1 ?whole))))
+			     (and (part-of ?part ?whole)
+				  (not (exists (?prev2 - assembly)
+					  (and (assemble-order
+						  ?prev2 ?part ?whole)
+					       (incorporated
+						  ?prev2 ?whole)))))))
+      :effect (and (not (incorporated ?part ?whole))
+		               (available ?part)
+                   (when (and (not (exists (?p - assembly)
+                                           (and (part-of ?p ?whole)
+                                                (not (incorporated ?p ?whole))
+                                           )
+                                   )
+                              )
+                              (not (exists (?tp - assembly)
+                                           (and (transient-part ?tp ?whole)
+                                                (not (= ?tp ?part))
+                                                (incorporated ?tp ?whole))
+                                   )
+                              )
+                         )
+                         (and (complete ?whole)
+                              (available ?whole))
+                   )
+              ))
+   )

docs/pddl/assembly_problem_hackaby.pddl

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+(define (problem p1) (:domain assembly_domain_hackaby)
+(:objects
+	arm1 arm2 - arm
+	gearbox - part
+	part-bin workspace - workspace
+	grip - tool )
+(:init
+	(arm-canreach arm1 part-bin)
+	(arm-canreach arm1 workspace)
+	(arm-canreach arm2 part-bin)
+	(arm-canreach arm2 workspace)
+	(arm-at arm1 part-bin)
+	(arm-at arm2 workspace)
+	(arm-capabilities arm1 grip)
+	(arm-capabilities arm1 detect)
+	(arm-capabilities arm2 grip)
+	(arm-capabilities arm2 detect)
+	(arm-active arm1 grip)
+	(arm-active arm2 grip)
+	(arm-holding arm1 no-part)
+	(arm-holding arm2 no-part)
+	(part-at gearbox part-bin))
+(:goal
+	(and (part-state gearbox glue)
+	(part-state gearbox weld)
+	(part-at gearbox assembly-line)))
+)

docs/pddl/assembly_problem_soar.pddl

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+(define (problem assembly_problem_soar)
+   (:domain assembly_soar)
+   (:objects input_shaft_aSiduw19sd bracket whatsis sprocket doodad contraption
+             wire gimcrack plug hoozawhatsie thingumbob coil fastener
+             widget - assembly
+             grip-tool1 grip-tool2 arm1 arm2 equipment - resource)
+   (:init (available sprocket)
+          (available doodad)
+          (available contraption)
+          (available wire)
+          (available plug)
+          (available hoozawhatsie)
+          (available thingumbob)
+          (available fastener)
+          (available widget)
+          (available charger)
+          (available pliers)
+          (requires bracket charger)
+          (requires whatsis pliers)
+          (requires gimcrack pliers)
+          (requires coil pliers)
+          (part-of bracket kludge)
+          (part-of coil kludge)
+          (part-of whatsis bracket)
+          (part-of gimcrack bracket)
+          (part-of sprocket whatsis)
+          (part-of doodad whatsis)
+          (part-of contraption whatsis)
+          (part-of wire whatsis)
+          (part-of plug gimcrack)
+          (part-of hoozawhatsie gimcrack)
+          (part-of thingumbob gimcrack)
+          (part-of fastener coil)
+          (part-of widget coil)
+          (assemble-order bracket coil kludge)
+          (assemble-order whatsis gimcrack bracket)
+          (assemble-order wire contraption whatsis)
+          (assemble-order plug thingumbob gimcrack))
+   (:goal (complete kludge)))

docs/pddl/assembly_problem_soar.plan

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+;;!domain: assembly_soar
+;;!problem: assembly_problem_soar
+
+0.00100: (commit charger bracket)
+0.00200: (commit pliers coil)
+0.00300: (assemble fastener coil) : SDF (fastener, coil) +  + skill -> SDF (fastenercoil)
+		(print bracket-1)  - sdf model-gazebo: "bracket"
+		(print bracket-2)
+0.00400: (assemble braket-1 bracket-2)
+0.00500: (release pliers coil)
+0.00600: (commit pliers gimcrack)
+0.00700: (assemble plug gimcrack)
+0.00800: (assemble thingumbob gimcrack)
+0.00900: (assemble hoozawhatsie gimcrack)
+0.01000: (release pliers gimcrack)
+0.01100: (commit pliers whatsis)
+0.01200: (assemble sprocket whatsis)
+0.01300: (assemble doodad whatsis)
+0.01400: (assemble wire whatsis)
+0.01500: (assemble contraption whatsis)
+0.01600: (assemble whatsis bracket)
+0.01700: (assemble gimcrack bracket)
+0.01800: (assemble bracket kludge)
+0.01900: (assemble coil kludge)
+
+; Makespan: 0.019
+; Metric: 0.019
+
+assemble_fastener_coil
+assemble_coil_kludge