From 55b65824e5e5157914d64c4f8e93842441c811b0 Mon Sep 17 00:00:00 2001 From: igonzf Date: Thu, 23 Jul 2026 09:57:49 +0200 Subject: [PATCH 01/10] add complex domain pddl data --- data/demo_complex_integrated_upf.csv | 51 ++ data/demo_complex_integrated_upf4ros2.csv | 51 ++ data/demo_complex_pddlfile_upf.csv | 51 ++ data/demo_complex_pddlfile_upf4ros2.csv | 51 ++ data/overhead_breakdown_raw.csv | 101 ++++ data/overhead_breakdown_summary.csv | 111 +++++ .../domain_complex_integrated.pddl | 434 ++++++++++++++++++ .../problem_complex_integrated.pddl | 136 ++++++ 8 files changed, 986 insertions(+) create mode 100644 data/demo_complex_integrated_upf.csv create mode 100644 data/demo_complex_integrated_upf4ros2.csv create mode 100644 data/demo_complex_pddlfile_upf.csv create mode 100644 data/demo_complex_pddlfile_upf4ros2.csv create mode 100644 data/overhead_breakdown_raw.csv create mode 100644 data/overhead_breakdown_summary.csv create mode 100644 upf4ros2_demo/test/pddl/upf_robotics_benchmarks/social_robotics/domain_complex_integrated.pddl create mode 100644 upf4ros2_demo/test/pddl/upf_robotics_benchmarks/social_robotics/problem_complex_integrated.pddl diff --git a/data/demo_complex_integrated_upf.csv b/data/demo_complex_integrated_upf.csv new file mode 100644 index 0000000..d52603b --- /dev/null +++ b/data/demo_complex_integrated_upf.csv @@ -0,0 +1,51 @@ +actions,build_add_action_calls,build_add_actions_s,build_add_condition_calls,build_add_conditions_s,build_add_effect_calls,build_add_effects_s,build_add_fluent_calls,build_add_fluents_s,build_add_goal_calls,build_add_goals_s,build_add_object_calls,build_add_objects_s,build_create_action_calls,build_create_actions_s,build_create_fluents_s,build_create_objects_s,build_create_problem_s,build_create_types_s,build_set_durations_s,build_set_initial_value_calls,build_set_initial_values_s,build_total_s,configuration,cpu_s_delta,fluents,goals,loadavg_1m,maxrss_kb_after,maxrss_kb_before,objects,plan_action_count,planner,planning_s,problem_kind,run_id,status,success,supports,total_s 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b/data/demo_complex_integrated_upf4ros2.csv new file mode 100644 index 0000000..205485b --- /dev/null +++ b/data/demo_complex_integrated_upf4ros2.csv @@ -0,0 +1,51 @@ +actions,build_add_action_calls,build_add_actions_s,build_add_condition_calls,build_add_conditions_s,build_add_effect_calls,build_add_effects_s,build_add_fluent_calls,build_add_fluents_s,build_add_goal_calls,build_add_goals_s,build_add_object_calls,build_add_objects_s,build_create_action_calls,build_create_actions_s,build_create_fluents_s,build_create_objects_s,build_create_problem_s,build_create_types_s,build_set_durations_s,build_set_initial_value_calls,build_set_initial_values_s,build_total_s,configuration,cpu_s_delta,fluents,goals,loadavg_1m,maxrss_kb_after,maxrss_kb_before,objects,plan_action_count,plan_log_s,problem_kind,response_extract_s,run_id,serialize_problem_s,server_cpu_s_delta,server_pids,server_rss_kb_after,server_rss_kb_before,service_call_submit_s,service_wait_response_s,success,total_s,wait_service_s 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EFFECTS_KIND: ['FLUENTS_IN_NUMERIC_ASSIGNMENTS', 'INCREASE_EFFECTS', 'DECREASE_EFFECTS'] | TYPING: ['FLAT_TYPING'] | FLUENTS_TYPE: ['REAL_FLUENTS']",1.3930002751294523e-06,11,0.10143481100021745,25.370000000000005,58762,300924,298040,0.08629737199953524,25.458092559999386,True,25.683336371000223,5.927100028202403e-05 +15,15,0.0001447630020265933,161,0.0005940880064372323,125,0.00151215100686386,46,0.00027335600043443264,1,4.739000360132195e-06,47,0.00022532099865202326,15,0.00018187099885835778,0.00018318399997951929,3.841299985651858e-05,2.940500053227879e-05,1.0369999472459313e-05,0.00015759699817863293,205,0.0007374339938905905,0.00724858299963671,upf4ros2_node_problem,0.21382600000000096,46,1,1.06591796875,155840,155840,47,10,0.0016466400002173032,"PROBLEM_CLASS: ['ACTION_BASED'] | PROBLEM_TYPE: ['GENERAL_NUMERIC_PLANNING'] | TIME: ['CONTINUOUS_TIME'] | EXPRESSION_DURATION: ['REAL_TYPE_DURATIONS', 'STATIC_FLUENTS_IN_DURATIONS', 'INT_TYPE_DURATIONS'] | CONDITIONS_KIND: ['NEGATIVE_CONDITIONS'] | EFFECTS_KIND: ['FLUENTS_IN_NUMERIC_ASSIGNMENTS', 'INCREASE_EFFECTS', 'DECREASE_EFFECTS'] | TYPING: ['FLAT_TYPING'] | FLUENTS_TYPE: ['REAL_FLUENTS']",7.910002750577405e-07,12,0.0994739509997089,25.24000000000001,58762,301220,300924,0.08968738399926224,25.24707037999997,True,25.463509647000137,6.288799977482995e-05 +15,15,0.00012722900009976001,161,0.0005760480034950888,125,0.0014500859961117385,46,0.00026247000369039597,1,7.434000508510508e-06,47,0.00021359900074457983,15,0.0001710640008241171,0.00017163199936476303,3.811399892583722e-05,3.240099977119826e-05,1.1230999916733708e-05,0.0001590510000823997,205,0.0007305070112124668,0.007000397000410885,upf4ros2_node_problem,0.20994699999999966,46,1,1.04248046875,155840,155840,47,10,0.0026478590007172897,"PROBLEM_CLASS: ['ACTION_BASED'] | PROBLEM_TYPE: ['GENERAL_NUMERIC_PLANNING'] | TIME: ['CONTINUOUS_TIME'] | EXPRESSION_DURATION: ['REAL_TYPE_DURATIONS', 'STATIC_FLUENTS_IN_DURATIONS', 'INT_TYPE_DURATIONS'] | CONDITIONS_KIND: ['NEGATIVE_CONDITIONS'] | EFFECTS_KIND: ['FLUENTS_IN_NUMERIC_ASSIGNMENTS', 'INCREASE_EFFECTS', 'DECREASE_EFFECTS'] | TYPING: ['FLAT_TYPING'] | FLUENTS_TYPE: ['REAL_FLUENTS']",1.6730000425013714e-06,13,0.09827247599969269,24.97999999999996,58762,301228,301220,0.08863217399994028,24.972922800999186,True,25.189282418000403,6.150599983811844e-05 +15,15,0.00025142299909930443,161,0.001200475996483874,125,0.0028614690054382663,46,0.0005296080007610726,1,6.792999556637369e-06,47,0.0004499540009419434,15,0.00032860699866432697,0.0003058639995288104,7.92459959484404e-05,4.0906999856815673e-05,1.4546999409503769e-05,0.00029845399876649026,205,0.0014677259960080846,0.013818052000715397,upf4ros2_node_problem,0.2188169999999996,46,1,1.08447265625,155840,155840,47,10,0.001636560999941139,"PROBLEM_CLASS: ['ACTION_BASED'] | PROBLEM_TYPE: ['GENERAL_NUMERIC_PLANNING'] | TIME: ['CONTINUOUS_TIME'] | EXPRESSION_DURATION: ['REAL_TYPE_DURATIONS', 'STATIC_FLUENTS_IN_DURATIONS', 'INT_TYPE_DURATIONS'] | CONDITIONS_KIND: ['NEGATIVE_CONDITIONS'] | EFFECTS_KIND: ['FLUENTS_IN_NUMERIC_ASSIGNMENTS', 'INCREASE_EFFECTS', 'DECREASE_EFFECTS'] | TYPING: ['FLAT_TYPING'] | FLUENTS_TYPE: ['REAL_FLUENTS']",1.052000698109623e-06,14,0.10573721499986277,25.94999999999999,58762,298492,301228,0.08414420200006134,25.943671705999805,True,26.170363324999926,6.336899969028309e-05 +15,15,0.00012336999952822225,161,0.0005908649927732768,125,0.001459936998799094,46,0.00027484100064611994,1,5.2400000640773214e-06,47,0.00022024799636710668,15,0.00017385499904776225,0.0001887440002974472,3.926899989892263e-05,3.143899994029198e-05,1.1131000064779073e-05,0.0001547089996165596,205,0.0007433049922838109,0.007063404999826162,upf4ros2_node_problem,0.20328899999999983,46,1,1.16064453125,155840,155840,47,10,0.0012018150000585592,"PROBLEM_CLASS: ['ACTION_BASED'] | PROBLEM_TYPE: ['GENERAL_NUMERIC_PLANNING'] | TIME: ['CONTINUOUS_TIME'] | EXPRESSION_DURATION: ['REAL_TYPE_DURATIONS', 'STATIC_FLUENTS_IN_DURATIONS', 'INT_TYPE_DURATIONS'] | CONDITIONS_KIND: ['NEGATIVE_CONDITIONS'] | EFFECTS_KIND: ['FLUENTS_IN_NUMERIC_ASSIGNMENTS', 'INCREASE_EFFECTS', 'DECREASE_EFFECTS'] | TYPING: ['FLAT_TYPING'] | FLUENTS_TYPE: ['REAL_FLUENTS']",9.90999978967011e-07,15,0.09768071599955874,25.20999999999998,58762,301428,298492,0.08349746799922286,25.31470431100024,True,25.523234395000145,6.523199954244774e-05 +15,15,0.0002563210000516847,161,0.0012024099969494273,125,0.002887636998821108,46,0.0005391489976318553,1,7.10299991624197e-06,47,0.0004476810017877142,15,0.00033317399902443867,0.0003073269999731565,7.813500178599497e-05,4.046599951834651e-05,1.494799926149426e-05,0.00029673800236196257,205,0.0010889990044233855,0.013036074999945413,upf4ros2_node_problem,0.21467599999999898,46,1,1.1044921875,156032,155840,47,10,0.001653822999287513,"PROBLEM_CLASS: ['ACTION_BASED'] | PROBLEM_TYPE: ['GENERAL_NUMERIC_PLANNING'] | TIME: ['CONTINUOUS_TIME'] | EXPRESSION_DURATION: ['REAL_TYPE_DURATIONS', 'STATIC_FLUENTS_IN_DURATIONS', 'INT_TYPE_DURATIONS'] | CONDITIONS_KIND: ['NEGATIVE_CONDITIONS'] | EFFECTS_KIND: ['FLUENTS_IN_NUMERIC_ASSIGNMENTS', 'INCREASE_EFFECTS', 'DECREASE_EFFECTS'] | TYPING: ['FLAT_TYPING'] | FLUENTS_TYPE: ['REAL_FLUENTS']",1.3829994713887572e-06,16,0.10056082000028255,25.269999999999982,58762,301676,301428,0.08510877299977437,25.364573042999837,True,25.58694350099995,6.725599996570963e-05 +15,15,0.0001296010022997507,161,0.0005798810052510817,125,0.001482029001635965,46,0.0007030880015008734,1,4.959999387210701e-06,47,0.0002314060011485708,15,0.00017932699938683072,0.00032461899991176324,4.363800235296367e-05,4.170800002611941e-05,1.591000000189524e-05,0.0001600619980308693,205,0.0007447289926858502,0.00784909100002551,upf4ros2_node_problem,0.20732600000000012,46,1,1.12548828125,156224,156032,47,10,0.0021320010000636103,"PROBLEM_CLASS: ['ACTION_BASED'] | PROBLEM_TYPE: ['GENERAL_NUMERIC_PLANNING'] | TIME: ['CONTINUOUS_TIME'] | EXPRESSION_DURATION: ['REAL_TYPE_DURATIONS', 'STATIC_FLUENTS_IN_DURATIONS', 'INT_TYPE_DURATIONS'] | CONDITIONS_KIND: ['NEGATIVE_CONDITIONS'] | EFFECTS_KIND: ['FLUENTS_IN_NUMERIC_ASSIGNMENTS', 'INCREASE_EFFECTS', 'DECREASE_EFFECTS'] | TYPING: ['FLAT_TYPING'] | FLUENTS_TYPE: ['REAL_FLUENTS']",1.0320000001229346e-06,17,0.10095400800037169,25.139999999999986,58762,301680,301676,0.08465767599955143,25.12845821099927,True,25.345654890000333,6.48220002403832e-05 +15,15,0.0002710009994189022,161,0.0012187739985165535,125,0.0027565109949136968,46,0.0005332890013960423,1,7.19399940862786e-06,47,0.00046339100299519487,15,0.0003401060002943268,0.00030768699980399106,7.887799438321963e-05,4.159800027991878e-05,1.5558999621134717e-05,0.0007351449994530412,205,0.0015675120002924814,0.014685539999845787,upf4ros2_node_problem,0.2130510000000001,46,1,1.08203125,156416,156224,47,10,0.001147382999988622,"PROBLEM_CLASS: ['ACTION_BASED'] | PROBLEM_TYPE: ['GENERAL_NUMERIC_PLANNING'] | TIME: ['CONTINUOUS_TIME'] | EXPRESSION_DURATION: ['REAL_TYPE_DURATIONS', 'STATIC_FLUENTS_IN_DURATIONS', 'INT_TYPE_DURATIONS'] | CONDITIONS_KIND: ['NEGATIVE_CONDITIONS'] | EFFECTS_KIND: ['FLUENTS_IN_NUMERIC_ASSIGNMENTS', 'INCREASE_EFFECTS', 'DECREASE_EFFECTS'] | TYPING: ['FLAT_TYPING'] | FLUENTS_TYPE: ['REAL_FLUENTS']",1.1920001270482317e-06,18,0.09942174299976614,25.32000000000005,58762,298512,301680,0.08570388800035289,25.32616267999947,True,25.548857206999855,6.697600019833772e-05 +15,15,0.0002493860010872595,161,0.00121697000668064,125,0.002874448004149599,46,0.0005386830016504973,1,9.327000043413136e-06,47,0.00044184699981997255,15,0.0003262839982198784,0.0002989509994222317,8.024799990380416e-05,4.296099996281555e-05,1.5830000847927295e-05,0.00029833599819539813,205,0.0015334079953390756,0.014008418999765127,upf4ros2_node_problem,0.26682699999999926,46,1,1.18505859375,156608,156416,47,10,0.0011703059999490506,"PROBLEM_CLASS: ['ACTION_BASED'] | PROBLEM_TYPE: ['GENERAL_NUMERIC_PLANNING'] | TIME: ['CONTINUOUS_TIME'] | EXPRESSION_DURATION: ['REAL_TYPE_DURATIONS', 'STATIC_FLUENTS_IN_DURATIONS', 'INT_TYPE_DURATIONS'] | CONDITIONS_KIND: ['NEGATIVE_CONDITIONS'] | EFFECTS_KIND: ['FLUENTS_IN_NUMERIC_ASSIGNMENTS', 'INCREASE_EFFECTS', 'DECREASE_EFFECTS'] | TYPING: ['FLAT_TYPING'] | FLUENTS_TYPE: ['REAL_FLUENTS']",1.1319998520775698e-06,19,0.14997348300039448,25.30000000000001,58762,301540,298512,0.08307155900001817,25.409253166999406,True,25.683894743000565,6.686599954264238e-05 +15,15,0.00012224900092405733,161,0.0005765060050180182,125,0.0013032379911237513,46,0.0003307690012661624,1,5.009999767935369e-06,47,0.00022093200277595315,15,0.0002827609987434698,0.0004182049997325521,3.879000087181339e-05,4.9313000090478454e-05,1.7903000298247207e-05,0.00015282800086424686,205,0.0007384829996226472,0.007275934999597666,upf4ros2_node_problem,0.21083200000000168,46,1,1.189453125,156608,156608,47,10,0.0011613290007517207,"PROBLEM_CLASS: ['ACTION_BASED'] | PROBLEM_TYPE: ['GENERAL_NUMERIC_PLANNING'] | TIME: ['CONTINUOUS_TIME'] | EXPRESSION_DURATION: ['REAL_TYPE_DURATIONS', 'STATIC_FLUENTS_IN_DURATIONS', 'INT_TYPE_DURATIONS'] | CONDITIONS_KIND: ['NEGATIVE_CONDITIONS'] | EFFECTS_KIND: ['FLUENTS_IN_NUMERIC_ASSIGNMENTS', 'INCREASE_EFFECTS', 'DECREASE_EFFECTS'] | TYPING: ['FLAT_TYPING'] | FLUENTS_TYPE: ['REAL_FLUENTS']",1.0320000001229346e-06,20,0.10180114800004958,25.319999999999993,58762,301704,301540,0.08698316000027262,25.32220476100065,True,25.53668982200088,6.647400005022064e-05 +15,15,0.00011983299918938428,161,0.0005766939848399488,125,0.0013399319905147422,46,0.0005210520066611934,1,4.978999641025439e-06,47,0.0004155879923928296,15,0.00017831500372267328,0.0003198300000804011,9.304000377596822e-05,4.058599915879313e-05,1.4397000995813869e-05,0.0002987709995068144,205,0.0007389399925159523,0.00783726800000295,upf4ros2_node_problem,0.21860999999999997,46,1,1.123046875,156608,156608,47,10,0.00147329500032356,"PROBLEM_CLASS: ['ACTION_BASED'] | PROBLEM_TYPE: ['GENERAL_NUMERIC_PLANNING'] | TIME: ['CONTINUOUS_TIME'] | EXPRESSION_DURATION: ['REAL_TYPE_DURATIONS', 'STATIC_FLUENTS_IN_DURATIONS', 'INT_TYPE_DURATIONS'] | CONDITIONS_KIND: ['NEGATIVE_CONDITIONS'] | EFFECTS_KIND: ['FLUENTS_IN_NUMERIC_ASSIGNMENTS', 'INCREASE_EFFECTS', 'DECREASE_EFFECTS'] | TYPING: ['FLAT_TYPING'] | FLUENTS_TYPE: ['REAL_FLUENTS']",1.3730004866374657e-06,21,0.10471751099976245,25.159999999999968,58762,301716,301704,0.09130902800097829,25.164039835999574,True,25.391401101000156,5.134599996381439e-05 +15,15,0.00012709799921140075,161,0.0005672349852829939,125,0.0014749670026503736,46,0.0002651429967954755,1,4.458999683265574e-06,47,0.00022248200548347086,15,0.00017023899999912828,0.00024158300038834568,3.9373006075038575e-05,4.6967999878688715e-05,1.4867999198031612e-05,0.00014978300168877468,205,0.0007312579928111518,0.007055561000015587,upf4ros2_node_problem,0.2089370000000006,46,1,1.1484375,156608,156608,47,10,0.001160387999334489,"PROBLEM_CLASS: 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FLUENTS_TYPE: ['REAL_FLUENTS']",1.0519997886149213e-06,25,0.10374531700108491,25.190000000000055,58762,301728,301348,0.08839825600080076,25.29685516799873,True,25.51932286900046,7.527100024162792e-05 +15,15,0.00025188300242007244,161,0.0011968399921897799,125,0.00288790199374489,46,0.0005285839979478624,1,8.586001058574766e-06,47,0.00044563599294633605,15,0.00032485999690834433,0.0002957050000986783,7.710700629104394e-05,4.316100057621952e-05,1.541900019219611e-05,0.0002943009985756362,205,0.0015197699976852164,0.014038475001143524,upf4ros2_node_problem,0.21630000000000038,46,1,1.208984375,156608,156608,47,10,0.0012276030010980321,"PROBLEM_CLASS: ['ACTION_BASED'] | PROBLEM_TYPE: ['GENERAL_NUMERIC_PLANNING'] | TIME: ['CONTINUOUS_TIME'] | EXPRESSION_DURATION: ['REAL_TYPE_DURATIONS', 'STATIC_FLUENTS_IN_DURATIONS', 'INT_TYPE_DURATIONS'] | CONDITIONS_KIND: ['NEGATIVE_CONDITIONS'] | EFFECTS_KIND: ['FLUENTS_IN_NUMERIC_ASSIGNMENTS', 'INCREASE_EFFECTS', 'DECREASE_EFFECTS'] | TYPING: 