deleted problem files

astrobee/survey_manager/survey_planner/problem_jem_survey_modified.pddl

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+;;An example of a problem file for the survey manager domain.
+;;This problem is a modified version of the problem_jem_survey.pddl
+;;This modified problem file, the goals have been changed such that bumble now completes panoramas at jem_bay0 through jem_bay3
+;; and honey completes panoramas at jem_bay5 through jem_bay7.Also, honey now ends at berth1 instead of berth2.
+
+;; Auto-generated by problem_generator.py. Do not edit!
+;; Problem template: jem_survey_template.pddl
+;; Dynamic config: jem_survey_dynamic.yaml
+;; Static config: jem_survey_static.yaml
+
+(define (problem jem-survey-modified)
+    (:domain survey-manager)
+    (:metric minimize (total-time))
+    (:objects
+        jem_bay0 jem_bay1 jem_bay2 jem_bay3 jem_bay4 jem_bay5 jem_bay6 jem_bay7 jem_bay8 berth1 berth2 - location
+        bumble honey - robot
+        o0 o1 o2 o3 o4 o5 o6 o7 o8 o9 - order
+        run1 run2 run3 run4 run5 - run-number
+    )
+
+    (:goal
+        (and
+            (completed-panorama bumble o0 jem_bay0 run1)
+            (completed-panorama bumble o1 jem_bay1 run1)
+            (completed-panorama bumble o2 jem_bay2 run1)
+            (completed-panorama bumble o3 jem_bay3 run1)
+            (completed-stereo bumble o4 jem_bay3 jem_bay0 run1)
+            (completed-panorama honey o0 jem_bay5 run1)
+            (completed-panorama honey o1 jem_bay6 run1)
+            (completed-panorama honey o2 jem_bay7 run1)
+            (robot-at honey berth1)
+        )
+    )
+
+    (:init
+        ;; === Static predicates ===
+        (move-connected jem_bay0 jem_bay1)
+        (move-connected jem_bay1 jem_bay0)
+        (move-connected jem_bay1 jem_bay2)
+        (move-connected jem_bay2 jem_bay1)
+        (move-connected jem_bay2 jem_bay3)
+        (move-connected jem_bay3 jem_bay2)
+        (move-connected jem_bay3 jem_bay4)
+        (move-connected jem_bay4 jem_bay3)
+        (move-connected jem_bay4 jem_bay5)
+        (move-connected jem_bay5 jem_bay4)
+        (move-connected jem_bay5 jem_bay6)
+        (move-connected jem_bay6 jem_bay5)
+        (move-connected jem_bay6 jem_bay7)
+        (move-connected jem_bay7 jem_bay6)
+        (move-connected jem_bay7 jem_bay8)
+        (move-connected jem_bay8 jem_bay7)
+
+        (location-real jem_bay1)
+        (location-real jem_bay2)
+        (location-real jem_bay3)
+        (location-real jem_bay4)
+        (location-real jem_bay5)
+        (location-real jem_bay6)
+        (location-real jem_bay7)
+
+        (dock-connected jem_bay7 berth1)
+        (dock-connected jem_bay7 berth2)
+
+        (robots-different bumble honey)
+        (robots-different honey bumble)
+
+        (locations-different jem_bay0 jem_bay1)
+        (locations-different jem_bay0 jem_bay2)
+        (locations-different jem_bay0 jem_bay3)
+        (locations-different jem_bay0 jem_bay4)
+        (locations-different jem_bay0 jem_bay5)
+        (locations-different jem_bay0 jem_bay6)
+        (locations-different jem_bay0 jem_bay7)
+        (locations-different jem_bay0 jem_bay8)
+        (locations-different jem_bay1 jem_bay0)
+        (locations-different jem_bay1 jem_bay2)
+        (locations-different jem_bay1 jem_bay3)
+        (locations-different jem_bay1 jem_bay4)
+        (locations-different jem_bay1 jem_bay5)
+        (locations-different jem_bay1 jem_bay6)
+        (locations-different jem_bay1 jem_bay7)
+        (locations-different jem_bay1 jem_bay8)
+        (locations-different jem_bay2 jem_bay0)
+        (locations-different jem_bay2 jem_bay1)
+        (locations-different jem_bay2 jem_bay3)
+        (locations-different jem_bay2 jem_bay4)
+        (locations-different jem_bay2 jem_bay5)
+        (locations-different jem_bay2 jem_bay6)
