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domain.pddl
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domain.pddl
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(define (domain construction_monitoring)
(:requirements :strips :typing :fluents)
(:types
robot location configuration sensor analysis)
(:predicates
(at ?r - robot ?l - location)
(connected ?l1 - location ?l2 - location)
(stable ?r - robot)
(inspected ?l - location ?c - configuration ?s - sensor)
(manipulator_extended ?r - robot)
(manipulator_retracted ?r - robot)
(manipulator_positioned ?r - robot ?c - configuration)
(sensors_on ?r - robot)
(sensors_off ?r - robot)
(data_collected ?r - robot ?l - location ?c - configuration ?s - sensor)
(data_transferred ?r - robot ?l - location ?c - configuration ?s - sensor)
(data_processed_onboard ?r - robot ?l - location ?c - configuration ?s - sensor)
(structural_integrity_analyzed ?l - location ?c - configuration ?s - sensor)
(worker_activity_analyzed ?l - location ?c - configuration ?s - sensor)
(temperature_variation_analyzed ?l - location ?c - configuration ?s - sensor)
(additional_inspection_required ?l - location ?c - configuration ?s - sensor)
(initial_inspection_done ?l - location ?c - configuration ?s - sensor)
(inspection_done_twice ?l - location ?c - configuration ?s - sensor)
(analysis_processing_or_transfer_done ?l - location ?c - configuration ?s - sensor)
(another_use_sensor_done ?l - location ?c - configuration ?s - sensor)
(data_formatted ?r - robot ?l - location ?c - configuration ?s - sensor)
(bim_updated ?r - robot ?l - location)
(session_closed ?r - robot ?l - location)
)
(:functions
(inspection_count ?l - location ?c - configuration ?s - sensor))
(:action move
:parameters (?r - robot ?from - location ?to - location)
:precondition
(and (at ?r ?from) (connected ?from ?to) (manipulator_retracted ?r)
(or (and (inspected ?from config camera)
(structural_integrity_analyzed ?from config camera)
(data_transferred ?r ?from config camera))
(and (inspected ?from config lidar)
(worker_activity_analyzed ?from config lidar)
(data_processed_onboard ?r ?from config lidar))
(and (inspected ?from config thermal)
(temperature_variation_analyzed ?from config thermal)
(data_processed_onboard ?r ?from config thermal))))
:effect (and (not (at ?r ?from)) (at ?r ?to) (not (stable ?r)))
)
(:action stabilize
:parameters (?r - robot ?l - location)
:precondition (at ?r ?l)
:effect (stable ?r)
)
(:action extend_manipulator
:parameters (?r - robot ?l - location)
:precondition (and (at ?r ?l) (stable ?r) (manipulator_retracted ?r))
:effect (and (manipulator_extended ?r) (not (manipulator_retracted ?r)))
)
(:action position_endefector
:parameters (?r - robot ?c - configuration)
:precondition (and (manipulator_extended ?r) (not (manipulator_positioned ?r ?c)))
:effect (manipulator_positioned ?r ?c)
)
(:action turn_on_sensors
:parameters (?r - robot)
:precondition (and (manipulator_extended ?r) (sensors_off ?r))
:effect (and (sensors_on ?r) (not (sensors_off ?r)))
)
(:action use_sensor_and_collect_data
:parameters (?r - robot ?l - location ?c - configuration ?s - sensor)
:precondition
(and (at ?r ?l) (manipulator_positioned ?r ?c) (sensors_on ?r))
:effect (and (data_collected ?r ?l ?c ?s)
(increase (inspection_count ?l ?c ?s) 1))
)
(:action turn_off_sensors
:parameters (?r - robot)
:precondition (sensors_on ?r)
:effect (and (sensors_off ?r) (not (sensors_on ?r)))
)
(:action retract_manipulator
:parameters (?r - robot)
