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33 lines
636 B
33 lines
636 B
(define (domain turtlebot_demo)
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(:requirements :strips :typing :fluents :disjunctive-preconditions :durative-actions)
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(:types
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waypoint
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robot
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)
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(:predicates
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(robot_at ?v - robot ?wp - waypoint)
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(connected ?from ?to - waypoint)
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(visited ?wp - waypoint)
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)
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(:functions
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(distance ?wp1 ?wp2 - waypoint)
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)
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;; Move between any two waypoints, avoiding terrain
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(:durative-action goto_waypoint
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:parameters (?v - robot ?from ?to - waypoint)
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:duration ( = ?duration 10)
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:condition (and
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(at start (robot_at ?v ?from)))
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:effect (and
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(at end (visited ?to))
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(at start (not (robot_at ?v ?from)))
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(at end (robot_at ?v ?to)))
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)
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)
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