+        (locations-different jem_bay2 jem_bay7)
+        (locations-different jem_bay2 jem_bay8)
+        (locations-different jem_bay3 jem_bay0)
+        (locations-different jem_bay3 jem_bay1)
+        (locations-different jem_bay3 jem_bay2)
+        (locations-different jem_bay3 jem_bay4)
+        (locations-different jem_bay3 jem_bay5)
+        (locations-different jem_bay3 jem_bay6)
+        (locations-different jem_bay3 jem_bay7)
+        (locations-different jem_bay3 jem_bay8)
+        (locations-different jem_bay4 jem_bay0)
+        (locations-different jem_bay4 jem_bay1)
+        (locations-different jem_bay4 jem_bay2)
+        (locations-different jem_bay4 jem_bay3)
+        (locations-different jem_bay4 jem_bay5)
+        (locations-different jem_bay4 jem_bay6)
+        (locations-different jem_bay4 jem_bay7)
+        (locations-different jem_bay4 jem_bay8)
+        (locations-different jem_bay5 jem_bay0)
+        (locations-different jem_bay5 jem_bay1)
+        (locations-different jem_bay5 jem_bay2)
+        (locations-different jem_bay5 jem_bay3)
+        (locations-different jem_bay5 jem_bay4)
+        (locations-different jem_bay5 jem_bay6)
+        (locations-different jem_bay5 jem_bay7)
+        (locations-different jem_bay5 jem_bay8)
+        (locations-different jem_bay6 jem_bay0)
+        (locations-different jem_bay6 jem_bay1)
+        (locations-different jem_bay6 jem_bay2)
+        (locations-different jem_bay6 jem_bay3)
+        (locations-different jem_bay6 jem_bay4)
+        (locations-different jem_bay6 jem_bay5)
+        (locations-different jem_bay6 jem_bay7)
+        (locations-different jem_bay6 jem_bay8)
+        (locations-different jem_bay7 jem_bay0)
+        (locations-different jem_bay7 jem_bay1)
+        (locations-different jem_bay7 jem_bay2)
+        (locations-different jem_bay7 jem_bay3)
+        (locations-different jem_bay7 jem_bay4)
+        (locations-different jem_bay7 jem_bay5)
+        (locations-different jem_bay7 jem_bay6)
+        (locations-different jem_bay7 jem_bay8)
+        (locations-different jem_bay8 jem_bay0)
+        (locations-different jem_bay8 jem_bay1)
+        (locations-different jem_bay8 jem_bay2)
+        (locations-different jem_bay8 jem_bay3)
+        (locations-different jem_bay8 jem_bay4)
+        (locations-different jem_bay8 jem_bay5)
+        (locations-different jem_bay8 jem_bay6)
+        (locations-different jem_bay8 jem_bay7)
+
+        ;; === Dynamic predicates ===
+        (robot-available bumble)
+        (robot-available honey)
+
+        (robot-at bumble berth1)
+        (robot-at honey berth2)
+
+        (location-available jem_bay0)
+        (location-available jem_bay1)
+        (location-available jem_bay2)
+        (location-available jem_bay3)
+        (location-available jem_bay4)
+        (location-available jem_bay5)
+        (location-available jem_bay6)
+        (location-available jem_bay7)
+        (location-available jem_bay8)
+
+        ;; need-stereo predicates must be asserted with identical parameters to the
+        ;; stereo-completed goals.  See the need-stereo docs for more.
+        (need-stereo bumble o4 jem_bay1 jem_bay4 run1)
+
+        ;; === Static numeric fluents ===
+        (= (order-identity o0) 0)
+        (= (order-identity o1) 1)
+        (= (order-identity o2) 2)
+        (= (order-identity o3) 3)
+        (= (order-identity o4) 4)
+        (= (order-identity o5) 5)
+        (= (order-identity o6) 6)
+        (= (order-identity o7) 7)
+        (= (order-identity o8) 8)
+        (= (order-identity o9) 9)
+
+        ;; === Dynamic numeric fluents ===
+        (= (robot-order bumble) -1)
+        (= (robot-order honey) -1)
+    )  ;; end :init
+)  ;; end problem

astrobee/survey_manager/survey_planner/problem_jem_survey_new.pddl

@@ -0,0 +1,178 @@
+;; An example of a problem file for the survey manager domain.
