Merge branch '29-freecad-to-robossembler-communication' of gitlab.com:robosphere/robossembler-ros2 into 29-freecad-to-robossembler-communication

This commit is contained in:
Splinter1984 2022-03-24 21:30:26 +08:00
commit 4ed85d9811
2 changed files with 95 additions and 33 deletions

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;; 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 :typing)
(:requirements :strips :typing :adl :fluents :durative-actions)
(:types
printer workspace - zone ; workspace for assembly operations and storage
arm ; robotic manipulator arm
; grip weld scan - tool ; manipulator tool for grip, weld, solder and other operations
part ; solid part, that cannot be disassembled
assembly ; assembly - can be dissassembled
)
;; Types ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
(:types
robot
zone
gap
part
gripper
frame
printer
material
);; end Types ;;;;;;;;;;;;;;;;;;;;;;;;;
(: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)
)
;; Predicates ;;;;;;;;;;;;;;;;;;;;;;;;;
(:predicates
(enviroment_setup ?r - robot ?g - gripper ?p - part)
);; end Predicates ;;;;;;;;;;;;;;;;;;;;
(:functions)
;; Functions ;;;;;;;;;;;;;;;;;;;;;;;;;
(:functions
(:durative-action print
:parameters (?p - part ?pr - printer)
:duration (= ?duration 10)
:condition (and
(at start (printer-ready ?pr))
)
:effect (and
(at start (not (printer-ready ?pr)))
(at end (part-at ?p ?pr))
)
)
);; end Functions ;;;;;;;;;;;;;;;;;;;;
(:durative-action remove
:parameters (?p - part ?pr - printer ?z - zone ?a - arm)
:duration (= ?duration 1)
:condition (and
(at start (and
(part-at ?p ?pr)
(arm-available ?a)
))
)
:effect (and
(at start (not (arm-available ?a)))
(at end (and
(part-at ?p ?z)
(arm-available ?a)
(printer-ready ?pr)
))
)
)
;; Actions ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
(:durative-action assemble-1
:parameters (?r - robot ?g - gripper ?p - part)
:duration ( = ?duration 1)
:effect (and(at start (enviroment_setup ?r ?g ?p)))
)
;(:durative-action move_gripper
; :parameters (?r - robot ?g - gap)
; :duration ( = ?duration 1)
; :effect (at end(gripper_move ?r ?g))
;)
);; end Domain ;;;;;;;;;;;;;;;;;;;;;;;;
(: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))
)
)
)

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(define (problem p1)
(:domain robossembler)
(:objects
; information from Scene
rasmt - arm
printer1 printer2 - printer
workspace1 - workspace
; information from CAD
part1 part2 - part
subasm0 subasm1 subasm2 - assembly
)
(:init
; information from Scene
(printer-ready printer1)
(printer-ready printer2)
(arm-available rasmt)
; information from CAD
(assembled subasm0 workspace1)
(part-of part1 subasm1)
(part-of part2 subasm2)
(assembly-order subasm0 subasm1)
(assembly-order subasm1 subasm2)
)
(:goal (and
; information from CAD
(assembled subasm2 workspace1)
)
)
)