I am trying to code a planification in PDDL with robots that serve tea to persons. This is my domain file:
(define (domain robots)
(:requirements :strips :typing :disjunctive-preconditions)
(:types entidad robot-entidad persona-entidad taza-entidad armario-entidad maquina-entidad localizacion brazo)
(:predicates (at ?x - entidad ?l - location)
(in ?t - taza ?x - entidad)
(free ?r - robot ?b - brazo)
(taza-vacia ?t)
(connected ?l - location ?l1 - location)
)
(:action MOVER
:parameters (?r - robot ?l - localizacion ?l1 - localizacion)
:precondition (and (at-robot ?r ?l)
(connected ?l ?l1))
:effect (and (at-robot ?r ?l1)
(connected ?l ?l1)
(not (at-robot ?r ?l))))
(:action COGER-TAZA
:parameters (?r - robot ?b - brazo ?t - taza ?a - armario ?m - maquina ?p - persona ?l - localizacion)
:precondition (and (at ?r ?l)
(at ?t ?l)
(free ?r ?b)
(or (in ?t ?a) (in ?t ?p) (in ?t ?m) (in ?t ?r))
(or (taza-vacia ?t) (not (taza-vacia ?t))))
:effect (and (or (taza-vacia ?t) (not (taza-vacia ?t)))
(at ?r ?l)
(at ?t ?l)
(in ?t ?r)))
(:action HACER-TE
:parameters (?r - robot ?b - brazo ?t - taza ?m - maquina ?p - persona ?l - localizacion)
:precondition (and (at ?r ?l)
(at ?m ?l)
(at ?t ?l)
(in ?t ?r)
(taza-vacia ?t))
:effect (and (at ?r ?l)
(at ?m ?l)
(at ?t ?l)
(in ?t ?m)
(not (taza-vacia ?t))))
(:action SERVIR-TE
:parameters (?r - robot ?b - brazo ?t - taza ?p - persona ?l - localizacion)
:precondition (and (at ?r ?l)
(at ?t ?l)
(at ?p ?l)
(in ?t ?r)
(not (taza-vacia ?t))
(not (free ?r ?b)))
:effect (and (at ?r ?l)
(at ?t ?l)
(at ?p ?l)
(in ?t ?p)
(not (taza-vacia ?t))
(free ?r ?b)))
)
The error that the metric-ff says is: "syntax error in line 29, 'or': domain definition expected" I'm not able to identify the syntax error. Thanks!