+;;This problem is a modified version of the problem_jem_survey.pddl
+;;This modified problem file, the goals have been changed such that bumble now completes panoramas at jem_bay4 through jem_bay7 
+;; honey completes panoramas at jem_bay0 through jem_bay2. Also, honey is now at berth2.
+
+;; Auto-generated by problem_generator.py. Do not edit!
+;; Problem template: jem_survey_template.pddl
+;; Dynamic config: jem_survey_dynamic.yaml
+;; Static config: jem_survey_static.yaml(define (problem jem-survey-new)
+
+(define (problem jem-survey-new)
+    (:domain survey-manager)
+    (:metric minimize (total-time))
+    (:objects
+        jem_bay0 jem_bay1 jem_bay2 jem_bay3 jem_bay4 jem_bay5 jem_bay6 jem_bay7 jem_bay8 berth1 berth2 - location
+        bumble honey - robot
+        o0 o1 o2 o3 o4 o5 o6 o7 o8 o9 - order
+        run1 run2 run3 run4 run5 - run-number
+    )
+
+    (:goal
+        (and
+            (completed-panorama bumble o0 jem_bay4 run1)
+            (completed-panorama bumble o1 jem_bay5 run1)
+            (completed-panorama bumble o2 jem_bay6 run1)
+            (completed-panorama bumble o3 jem_bay7 run1)
+            (completed-stereo bumble o4 jem_bay7 jem_bay4 run1)
+            (completed-panorama honey o0 jem_bay0 run1)
+            (completed-panorama honey o1 jem_bay1 run1)
+            (completed-panorama honey o2 jem_bay2 run1)
+            (robot-at honey berth2)
+        )
+    )
+
+    (:init
+        ;; === Static predicates ===
+        (move-connected jem_bay0 jem_bay1)
+        (move-connected jem_bay1 jem_bay0)
+        (move-connected jem_bay1 jem_bay2)
+        (move-connected jem_bay2 jem_bay1)
+        (move-connected jem_bay2 jem_bay3)
+        (move-connected jem_bay3 jem_bay2)
+        (move-connected jem_bay3 jem_bay4)
+        (move-connected jem_bay4 jem_bay3)
+        (move-connected jem_bay4 jem_bay5)
+        (move-connected jem_bay5 jem_bay4)
+        (move-connected jem_bay5 jem_bay6)
+        (move-connected jem_bay6 jem_bay5)
+        (move-connected jem_bay6 jem_bay7)
+        (move-connected jem_bay7 jem_bay6)
+        (move-connected jem_bay7 jem_bay8)
+        (move-connected jem_bay8 jem_bay7)
+
+        (location-real jem_bay1)
+        (location-real jem_bay2)
+        (location-real jem_bay3)
+        (location-real jem_bay4)
+        (location-real jem_bay5)
+        (location-real jem_bay6)
+        (location-real jem_bay7)
+
+        (dock-connected jem_bay7 berth1)
+        (dock-connected jem_bay7 berth2)
+
+        (robots-different bumble honey)
+        (robots-different honey bumble)
+
+        (locations-different jem_bay0 jem_bay1)
+        (locations-different jem_bay0 jem_bay2)
+        (locations-different jem_bay0 jem_bay3)
+        (locations-different jem_bay0 jem_bay4)
+        (locations-different jem_bay0 jem_bay5)
+        (locations-different jem_bay0 jem_bay6)
+        (locations-different jem_bay0 jem_bay7)
+        (locations-different jem_bay0 jem_bay8)
+        (locations-different jem_bay1 jem_bay0)
+        (locations-different jem_bay1 jem_bay2)
+        (locations-different jem_bay1 jem_bay3)
+        (locations-different jem_bay1 jem_bay4)
+        (locations-different jem_bay1 jem_bay5)
+        (locations-different jem_bay1 jem_bay6)
+        (locations-different jem_bay1 jem_bay7)
+        (locations-different jem_bay1 jem_bay8)
+        (locations-different jem_bay2 jem_bay0)
+        (locations-different jem_bay2 jem_bay1)
+        (locations-different jem_bay2 jem_bay3)
+        (locations-different jem_bay2 jem_bay4)
+        (locations-different jem_bay2 jem_bay5)
+        (locations-different jem_bay2 jem_bay6)
+        (locations-different jem_bay2 jem_bay7)
