我正在尝试编写一个简单的 PDDL 域和问题,但 Planning.domains 上的规划器返回此错误:
{
"killed": false,
"code": 124,
"signal": null,
"cmd": "timeout 5 python /app/process_solution.py /tmp/solver_planning_domains_tmp_4myYaB2oSdNQC/domain.pddl /tmp/solver_planning_domains_tmp_4myYaB2oSdNQC/problem.pddl /tmp/solver_planning_domains_tmp_4myYaB2oSdNQC/plan /tmp/solver_planning_domains_tmp_4myYaB2oSdNQC/log"
}
如何进行调试?当我的语法不正确时,错误消息更有帮助。我尝试可视化对象层次结构和问题定义,但找不到问题。Torchlight 不适用于 ADL,其他分析工具似乎需要计划。有没有我应该使用的工具?
作为记录,这些是我的域和问题定义(基于 AIPS-1998程序集和 IPC 2011抓手域/问题):
(define (domain assembly-simple)
(:requirements :adl)
(:types assembly - object
robot - robot)
(:predicates (available ?x - object)
(complete ?a - assembly)
(incorporated ?part ?whole - assembly)
(part-of ?part ?whole - assembly)
(assemble-order ?part1 ?part2 ?whole - assembly)
(robot-carries-an-object ?r - robot)
(robot-carries-this-object ?r - robot ?o - object))
(:action pick
:parameters (?robot - robot ?part - object)
:precondition (and (available ?part)
(not (robot-carries-an-object ?robot)))
:effect (and (robot-carries-an-object ?robot)
(robot-carries-this-object ?robot ?part)
(not (available ?part))))
(:action assemble
:parameters (?robot - robot ?part ?whole - assembly)
:precondition (and (robot-carries-this-object ?robot ?part)
(part-of ?part ?whole)
(forall (?prev - assembly)
(imply (assemble-order ?prev ?part ?whole)
(incorporated ?prev ?whole))))
:effect (and
(not (robot-carries-this-object ?robot ?part))
(not (robot-carries-an-object ?robot))
(incorporated ?part ?whole)
(not (available ?part))
(when (not (exists (?p - assembly)
(and (part-of ?p ?whole)
(not (= ?p ?part))
(not (incorporated ?p ?whole)))))
(and (complete ?whole)
(available ?whole)))))
)
问题:
(define (problem simple-prob)
(:domain assembly-simple)
(:objects base-plate motor-plate sub-assembly - assembly
bot - robot)
(:init (not (robot-carries-an-object bot))
(available base-plate)
(available motor-plate)
(available sub-assembly)
(part-of base-plate sub-assembly)
(part-of motor-plate sub-assembly)
(assemble-order base-plate motor-plate sub-assembly))
(:goal (complete sub-assembly)))
提前感谢您的任何指点。