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'DECREASE_EFFECTS'] | TYPING: ['FLAT_TYPING'] | FLUENTS_TYPE: ['REAL_FLUENTS']",9.920004231389612e-07,27,0.09986788099922705,25.190000000000055,58762,298564,301736,0.08869364999918616,25.180131105000328,True,25.394970691000708,6.550299985974561e-05 +15,15,0.00012292200153751764,161,0.0005805249984405236,125,0.0014668510120827705,46,0.0002677770007721847,1,4.92899926030077e-06,47,0.00021935900258540642,15,0.00017549899530422408,0.00017251300050702412,3.8413001675507985e-05,3.254200055380352e-05,1.0309000572306104e-05,0.00015435699970112182,205,0.0007341830059885979,0.007017820000328356,upf4ros2_node_problem,0.20617600000000103,46,1,1.146484375,156608,156608,47,10,0.0011477839998406125,"PROBLEM_CLASS: ['ACTION_BASED'] | PROBLEM_TYPE: ['GENERAL_NUMERIC_PLANNING'] | TIME: ['CONTINUOUS_TIME'] | EXPRESSION_DURATION: ['REAL_TYPE_DURATIONS', 'STATIC_FLUENTS_IN_DURATIONS', 'INT_TYPE_DURATIONS'] | CONDITIONS_KIND: ['NEGATIVE_CONDITIONS'] | EFFECTS_KIND: ['FLUENTS_IN_NUMERIC_ASSIGNMENTS', 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EFFECTS_KIND: ['FLUENTS_IN_NUMERIC_ASSIGNMENTS', 'INCREASE_EFFECTS', 'DECREASE_EFFECTS'] | TYPING: ['FLAT_TYPING'] | FLUENTS_TYPE: ['REAL_FLUENTS']",9.720006346469745e-07,30,0.09853736399963964,25.139999999999986,58762,301760,301748,0.08264474800125754,25.140809959000762,True,25.354898764999234,6.408099943655543e-05 +15,15,0.0002563439975347137,161,0.0012006429897155613,125,0.0026972899941029027,46,0.00052899799811712,1,8.15499879536219e-06,47,0.00044800800424127374,15,0.00031731699527881574,0.0002984299990202999,7.74060026742518e-05,4.033599907415919e-05,1.4807999832555652e-05,0.0007228639969980577,205,0.0015400280099129304,0.014243679999708547,upf4ros2_node_problem,0.22183600000000148,46,1,1.10791015625,156992,156608,47,10,0.0016838399988046149,"PROBLEM_CLASS: ['ACTION_BASED'] | PROBLEM_TYPE: ['GENERAL_NUMERIC_PLANNING'] | TIME: ['CONTINUOUS_TIME'] | EXPRESSION_DURATION: ['REAL_TYPE_DURATIONS', 'STATIC_FLUENTS_IN_DURATIONS', 'INT_TYPE_DURATIONS'] | CONDITIONS_KIND: 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CONDITIONS_KIND: ['NEGATIVE_CONDITIONS'] | EFFECTS_KIND: ['FLUENTS_IN_NUMERIC_ASSIGNMENTS', 'INCREASE_EFFECTS', 'DECREASE_EFFECTS'] | TYPING: ['FLAT_TYPING'] | FLUENTS_TYPE: ['REAL_FLUENTS']",1.3119988580001518e-06,32,0.09984087500015448,25.25999999999999,58762,301536,298580,0.08693634799965366,25.35460618900106,True,25.616372959999353,7.446000017807819e-05 +15,15,0.0001249229972017929,161,0.000572398002987029,125,0.0014597549889003858,46,0.00026193299527221825,1,5.359999704523943e-06,47,0.00021826199736096896,15,0.00016452900126751047,0.0001698989999567857,3.8622994907200336e-05,3.0606999644078314e-05,1.070100006472785e-05,0.0001481589952163631,205,0.0007369209670287091,0.0069671040000685025,upf4ros2_node_problem,0.2052959999999988,46,1,1.08349609375,156992,156992,47,10,0.0011483250000310363,"PROBLEM_CLASS: ['ACTION_BASED'] | PROBLEM_TYPE: ['GENERAL_NUMERIC_PLANNING'] | TIME: ['CONTINUOUS_TIME'] | EXPRESSION_DURATION: ['REAL_TYPE_DURATIONS', 'STATIC_FLUENTS_IN_DURATIONS', 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b/data/overhead_breakdown_summary.csv new file mode 100644 index 0000000..d49cc41 --- /dev/null +++ b/data/overhead_breakdown_summary.csv @@ -0,0 +1,111 @@ +demo,configuration,metric,mean,median,stdev,min,max,p95 +demo1_pddl_file,direct_upf,total_latency_ms,74.343702,58.530951,30.266507,49.892931,119.468679,118.563279 +demo1_pddl_file,direct_upf,server_planning_ms,74.314822,58.502147,30.266604,49.867684,119.436328,118.533449 +demo1_pddl_file,direct_upf,server_response_preparation_ms,0.028880,0.028804,0.002737,0.025247,0.033713,0.033100 +demo1_pddl_file,direct_upf,ros_and_queue_overhead_ms,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000 +demo1_pddl_file,direct_upf,plan_length,1,1.000000,0.000000,1,1,1.000000 +demo1_pddl_file,direct_upf,num_objects,2,2.000000,0.000000,2,2,2.000000 +demo1_pddl_file,direct_upf,num_fluents,1,1.000000,0.000000,1,1,1.000000 +demo1_pddl_file,direct_upf,num_domain_actions,1,1.000000,0.000000,1,1,1.000000 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+++ b/upf4ros2_demo/test/pddl/upf_robotics_benchmarks/social_robotics/domain_complex_integrated.pddl @@ -0,0 +1,434 @@ +(define (domain social-care-tamer-complex-integrated) + (:requirements :typing :durative-actions :numeric-fluents :negative-preconditions) + + (:types location robot person item request resource capability - object) + + (:constants + nav-cap delivery-cap social-cap monitor-cap lift-left-cap lift-right-cap admin-cap guide-cap - capability) + + (:predicates + (connected ?from - location ?to - location) + (corridor-link ?from - location ?to - location) + (blocked ?from - location ?to - location) + (can-enter ?r - robot ?l - location) + (can-move ?r - robot ?from - location ?to - location) + (robot-at ?r - robot ?l - location) + (person-at ?p - person ?l - location) + (item-at ?i - item ?l - location) + (robot-free ?r - robot) + (available ?x - resource) + (charger-for ?dock - resource ?l - location) + (uses-corridor ?from - location ?to - location ?c - resource) + (uses-terminal ?q - request ?terminal - resource) + (robot-has ?r - robot ?c - capability) + (can-pick ?r - robot ?i - item) + (can-deliver ?r - robot ?q - request) + (can-guide ?r - robot ?q - request) + (can-comfort ?r - robot ?q - request) + (can-assist ?monitor - robot ?actor - robot ?q - request) + (can-handover ?from - robot ?to - robot ?i - item ?l - location) + (can-cooperate ?left - robot ?right - robot ?i - item) + (request-person ?q - request ?p - person) + (request-item ?q - request ?i - item) + (request-origin ?q - request ?l - location) + (request-destination ?q - request ?l - location) + (request-capability ?q - request ?c - capability) + (carrying ?r - robot ?i - item) + (co-carrying ?left - robot ?right - robot ?i - item) + (handover-done ?i - item ?from - robot ?to - robot) + (delivered ?i - item ?p - person) + (comforted ?p - person) + (assisted ?p - person) + (checked-in ?p - person) + (guided ?p - person ?l - location) + (service-completed ?q - request)) + + (:functions + (battery ?r - robot) + (battery-max ?r - robot) + (speed ?r - robot) + (energy-rate ?r - robot) + (payload-capacity ?r - robot) + (current-load ?r - robot) + (item-weight ?i - item) + (item-size ?i - item) + (request-priority ?q - request) + (task-duration ?q - request) + (total-cost)) + + (:durative-action navigate + :parameters (?r - robot ?from - location ?to - location) + :duration (= ?duration (+ 2 (/ 3 (speed ?r)))) + :condition (and + (at start (robot-at ?r ?from)) + (at start (connected ?from ?to)) + (at start (can-move ?r ?from ?to)) + (at start (not (blocked ?from ?to))) + (at start (can-enter ?r ?to)) + (at start (robot-free ?r)) + (at start (robot-has ?r nav-cap)) + (at start (>= (battery ?r) (* 3 (energy-rate ?r)))) + (over all (not (blocked ?from ?to)))) + :effect (and + (at start (not (robot-free ?r))) + (at start (not (robot-at ?r ?from))) + (at start (decrease (battery ?r) (* 3 (energy-rate ?r)))) + (at end (robot-at ?r ?to)) + (at end (robot-free ?r)) + (at end (increase (total-cost) (+ 2 (* 3 (energy-rate ?r))))))) + + (:durative-action traverse-shared-corridor + :parameters (?r - robot ?from - location ?to - location ?corridor - resource) + :duration (= ?duration (+ 4 (/ 3 (speed ?r)))) + :condition (and + (at start (robot-at ?r ?from)) + (at start (connected ?from ?to)) + (at start (can-move ?r ?from ?to)) + (at start (corridor-link ?from ?to)) + (at start (uses-corridor ?from ?to ?corridor)) + (at start (available ?corridor)) + (at start (can-enter ?r ?to)) + (at start (robot-free ?r)) + (at start (robot-has ?r nav-cap)) + (at start (>= (battery ?r) (* 4 (energy-rate ?r)))) + (over all (not (blocked ?from ?to)))) + :effect (and + (at start (not (available ?corridor))) + (at start (not (robot-free ?r))) + (at start (not (robot-at ?r ?from))) + (at start (decrease (battery ?r) (* 4 (energy-rate ?r)))) + (at end (robot-at ?r ?to)) + (at end (available ?corridor)) + (at end (robot-free ?r)) + (at end (increase (total-cost) (+ 5 (* 4 (energy-rate ?r))))))) + + (:durative-action charge-robot + :parameters (?r - robot ?l - location ?dock - resource) + :duration (= ?duration 10) + :condition (and + (over all (robot-at ?r ?l)) + (at start (charger-for ?dock ?l)) + (at start (available ?dock)) + (at start (robot-free ?r))) + :effect (and + (at start (not (available ?dock))) + (at start (not (robot-free ?r))) + (at end (assign (battery ?r) (battery-max ?r))) + (at end (available ?dock)) + (at end (robot-free ?r)) + (at end (increase (total-cost) 1)))) + + (:durative-action pick-item + :parameters (?r - robot ?i - item ?l - location) + :duration (= ?duration (+ 1 (item-size ?i))) + :condition (and + (over all (robot-at ?r ?l)) + (at start (item-at ?i ?l)) + (at start (robot-free ?r)) + (at start (robot-has ?r delivery-cap)) + (at start (can-pick ?r ?i)) + (at start (<= (+ (current-load ?r) (item-weight ?i)) (payload-capacity ?r)))) + :effect (and + (at start (not (robot-free ?r))) + (at start (not (item-at ?i ?l))) + (at end (carrying ?r ?i)) + (at end (increase (current-load ?r) (item-weight ?i))) + (at end (robot-free ?r)) + (at end (increase (total-cost) (item-size ?i))))) + + (:durative-action deliver-item + :parameters (?r - robot ?i - item ?p - person ?l - location ?q - request) + :duration (= ?duration (+ 2 (task-duration ?q))) + :condition (and + (over all (robot-at ?r ?l)) + (over all (person-at ?p ?l)) + (at start (carrying ?r ?i)) + (at start (robot-free ?r)) + (at start (robot-has ?r delivery-cap)) + (at start (can-deliver ?r ?q)) + (at start (request-person ?q ?p)) + (at start (request-item ?q ?i)) + (at start (request-destination ?q ?l)) + (at start (request-capability ?q delivery-cap))) + :effect (and + (at start (not (robot-free ?r))) + (at start (not (carrying ?r ?i))) + (at end (delivered ?i ?p)) + (at end (service-completed ?q)) + (at end (decrease (current-load ?r) (item-weight ?i))) + (at end (robot-free ?r)) + (at end (increase (total-cost) (request-priority ?q))))) + + (:durative-action handover-item + :parameters (?from - robot ?to - robot ?i - item ?l - location) + :duration (= ?duration 3) + :condition (and + (over all (robot-at ?from ?l)) + (over all (robot-at ?to ?l)) + (at start (carrying ?from ?i)) + (at start (can-handover ?from ?to ?i ?l)) + (at start (robot-free ?from)) + (at start (robot-free ?to)) + (at start (robot-has ?to delivery-cap)) + (at start (<= (+ (current-load ?to) (item-weight ?i)) (payload-capacity ?to)))) + :effect (and + (at start (not (robot-free ?from))) + (at start (not (robot-free ?to))) + (at start (not (carrying ?from ?i))) + (at end (carrying ?to ?i)) + (at end (handover-done ?i ?from ?to)) + (at end (decrease (current-load ?from) (item-weight ?i))) + (at end (increase (current-load ?to) (item-weight ?i))) + (at end (robot-free ?from)) + (at end (robot-free ?to)) + (at end (increase (total-cost) 4)))) + + (:durative-action handover-deliver-item + :parameters (?from - robot ?to - robot ?i - item ?p - person ?l - location ?q - request) + :duration (= ?duration (+ 4 (task-duration ?q))) + :condition (and + (over all (robot-at ?from ?l)) + (over all (robot-at ?to ?l)) + (over all (person-at ?p ?l)) + (at start (carrying ?from ?i)) + (at start (can-handover ?from ?to ?i ?l)) + (at start (can-deliver ?to ?q)) + (at start (robot-free ?from)) + (at start (robot-free ?to)) + (at start (robot-has ?to delivery-cap)) + (at start (request-person ?q ?p)) + (at start (request-item ?q ?i)) + (at start (request-destination ?q ?l)) + (at start (request-capability ?q delivery-cap))) + :effect (and + (at start (not (robot-free ?from))) + (at start (not (robot-free ?to))) + (at start (not (carrying ?from ?i))) + (at end (handover-done ?i ?from ?to)) + (at end (delivered ?i ?p)) + (at end (service-completed ?q)) + (at end (decrease (current-load ?from) (item-weight ?i))) + (at end (robot-free ?from)) + (at end (robot-free ?to)) + (at end (increase (total-cost) (+ 4 (request-priority ?q)))))) + + (:durative-action cooperative-pick-heavy + :parameters (?left - robot ?right - robot ?i - item ?l - location) + :duration (= ?duration (+ 4 (item-size ?i))) + :condition (and + (over all (robot-at ?left ?l)) + (over all (robot-at ?right ?l)) + (at start (item-at ?i ?l)) + (at start (can-cooperate ?left ?right ?i)) + (at start (robot-free ?left)) + (at start (robot-free ?right)) + (at start (robot-has ?left lift-left-cap)) + (at start (robot-has ?right lift-right-cap))) + :effect (and + (at start (not (robot-free ?left))) + (at start (not (robot-free ?right))) + (at start (not (item-at ?i ?l))) + (at end (co-carrying ?left ?right ?i)) + (at end (robot-free ?left)) + (at end (robot-free ?right)) + (at end (increase (total-cost) (+ 8 (item-size ?i)))))) + + (:durative-action cooperative-transport-heavy + :parameters (?left - robot ?right - robot ?i - item ?p - person ?from - location ?to - location ?q - request) + :duration (= ?duration (+ 9 (task-duration ?q))) + :condition (and + (at start (robot-at ?left ?from)) + (at start (robot-at ?right ?from)) + (at start (item-at ?i ?from)) + (over all (person-at ?p ?to)) + (at start (connected ?from ?to)) + (at start (can-move ?left ?from ?to)) + (at start (can-move ?right ?from ?to)) + (at start (can-cooperate ?left ?right ?i)) + (at start (robot-free ?left)) + (at start (robot-free ?right)) + (at start (robot-has ?left lift-left-cap)) + (at start (robot-has ?right lift-right-cap)) + (at start (>= (battery ?left) (* 5 (energy-rate ?left)))) + (at start (>= (battery ?right) (* 5 (energy-rate ?right)))) + (at start (request-person ?q ?p)) + (at start (request-item ?q ?i)) + (at start (request-origin ?q ?from)) + (at start (request-destination ?q ?to)) + (at start (request-capability ?q lift-left-cap))) + :effect (and + (at start (not (robot-free ?left))) + (at start (not (robot-free ?right))) + (at start (not (robot-at ?left ?from))) + (at start (not (robot-at ?right ?from))) + (at start (not (item-at ?i ?from))) + (at start (decrease (battery ?left) (* 5 (energy-rate ?left)))) + (at start (decrease (battery ?right) (* 5 (energy-rate ?right)))) + (at end (robot-at ?left ?to)) + (at end (robot-at ?right ?to)) + (at end (delivered ?i ?p)) + (at end (service-completed ?q)) + (at end (robot-free ?left)) + (at end (robot-free ?right)) + (at end (increase (total-cost) (+ 12 (request-priority ?q)))))) + + (:durative-action cooperative-carry-heavy + :parameters (?left - robot ?right - robot ?i - item ?from - location ?to - location) + :duration (= ?duration (+ 5 (/ 3 (speed ?left)))) + :condition (and + (at start (co-carrying ?left ?right ?i)) + (at start (robot-at ?left ?from)) + (at start (robot-at ?right ?from)) + (at start (connected ?from ?to)) + (at start (can-move ?left ?from ?to)) + (at start (can-move ?right ?from ?to)) + (at start (not (blocked ?from ?to))) + (at start (can-enter ?left ?to)) + (at start (can-enter ?right ?to)) + (at start (robot-free ?left)) + (at start (robot-free ?right)) + (at start (>= (battery ?left) (* 5 (energy-rate ?left)))) + (at start (>= (battery ?right) (* 5 (energy-rate ?right)))) + (over all (not (blocked ?from ?to)))) + :effect (and + (at start (not (robot-free ?left))) + (at start (not (robot-free ?right))) + (at start (not (robot-at ?left ?from))) + (at start (not (robot-at ?right ?from))) + (at start (decrease (battery ?left) (* 5 (energy-rate ?left)))) + (at start (decrease (battery ?right) (* 5 (energy-rate ?right)))) + (at end (robot-at ?left ?to)) + (at end (robot-at ?right ?to)) + (at end (robot-free ?left)) + (at end (robot-free ?right)) + (at end (increase (total-cost) 10)))) + + (:durative-action cooperative-deliver-heavy + :parameters (?left - robot ?right - robot ?i - item ?p - person ?l - location ?q - request) + :duration (= ?duration (+ 5 (task-duration ?q))) + :condition (and + (over all (robot-at ?left ?l)) + (over all (robot-at ?right ?l)) + (over all (person-at ?p ?l)) + (at start (co-carrying ?left ?right ?i)) + (at start (robot-free ?left)) + (at start (robot-free ?right)) + (at start (request-person ?q ?p)) + (at start (request-item ?q ?i)) + (at start (request-destination ?q ?l)) + (at start (request-capability ?q lift-left-cap))) + :effect (and + (at start (not (robot-free ?left))) + (at start (not (robot-free ?right))) + (at start (not (co-carrying ?left ?right ?i))) + (at end (delivered ?i ?p)) + (at end (service-completed ?q)) + (at end (robot-free ?left)) + (at end (robot-free ?right)) + (at end (increase (total-cost) (request-priority ?q))))) + + (:durative-action check-in-visitor + :parameters (?r - robot ?p - person ?l - location ?q - request ?terminal - resource) + :duration (= ?duration (+ 2 (task-duration ?q))) + :condition (and + (over all (robot-at ?r ?l)) + (over all (person-at ?p ?l)) + (at start (available ?terminal)) + (at start (uses-terminal ?q ?terminal)) + (at start (robot-free ?r)) + (at start (robot-has ?r admin-cap)) + (at start (request-person ?q ?p)) + (at start (request-origin ?q ?l)) + (at start (request-destination ?q ?l)) + (at start (request-capability ?q admin-cap))) + :effect (and + (at start (not (available ?terminal))) + (at start (not (robot-free ?r))) + (at end (checked-in ?p)) + (at end (service-completed ?q)) + (at end (available ?terminal)) + (at end (robot-free ?r)) + (at end (increase (total-cost) (request-priority ?q))))) + + (:durative-action guide-person + :parameters (?r - robot ?p - person ?from - location ?to - location ?q - request) + :duration (= ?duration (+ 3 (/ 3 (speed ?r)))) + :condition (and + (at start (robot-at ?r ?from)) + (at start (person-at ?p ?from)) + (at start (connected ?from ?to)) + (at start (can-move ?r ?from ?to)) + (at start (not (blocked ?from ?to))) + (at start (can-enter ?r ?to)) + (at start (robot-free ?r)) + (at start (robot-has ?r guide-cap)) + (at start (can-guide ?r ?q)) + (at start (request-person ?q ?p)) + (at start (request-origin ?q ?from)) + (at start (request-destination ?q ?to)) + (at start (request-capability ?q guide-cap)) + (at start (>= (battery ?r) (* 3 (energy-rate ?r)))) + (over all (not (blocked ?from ?to)))) + :effect (and + (at start (not (robot-free ?r))) + (at start (not (robot-at ?r ?from))) + (at start (not (person-at ?p ?from))) + (at start (decrease (battery ?r) (* 3 (energy-rate ?r)))) + (at end (robot-at ?r ?to)) + (at end (person-at ?p ?to)) + (at end (guided ?p ?to)) + (at end (service-completed ?q)) + (at end (robot-free ?r)) + (at end (increase (total-cost) (request-priority ?q))))) + + (:durative-action comfort-person + :parameters (?r - robot ?p - person ?l - location ?q - request) + :duration (= ?duration (+ 3 (task-duration ?q))) + :condition (and + (over all (robot-at ?r ?l)) + (over all (person-at ?p ?l)) + (at start (robot-free ?r)) + (at start (robot-has ?r social-cap)) + (at start (can-comfort ?r ?q)) + (at start (request-person ?q ?p)) + (at start (request-origin ?q ?l)) + (at start (request-destination ?q ?l)) + (at start (request-capability ?q social-cap))) + :effect (and + (at start (not (robot-free ?r))) + (at end (comforted ?p)) + (at end (service-completed ?q)) + (at end (robot-free ?r)) + (at end (increase (total-cost) (request-priority ?q))))) + + (:durative-action remote-assist + :parameters (?monitor - robot ?actor - robot ?p - person ?station - location ?l - location ?q - request ?terminal - resource) + :duration (= ?duration (+ 4 (task-duration ?q))) + :condition (and + (over all (robot-at ?monitor ?station)) + (over all (robot-at ?actor ?l)) + (over all (person-at ?p ?l)) + (at start (available ?terminal)) + (at start (uses-terminal ?q ?terminal)) + (at start (robot-free ?monitor)) + (at start (robot-free ?actor)) + (at start (robot-has ?monitor monitor-cap)) + (at start (robot-has ?actor social-cap)) + (at start (can-assist ?monitor ?actor ?q)) + (at start (request-person ?q ?p)) + (at start (request-origin ?q ?station)) + (at start (request-destination ?q ?l)) + (at start (request-capability ?q monitor-cap)) + (at start (>= (battery ?monitor) 4))) + :effect (and + (at