+        (locations-different jem_bay2 jem_bay8)
+        (locations-different jem_bay3 jem_bay0)
+        (locations-different jem_bay3 jem_bay1)
+        (locations-different jem_bay3 jem_bay2)
+        (locations-different jem_bay3 jem_bay4)
+        (locations-different jem_bay3 jem_bay5)
+        (locations-different jem_bay3 jem_bay6)
+        (locations-different jem_bay3 jem_bay7)
+        (locations-different jem_bay3 jem_bay8)
+        (locations-different jem_bay4 jem_bay0)
+        (locations-different jem_bay4 jem_bay1)
+        (locations-different jem_bay4 jem_bay2)
+        (locations-different jem_bay4 jem_bay3)
+        (locations-different jem_bay4 jem_bay5)
+        (locations-different jem_bay4 jem_bay6)
+        (locations-different jem_bay4 jem_bay7)
+        (locations-different jem_bay4 jem_bay8)
+        (locations-different jem_bay5 jem_bay0)
+        (locations-different jem_bay5 jem_bay1)
+        (locations-different jem_bay5 jem_bay2)
+        (locations-different jem_bay5 jem_bay3)
+        (locations-different jem_bay5 jem_bay4)
+        (locations-different jem_bay5 jem_bay6)
+        (locations-different jem_bay5 jem_bay7)
+        (locations-different jem_bay5 jem_bay8)
+        (locations-different jem_bay6 jem_bay0)
+        (locations-different jem_bay6 jem_bay1)
+        (locations-different jem_bay6 jem_bay2)
+        (locations-different jem_bay6 jem_bay3)
+        (locations-different jem_bay6 jem_bay4)
+        (locations-different jem_bay6 jem_bay5)
+        (locations-different jem_bay6 jem_bay7)
+        (locations-different jem_bay6 jem_bay8)
+        (locations-different jem_bay7 jem_bay0)
+        (locations-different jem_bay7 jem_bay1)
+        (locations-different jem_bay7 jem_bay2)
+        (locations-different jem_bay7 jem_bay3)
+        (locations-different jem_bay7 jem_bay4)
+        (locations-different jem_bay7 jem_bay5)
+        (locations-different jem_bay7 jem_bay6)
+        (locations-different jem_bay7 jem_bay8)
+        (locations-different jem_bay8 jem_bay0)
+        (locations-different jem_bay8 jem_bay1)
+        (locations-different jem_bay8 jem_bay2)
+        (locations-different jem_bay8 jem_bay3)
+        (locations-different jem_bay8 jem_bay4)
+        (locations-different jem_bay8 jem_bay5)
+        (locations-different jem_bay8 jem_bay6)
+        (locations-different jem_bay8 jem_bay7)
+
+        ;; === Dynamic predicates ===
+        (robot-available bumble)
+        (robot-available honey)
+
+        (robot-at bumble berth1)
+        (robot-at honey berth2)
+
+        (location-available jem_bay0)
+        (location-available jem_bay1)
+        (location-available jem_bay2)
+        (location-available jem_bay3)
+        (location-available jem_bay4)
+        (location-available jem_bay5)
+        (location-available jem_bay6)
+        (location-available jem_bay7)
+        (location-available jem_bay8)
+
+        ;; need-stereo predicates must be asserted with identical parameters to the
+        ;; stereo-completed goals.  See the need-stereo docs for more.
+        (need-stereo bumble o4 jem_bay1 jem_bay4 run1)
+
+        ;; === Static numeric fluents ===
+        (= (order-identity o0) 0)
+        (= (order-identity o1) 1)
+        (= (order-identity o2) 2)
+        (= (order-identity o3) 3)
+        (= (order-identity o4) 4)
+        (= (order-identity o5) 5)
+        (= (order-identity o6) 6)
+        (= (order-identity o7) 7)
+        (= (order-identity o8) 8)
+        (= (order-identity o9) 9)
+
+        ;; === Dynamic numeric fluents ===
+        (= (robot-order bumble) -1)
+        (= (robot-order honey) -1)
+    )  ;; end :init
+)  ;; end problem