PDDL-based Goal Formulation Preconditions for the Decentral Agent

cfg/conf.d/clips-executive.yaml

@@ -250,6 +250,7 @@ clips-executive:
               - rcll/production-strategy.clp
               - rcll/exploration.clp
               - rcll/goal-lock-expiration.clp
+              - rcll/goal-class.clp
           - name: goal-expander
             file: rcll/fixed-sequence.clp
           - name: action-selection

src/clips-specs/rcll/domain.clp

@@ -192,13 +192,13 @@
     (domain-object (name CCG1) (type cap-carrier))
     (domain-object (name CCG2) (type cap-carrier))
     (domain-object (name CCG3) (type cap-carrier))
-    (domain-object (name ?bs) (type mps))
-    (domain-object (name ?cs1) (type mps))
-    (domain-object (name ?cs2) (type mps))
-    (domain-object (name ?ds) (type mps))
-    (domain-object (name ?rs1) (type mps))
-    (domain-object (name ?rs2) (type mps))
-    (domain-object (name ?ss) (type mps))
+    (domain-object (name ?bs) (type bs))
+    (domain-object (name ?cs1) (type cs))
+    (domain-object (name ?cs2) (type cs))
+    (domain-object (name ?ds) (type ds))
+    (domain-object (name ?rs1) (type rs))
+    (domain-object (name ?rs2) (type rs))
+    (domain-object (name ?ss) (type ss))
     (domain-object (name INPUT) (type mps-side))
     (domain-object (name OUTPUT) (type mps-side))
     (domain-object (name WAIT) (type mps-side))
@@ -280,6 +280,20 @@
     (domain-fact (name mps-side-free) (param-values ?rs2 OUTPUT))
     (domain-fact (name mps-side-free) (param-values ?ds OUTPUT))
     (domain-fact (name mps-side-free) (param-values ?ss OUTPUT))
+    (domain-fact (name mps-has-side) (param-values ?bs INPUT))
+    (domain-fact (name mps-has-side) (param-values ?cs1 INPUT))
+    (domain-fact (name mps-has-side) (param-values ?cs2 INPUT))
+    (domain-fact (name mps-has-side) (param-values ?rs1 INPUT))
+    (domain-fact (name mps-has-side) (param-values ?rs2 INPUT))
+    (domain-fact (name mps-has-side) (param-values ?ds INPUT))
+    (domain-fact (name mps-has-side) (param-values ?ss INPUT ))
+    (domain-fact (name mps-has-side) (param-values ?bs OUTPUT))
+    (domain-fact (name mps-has-side) (param-values ?cs1 OUTPUT))
+    (domain-fact (name mps-has-side) (param-values ?cs2 OUTPUT))
+    (domain-fact (name mps-has-side) (param-values ?rs1 OUTPUT))
+    (domain-fact (name mps-has-side) (param-values ?rs2 OUTPUT))
+    (domain-fact (name mps-has-side) (param-values ?ds OUTPUT))
+    (domain-fact (name mps-has-side) (param-values ?ss OUTPUT))
 
     (domain-fact (name wp-cap-color) (param-values CCB1 CAP_BLACK))
     (domain-fact (name wp-cap-color) (param-values CCB2 CAP_BLACK))
@@ -296,6 +310,8 @@
 
     (domain-fact (name rs-filled-with) (param-values ?rs1 ZERO))
     (domain-fact (name rs-filled-with) (param-values ?rs2 ZERO))
+    (domain-fact (name rs-filled-for) (param-values ?rs1 ZERO))
+    (domain-fact (name rs-filled-for) (param-values ?rs2 ZERO))
   )
 
