I'm taking the yb_drill_TBM2 example and converting it for use with a time planner (POPF).
I am not able to identify the error can you help me?
DOMAIN:
; Specification in PDDL1 of the rockin TBM2 drill test domain
; author : Oscar Lima, olima_84@yahoo.com
(define (domain idmind_agent)
(:requirements :strips :typing :fluents :negative-preconditions :disjunctive-preconditions :durative-actions )
(:types
location ; locations in the arena, points of interest
robot ; your amazing yet powerful robot
object ; objects to be manipulated by the robot
gripper ; robot gripper
robot_platform ; platform slots for the robot to store objects
)
(:predicates
; robot ?r is at location ?l
(at ?r - robot ?l - location)
; object ?o is on location ?l
(on ?o - object ?l - location)
; object ?o is stored on robot platform ?rp
(stored ?o - object ?rp - robot_platform)
; robot platform ?rp is occupied, yb has 3 free places to store objects
(occupied ?rp - robot_platform)
; gripper ?g is holding object ?o
(holding ?g - gripper ?o - object)
; gripper ?g is free (does not contain object)
(gripper_is_free ?g - gripper)
)
; moves a robot ?r from ?source - location to a ?destination - location
; NOTE : the situation in which the robot arm is in any position before moving
; is not handled at the planning level, hence we advise to always move the arm
; to a folded position, then navigate
(:durative-action move_base
:parameters (?source ?destination - location ?r - robot ?g - gripper)
:duration (= ?duration 1)
:condition (and (at start (at ?r ?source))
(over all (gripper_is_free ?g))
)
:effect (and
(at start (not (at ?r ?source)))
(at end (at ?r ?destination))
)
)
; pick an object ?o which is inside a location ?l with a free gripper ?g
; with robot ?r that is at location ?l
(:durative-action pick
:parameters (?o - object ?l - location ?r - robot ?g - gripper)
:duration (= ?duration 1)
:condition (and (at start (on ?o ?l))
(over all (at ?r ?l))
(at start (gripper_is_free ?g))
)
:effect (and (at end (holding ?g ?o))
(at start (not (on ?o ?l)))
(at start (not (gripper_is_free ?g)))
)
)
; stage an object ?o in a robot platform ?rp which is not occupied with a gripper ?g
; which is holding the object ?o
(:durative-action stage
:parameters (?o - object ?rp - robot_platform ?g - gripper)
:duration (= ?duration 1)
:condition (and (at start (holding ?g ?o))
(at start (not (occupied ?rp)))
(at start (not (gripper_is_free ?g)))
)
:effect (and (at start (not (holding ?g ?o)))
(at start (gripper_is_free ?g))
(at start (stored ?o ?rp))
(at start (occupied ?rp))
)
)
; unstage an object ?o stored on a robot platform ?rp with a free gripper ?g
(:durative-action unstage
:parameters (?o - object ?rp - robot_platform ?g - gripper)
:duration (= ?duration 1)
:condition (and (at start (gripper_is_free ?g))
(at start (stored ?o ?rp))
(at start (not (holding ?g ?o)))
)
:effect (and (at start (not (gripper_is_free ?g)))
(at start (not (stored ?o ?rp)))
(at start (not (occupied ?rp)))
(at start(holding ?g ?o))
)
)
; places and object ?o with a gripper ?g which is holding the object ?o
; with a robot ?r at a location ?l on robot_platform ?rp
(:durative-action drop_on_platform
:parameters (?o - object ?l - location ?g - gripper ?r - robot ?rp - robot_platform)
:duration (= ?duration 1)
:condition (and (over all (at ?r ?l))
(at start (holding ?g ?o))
(at start (not (stored ?o ?rp)))
)
:effect (and (at end (gripper_is_free ?g)) ; the gripper is free
(at end (on ?o ?l)) ; object is now on location l
(at start (not (holding ?g ?o))) ; the gripper is no longer holding the object
)
)
)
Problem:
(define (problem problem_1)
(:domain idmind_agent)
(:objects
dock S1 S2 S3 S4 S5 - location
platform_middle platform_left platform_right - robot_platform
idmind - robot
o1 o2 - object
robotiq - gripper
)
(:init
(at idmind dock)
(on o1 S2)
(on o2 S2)
(not (occupied platform_middle))
(not (occupied platform_left))
(not (occupied platform_right))
(gripper_is_free robotiq)
)
(:goal
(and
(on o1 S1)
(on o2 S4)
)
)
)
But I'm getting this error that I'm not being able to understand. I wonder if you can help me with what I'm missing.
rosrun rosplan_planning_system popf new.domain.pddl new_problem.pddl
Critical Errors Encountered in Domain/Problem File
--------------------------------------------------
Due to critical errors in the supplied domain/problem file, the planner
has to terminate. The errors encountered are as follows:
Errors: 1, warnings: 9
new_problem.pddl: line: 11: Warning: Undeclared requirement :typing
new_problem.pddl: line: 11: Warning: Undeclared requirement :typing
new_problem.pddl: line: 11: Warning: Undeclared requirement :typing
new_problem.pddl: line: 11: Warning: Undeclared requirement :typing
new_problem.pddl: line: 11: Warning: Undeclared requirement :typing
new_problem.pddl: line: 14: Warning: Undeclared symbol: at
new_problem.pddl: line: 15: Warning: Undeclared symbol: on
new_problem.pddl: line: 17: Warning: Undeclared symbol: occupied
new_problem.pddl: line: 20: Warning: Undeclared symbol: gripper_is_free
new_problem.pddl: line: 30: Error: Syntax error in problem file - types used, but no :types section in domain file.
Thank you very much in advance for your help.
