From d242aa78488d66481bd2b3b5cf58afc437c0e3e0 Mon Sep 17 00:00:00 2001 From: Alex Mitrevski Date: Sun, 26 Jan 2020 15:25:44 +0100 Subject: [PATCH] [store_groceries/domain.pddl] Modified the domain so that it's without conditional effects This is due to the fact that ROSPlan doesn't seem to support conditional effects and forall goals: https://github.com/KCL-Planning/ROSPlan/issues/178 --- .../mdr_store_groceries/config/domain.pddl | 13 +------------ 1 file changed, 1 insertion(+), 12 deletions(-) diff --git a/mdr_planning/mdr_scenarios/mdr_robocup_tasks/mdr_store_groceries/config/domain.pddl b/mdr_planning/mdr_scenarios/mdr_robocup_tasks/mdr_store_groceries/config/domain.pddl index 206fc6959..4e365f4e6 100644 --- a/mdr_planning/mdr_scenarios/mdr_robocup_tasks/mdr_store_groceries/config/domain.pddl +++ b/mdr_planning/mdr_scenarios/mdr_robocup_tasks/mdr_store_groceries/config/domain.pddl @@ -1,6 +1,6 @@ (define (domain store-groceries) - (:requirements :strips :typing :equality :conditional-effects) + (:requirements :strips :typing :equality) (:types waypoint @@ -27,7 +27,6 @@ (on ?obj - object ?plane - plane) (holding ?bot - robot ?obj - object) (empty_gripper ?bot - robot) - (groceries_stored) ) (:action move_base @@ -97,16 +96,6 @@ (not (holding ?bot ?obj)) (empty_gripper ?bot) (on ?obj ?plane) - (forall (?o - object ?c - object_class ?p - plane) - (when - (and - (object_category ?o ?c) - (stored_on ?c ?p) - (on ?o ?p) - ) - (groceries_stored) - ) - ) ) ) )