:precondition (and (manipulator_extended ?r) (sensors_off ?r))
:effect (and (manipulator_retracted ?r) (not (manipulator_extended ?r))
(forall (?c - configuration) (not (manipulator_positioned ?r ?c))))
)
(:action inspect
:parameters (?r - robot ?l - location ?c - configuration ?s - sensor)
:precondition
(and (data_collected ?r ?l ?c ?s)
(or (and (data_transferred ?r ?l ?c ?s) (= ?s camera))
(and (data_processed_onboard ?r ?l ?c ?s) (or (= ?s lidar) (= ?s thermal))))
(manipulator_extended ?r))
:effect (inspected ?l ?c ?s)
)
(:action analyze_structural_integrity
:parameters (?r - robot ?l - location ?c - configuration ?s - sensor)
:precondition (data_collected ?r ?l ?c ?s)
:effect (structural_integrity_analyzed ?l ?c ?s)
)
(:action transfer_raw_data
:parameters (?r - robot ?l - location ?c - configuration ?s - sensor)
:precondition (structural_integrity_analyzed ?l ?c ?s)
:effect (data_transferred ?r ?l ?c ?s)
)
(:action analyze_worker_activity
:parameters (?r - robot ?l - location ?c - configuration ?s - sensor)
:precondition (data_collected ?r ?l ?c ?s)
:effect (worker_activity_analyzed ?l ?c ?s)
)
(:action process_worker_activity_onboard
:parameters (?r - robot ?l - location ?c - configuration ?s - sensor)
:precondition (worker_activity_analyzed ?l ?c ?s)
:effect (data_processed_onboard ?r ?l ?c ?s)
)
(:action analyze_temperature_variation
:parameters (?r - robot ?l - location ?c - configuration ?s - sensor)
:precondition (data_collected ?r ?l ?c ?s)
:effect (temperature_variation_analyzed ?l ?c ?s)
)
(:action process_temperature_variation_onboard
:parameters (?r - robot ?l - location ?c - configuration ?s - sensor)
:precondition (temperature_variation_analyzed ?l ?c ?s)
:effect (data_processed_onboard ?r ?l ?c ?s)
)
(:action another_inspection_required
:parameters (?r - robot ?l - location ?c - configuration ?s - sensor)
:precondition
(and (inspected ?l ?c ?s)
(or (and (structural_integrity_analyzed ?l ?c ?s)
(data_transferred ?r ?l ?c ?s))
(and (worker_activity_analyzed ?l ?c ?s)
(data_processed_onboard ?r ?l ?c ?s))
(and (temperature_variation_analyzed ?l ?c ?s)
(data_processed_onboard ?r ?l ?c ?s))))
:effect
(and (initial_inspection_done ?l ?c ?s)
(not (another_use_sensor_done ?l ?c ?s))))
(:action collect_more_data
:parameters
(?r - robot ?l - location ?c - configuration ?s - sensor)
:precondition (initial_inspection_done ?l ?c ?s)
:effect (another_use_sensor_done ?l ?c ?s))
(:action analyze_and_process_or_transfer_data
:parameters (?r - robot ?l - location ?c - configuration ?s - sensor)
:precondition
(and (initial_inspection_done ?l ?c ?s)
(another_use_sensor_done ?l ?c ?s))
:effect (analysis_processing_or_transfer_done ?l ?c ?s))
(:action second_inspection_done
:parameters (?r - robot ?l - location ?c - configuration ?s - sensor)
:precondition
(and (initial_inspection_done ?l ?c ?s)
(inspected ?l ?c ?s)
(analysis_processing_or_transfer_done ?l ?c ?s))
:effect (inspection_done_twice ?l ?c ?s))
(:action format_data_and_analyses
:parameters (?r - robot ?l - location ?c - configuration ?s - sensor)
:precondition (and (at ?r ?l) (or (inspected ?l ?c ?s) (inspection_done_twice ?l ?c ?s)))
:effect (data_formatted ?r ?l ?c ?s)
)
(:action update_bim
:parameters (?r - robot ?l - location ?c - configuration ?s - sensor)
:precondition (data_formatted ?r ?l ?c ?s)
:effect (bim_updated ?r ?l))
(:action close_session
:parameters (?r - robot ?l - location)
:precondition (and (at ?r ?l) (bim_updated ?r ?l))
:effect (session_closed ?r ?l)
)
)