Restore pddl

robossembler/pddl/domain.pddl

@@ -6,12 +6,16 @@
         printer workspace - zone
         part
         arm
+        assembly
     )
 
     (:predicates
-        (part_at ?p - part ?z - zone)
-        (printer_ready ?pr - printer)
         (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)
     )
 
     (:functions)
@@ -23,6 +27,7 @@
             (at start(printer_ready ?pr))
         )
         :effect (and
+            (at start (not (printer_ready ?pr)))
             (at end(part_at ?p ?pr))
         )
     )
@@ -41,4 +46,22 @@
             (at end (printer_ready ?pr))
         )
     )
+
+    (: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))
+        )
+    )
 );; end Domain ;;;;;;;;;;;;;;;;;;;;;;;;

robossembler/pddl/problem_full.pddl

@@ -0,0 +1,29 @@
+(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)
+	)
+)
+)