   (assert (domain-facts-loaded))
@@ -315,3 +331,75 @@
 	(wm-robmem-sync-restore)
 	(assert (domain-facts-loaded))
 )
+
+; ----------------- PDDL Goal Formulation Objects and Predicates -------------------
+; the following objects and predicates cary information that make it easier to
+; define goal-formulation preconditions in PDDL by either removing the need for
+; quantification, or by reducing the size of the grounding space in the case of object
+; types.
+; (e.g. to detect if the given order has a workpiece assigned to it,
+; order-has-wp can be used instead just for that order instead of having to use
+; wp-for-order and quantifying over all workpieces)
+
+(defrule domain-assert-mps-polymorphism
+    (domain-object (name ?mps) (type bs|cs|ds|rs|ss))
+    =>
+    (assert (domain-object (name ?mps) (type mps)))
+)
+(defrule domain-assert-fs-polymorphism
+    (domain-object (name ?mps) (type cs|ss))
+    =>
+    (assert (domain-object (name ?mps) (type fs)))
+)
+
+(defrule domain-assert-order-has-wp
+  (domain-fact (name wp-for-order) (param-values ?wp ?order))
+  (not (domain-fact (name order-has-wp) (param-values ?order)))
+  =>
+  (assert (domain-fact (name order-has-wp) (param-values ?order)))
+)
+
+(defrule domain-retract-order-has-wp
+  ?df <- (domain-fact (name order-has-wp) (param-values ?order))
+  (not (domain-fact (name wp-for-order) (param-values ?wp ?order)))
+  =>
+  (retract ?df)
+)
+
+(defrule goal-class-wp-has-order
+    (wm-fact (key domain fact wp-for-order args? wp ?wp ord ?order))
+    (not (domain-fact (name wp-has-order) (param-values ?wp)))
+    =>
+    (assert (domain-fact (name wp-has-order) (param-values ?wp)))
+)
+
+(defrule goal-class-not-wp-has-order
+    ?wmf <- (domain-fact (name wp-has-order) (param-values ?wp))
+    (not (wm-fact (key domain fact wp-for-order args? wp ?wp ord ?order)))
+    =>
+    (retract ?wmf)
+)
+
+(defrule domain-assert-rs-paid-for
+  (domain-fact (name rs-filled-with) (param-values ?rs ?bases-filled))
+  (not (domain-fact (name rs-filled-with) (param-values ?rs ?other-bases&~?bases-filled)))
+  (domain-constant (type ring-num) (value ?required))
+  (not (domain-fact (name rs-paid-for) (param-values ?rs ?required)))
+  (wm-fact (key domain fact rs-sub args? minuend ?bases-filled
+                                         subtrahend ?required
+                                         difference ZERO|ONE|TWO|THREE))
+  =>
+  (assert (domain-fact (name rs-paid-for) (param-values ?rs ?required)))
+)
+
+(defrule domain-retract-rs-paid-for
+  (domain-fact (name rs-filled-with) (param-values ?rs ?bases-filled))
+  (not (domain-fact (name rs-filled-with) (param-values ?rs ?other-bases&~?bases-filled)))
+  (domain-constant (type ring-num) (value ?required))
+  ?df <- (domain-fact (name rs-paid-for) (param-values ?rs ?required))
+  (not (wm-fact (key domain fact rs-sub args? minuend ?bases-filled
+                                         subtrahend ?required
+                                         difference ZERO|ONE|TWO|THREE)))
+  =>
+  (retract ?df)
+)

src/clips-specs/rcll/domain.pddl

@@ -25,8 +25,16 @@
 		robot - object
 		team-color - object
 		location - object
-    waitpoint - location
+		waitpoint - location
 		mps - location
+		;cs - mps
+		bs - mps
+		;ss - mps
+		rs - mps
+		ds - mps
+		fs - mps
+		cs - fs
+		ss - fs
 		mps-typename - object
 		mps-statename - object
 		mps-side - object
@@ -38,14 +46,16 @@
 		cs-operation - object
 		cs-statename - object
 		order - object
-    order-complexity-value - object
+		order-complexity-value - object
 		workpiece - object
 		cap-carrier - workpiece
 		shelf-spot - object
 		ring-num - object
 		zone - object
 		token - object
 		master-token - token
+		refbox-phasename - object
+		refbox-statename - object
 	)
 
