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Примеры PDDL для роботизированной сборки

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movefasta 2022-09-26 14:12:50 +03:00
parent 376613b6b6
commit fc0fc53683
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docs/pddl/assembly_problem_soar.plan Executable file
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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