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[pddl_planner/demos/2013_fridge_demo] fix bug #81

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[pddl_planner/demos/2013_fridge_demo] fix bug #81

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9a94989
[pddl_planner/demos/2013_fridge_demo] fix bug
Naoki-Hiraoka Jun 19, 2020
4a688dc
Merge branch 'master' into fix-2013-fridge-demo
k-okada Sep 29, 2023
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99 changes: 53 additions & 46 deletions pddl/pddl_planner/demos/2013_fridge_demo/solve-bring-can.l
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Original file line number Diff line number Diff line change
Expand Up @@ -55,30 +55,16 @@
(AT PREGRASP))
:effect '((ONHAND ?OBJ)))

(instance pddl-action :init
:name "grasp_f"
:parameters '((?OBJ object))
:precondition '((NOT (ONHAND ?OBJ))
(NOT (CLOSED))
(AT PREGRASP))
:effect '())

(instance pddl-action :init
:name "move-to"
:parameters '((?FROM ?TO spot))
:precondition '((AT ?FROM)
(NOT (= ?FROM SOMEWHERE))
(NOT (= ?FROM ?TO)))
:effect '((AT ?TO)
(NOT (AT ?FROM))))
(instance pddl-action :init
:name "move-to_f"
:parameters '((?FROM ?TO spot))
:precondition '((AT ?FROM)
(NOT (= ?TO SOMEWHERE))
(NOT (= ?FROM ?TO)))
:effect '((AT SOMEWHERE)
:effect '((AT ?TO)
(NOT (AT ?FROM))))

(instance pddl-action :init
:name "move-recoverly"
:parameters '()
Expand All @@ -87,13 +73,6 @@
:effect '((AT FRONTFRIDGE)
(NOT (AT SOMEWHERE))))

(instance pddl-action :init
:name "move_rec_f"
:parameters '()
:precondition '((AT SOMEWHERE)
(CLOSED))
:effect '())

(instance pddl-action :init
:name "open-door"
:parameters '()
Expand All @@ -102,42 +81,20 @@
(CLOSED))
:effect '((NOT (CLOSED))))

(instance pddl-action :init
:name "open_f"
:parameters '()
:precondition '((AT FRONTFRIDGE)
(NOT (ONHAND CAN))
(CLOSED))
:effect '())

(instance pddl-action :init
:name "close-door"
:parameters '()
:precondition '((NOT (CLOSED))
(AT PRECLOSE))
:effect '((CLOSED)))

(instance pddl-action :init
:name "close_f"
:parameters '()
:precondition '((NOT (CLOSED))
(AT PRECLOSE))
:effect '())

(instance pddl-action :init
:name "try-close"
:parameters '()
:precondition '((NOT (CLOSED))
(AT SOMEWHERE))
:effect '((CLOSED)))

(instance pddl-action :init
:name "close_try_f"
:parameters '()
:precondition '((NOT (CLOSED))
(AT SOMEWHERE))
:effect '())

))
;;add action to domain
(dolist (act *action-list*)
Expand All @@ -146,7 +103,57 @@
;;
;; solve planning
;;
(setq *failed-nodes* (list 'move-to))
(setq *failed-nodes*
(list
(list 'move-to
(instance pddl-action :init
:name "move-to_f"
:parameters '((?FROM ?TO spot))
:precondition '((AT ?FROM)
(NOT (= ?FROM SOMEWHERE))
(NOT (= ?TO SOMEWHERE))
(NOT (= ?FROM ?TO)))
:effect '((AT SOMEWHERE)
(NOT (AT ?FROM)))))
(list 'grasp-object
(instance pddl-action :init
:name "grasp_f"
:parameters '((?OBJ object))
:precondition '((NOT (ONHAND ?OBJ))
(NOT (CLOSED))
(AT PREGRASP))
:effect '()))
(list 'move-recoverly
(instance pddl-action :init
:name "move_rec_f"
:parameters '()
:precondition '((AT SOMEWHERE)
(CLOSED))
:effect '()))
(list 'open-door
(instance pddl-action :init
:name "open_f"
:parameters '()
:precondition '((AT FRONTFRIDGE)
(NOT (ONHAND CAN))
(CLOSED))
:effect '()))

(list 'close-door
(instance pddl-action :init
:name "close_f"
:parameters '()
:precondition '((NOT (CLOSED))
(AT PRECLOSE))
:effect '()))
(list 'try-close
(instance pddl-action :init
:name "close_try_f"
:parameters '()
:precondition '((NOT (CLOSED))
(AT SOMEWHERE))
:effect '()))
))
(setq *graph*
(pddl-plan-to-graph nil :domain *domain* :problem *problem* :failed-nodes *failed-nodes* :debug t))
(pprint *result*)
Expand Down
36 changes: 22 additions & 14 deletions pddl/pddl_planner/src/eus-pddl.l
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Original file line number Diff line number Diff line change
Expand Up @@ -594,13 +594,17 @@
))

(:check-condition (st act)
(let ((action (find-if #'(lambda (x)
(equal
(or
(and (send self :use-durative-action)
(caaddr act))
(car act))
(intern (string-upcase (send x :name))))) (send domain :action)))
(let ((action (if (and (not (atom (car act)))
(not (send self :use-durative-action))
(derivedp (caar act) pddl-action))
(caar act)
(find-if #'(lambda (x)
(equal
(or
(and (send self :use-durative-action)
(caaddr act))
(car act))
(intern (string-upcase (send x :name))))) (send domain :action))))
param pcond)
(unless action
(return-from :check-condition nil))
Expand Down Expand Up @@ -707,13 +711,17 @@
))
(:apply-action (st act)
(if (send self :check-condition st act)
(let ((action (find-if #'(lambda (x)
(equal
(or
(and (send self :use-durative-action)
(caaddr act))
(car act))
(intern (string-upcase (send x :name))))) (send domain :action)))
(let ((action (if (and (not (atom (car act)))
(not (send self :use-durative-action))
(derivedp (caar act) pddl-action))
(caar act)
(find-if #'(lambda (x)
(equal
(or
(and (send self :use-durative-action)
(caaddr act))
(car act))
(intern (string-upcase (send x :name))))) (send domain :action))))
param effect (tmp-st st))
(unless action
(return-from :apply-action nil))
Expand Down
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