 	(:constants
@@ -75,6 +85,7 @@
 		(mps-state ?m - mps ?s - mps-statename)
 		(mps-team ?m - mps ?col - team-color)
 		(mps-side-free ?m - mps ?side - mps-side)
+		(mps-has-side ?m - mps ?side - mps-side)
 		(bs-prepared-color ?m - mps ?col - base-color)
 		(bs-prepared-side ?m - mps ?side - mps-side)
 		(cs-can-perform ?m - mps ?op - cs-operation)
@@ -86,6 +97,8 @@
 		(rs-prepared-color ?m - mps ?col - ring-color)
 		(rs-ring-spec ?m - mps ?r - ring-color ?rn - ring-num)
 		(rs-filled-with ?m - mps ?n - ring-num)
+		(rs-paid-for ?rs - mps ?n - ring-num)
+		(rs-failed-put-slide ?rs - mps ?robot - robot ?wp - workpiece)
 		;rs-sub and rs-inc are static predicates stating the legal ring-num operations
 		(rs-sub ?minuend - ring-num ?subtrahend - ring-num ?difference - ring-num)
 		(rs-inc ?summand - ring-num ?sum - ring-num)
@@ -100,6 +113,10 @@
 		(order-delivery-begin ?ord - order)
 		(order-delivery-end ?ord - order)
 		(order-gate ?ord - order ?gate - ds-gate)
+		(order-producible ?ord - order)
+		(order-deliverable ?ord - order)
+		(order-has-wp ?ord - order)
+		(order-out-of-delivery ?ord -order)
 		(wp-unused ?wp - workpiece)
 		(wp-usable ?wp - workpiece)
 		(wp-at ?wp - workpiece ?m - mps ?side - mps-side)
@@ -110,12 +127,22 @@
 		(wp-cap-color ?wp - workpiece ?col - cap-color)
 		(wp-on-shelf ?wp - workpiece ?m - mps ?spot - shelf-spot)
 		(wp-spawned-for ?wp - workpiece ?r - robot)
-    (wp-for-order ?wp - workpiece ?ord - order)
-    (spot-free ?m - mps ?spot - shelf-spot)
-    (ss-initialized ?m - mps)
-    (ss-stored-wp ?m  - mps ?wp - workpiece)
-    (locked ?name - object)
-    (location-locked ?m - mps ?s - mps-side)
+		(wp-for-order ?wp - workpiece ?ord - order)
+		(wp-has-order ?wp - workpiece)
+		(spot-free ?m - mps ?spot - shelf-spot)
+		(ss-initialized ?m - mps)
+		(ss-stored-wp ?m  - mps ?wp - workpiece)
+		(locked ?name - object)
+		(location-locked ?m - mps ?s - mps-side)
+		(refbox-order-quantity-requested ?order - order ?quantity - integer)
+		(refbox-order-quantity-delivered ?order - order ?quantity - integer)
+		(refbox-game-time  ?value - float)
+		(refbox-points-cyan ?value - integer)
+		(refbox-points-magenta ?value - integer)
+		(refbox-team-color ?value - team-color)
+		(refbox-phase ?value - refbox-phasename)
+		(refbox-state ?value - refbox-statename)
+		(refbox-field-ground-truth ?name - object ?mtype - object ?zone - object ?yaw - float ?orientation - float)
 	)
 
 ;Kind of a hack. actually it should model the removal of present workpieces

src/clips-specs/rcll/execution-monitoring.clp

@@ -8,15 +8,6 @@
 
 
 
-;A timeout for an action
-(deftemplate action-timer
-  (slot plan-id (type SYMBOL))
-  (slot action-id(type NUMBER))
-  (slot timeout-duration)
-  (multislot start-time)
-  (slot status)
-)
-
 (defglobal
   ?*MONITORING-SALIENCE* = 1
   ?*COMMON-TIMEOUT-DURATION* = 30