start (not (available ?terminal))) + (at start (not (robot-free ?monitor))) + (at start (not (robot-free ?actor))) + (at start (decrease (battery ?monitor) 4)) + (at end (assisted ?p)) + (at end (service-completed ?q)) + (at end (available ?terminal)) + (at end (robot-free ?monitor)) + (at end (robot-free ?actor)) + (at end (increase (total-cost) (request-priority ?q))))) +) diff --git a/upf4ros2_demo/test/pddl/upf_robotics_benchmarks/social_robotics/problem_complex_integrated.pddl b/upf4ros2_demo/test/pddl/upf_robotics_benchmarks/social_robotics/problem_complex_integrated.pddl new file mode 100644 index 0000000..7cf88a1 --- /dev/null +++ b/upf4ros2_demo/test/pddl/upf_robotics_benchmarks/social_robotics/problem_complex_integrated.pddl @@ -0,0 +1,136 @@ +(define (problem social-care-tamer-complex-integrated) + (:domain social-care-tamer-complex-integrated) + (:objects + reception pharmacy central-corridor ward-1 ward-2 laboratory social-room charge-a charge-b - location + r-admin r-pharmacy r-ward r-guide r-social r-remote r-hybrid - robot + visitor-a visitor-b resident-a resident-b resident-c resident-e resident-f - person + med-a med-b oxygen-unit meal-tray - item + q-checkin q-guide q-wellbeing q-remote q-med-normal q-med-handover q-heavy q-social-urgent - request + terminal-1 elevator-1 dock-a dock-b - resource) + (:init + (= (total-cost) 0) + + (robot-at r-admin reception) + (robot-at r-pharmacy pharmacy) + (robot-at r-ward pharmacy) + (robot-at r-guide reception) + (robot-at r-social laboratory) + (robot-at r-remote charge-a) + (robot-at r-hybrid laboratory) + (robot-free r-admin) (robot-free r-pharmacy) (robot-free r-ward) (robot-free r-guide) (robot-free r-social) (robot-free r-remote) (robot-free r-hybrid) + + (person-at visitor-a reception) + (person-at visitor-b reception) + (person-at resident-a laboratory) + (person-at resident-b pharmacy) + (person-at resident-c social-room) + (person-at resident-e laboratory) + (person-at resident-f ward-2) + + (carrying r-hybrid med-a) + (item-at med-b pharmacy) + (item-at oxygen-unit laboratory) + (item-at meal-tray pharmacy) + + (available terminal-1) + (available elevator-1) + (available dock-a) + (available dock-b) + (charger-for dock-a charge-a) + (charger-for dock-b charge-b) + + (connected reception ward-1) (connected ward-1 reception) + (connected pharmacy central-corridor) (connected central-corridor pharmacy) + (connected central-corridor ward-2) (connected ward-2 central-corridor) + (connected pharmacy ward-1) (connected ward-1 pharmacy) + (connected laboratory social-room) (connected social-room laboratory) + (corridor-link central-corridor ward-2) (corridor-link ward-2 central-corridor) + (uses-corridor central-corridor ward-2 elevator-1) (uses-corridor ward-2 central-corridor elevator-1) + + (robot-has r-admin admin-cap) + (robot-has r-pharmacy nav-cap) (robot-has r-pharmacy delivery-cap) + (robot-has r-ward nav-cap) (robot-has r-ward delivery-cap) (robot-has r-ward social-cap) + (robot-has r-guide nav-cap) (robot-has r-guide guide-cap) (robot-has r-guide social-cap) + (robot-has r-social nav-cap) (robot-has r-social social-cap) (robot-has r-social lift-right-cap) + (robot-has r-remote nav-cap) (robot-has r-remote monitor-cap) + (robot-has r-hybrid nav-cap) (robot-has r-hybrid delivery-cap) (robot-has r-hybrid social-cap) (robot-has r-hybrid lift-left-cap) + + (can-enter r-admin reception) (can-enter r-admin central-corridor) + (can-enter r-pharmacy pharmacy) (can-enter r-pharmacy ward-1) (can-enter r-pharmacy charge-a) + (can-enter r-ward pharmacy) (can-enter r-ward central-corridor) (can-enter r-ward ward-2) (can-enter r-ward charge-b) + (can-enter r-guide reception) (can-enter r-guide central-corridor) (can-enter r-guide ward-1) (can-enter r-guide social-room) (can-enter r-guide charge-a) + (can-enter r-social laboratory) (can-enter r-social social-room) (can-enter r-social central-corridor) (can-enter r-social ward-2) (can-enter r-social charge-b) + (can-enter r-remote charge-a) + (can-enter r-hybrid laboratory) (can-enter r-hybrid social-room) (can-enter r-hybrid charge-a) + + (can-move r-pharmacy pharmacy ward-1) + (can-move r-ward pharmacy central-corridor) + (can-move r-ward central-corridor ward-2) + (can-move r-guide reception ward-1) + (can-move r-social laboratory social-room) + (can-move r-hybrid laboratory social-room) + + (can-pick r-pharmacy med-a) + (can-pick r-pharmacy med-b) + (can-deliver r-ward q-med-handover) + (can-guide r-guide q-guide) + (can-comfort r-social q-wellbeing) + (can-comfort r-hybrid q-med-normal) + (can-comfort r-hybrid q-social-urgent) + (can-assist r-remote r-ward q-remote) + (can-handover r-pharmacy r-ward med-b pharmacy) + (can-cooperate r-hybrid r-social oxygen-unit) + + (uses-terminal q-checkin terminal-1) + (uses-terminal q-remote terminal-1) + + (request-person q-checkin visitor-a) (request-origin q-checkin reception) (request-destination q-checkin reception) (request-capability q-checkin admin-cap) + (request-person q-guide visitor-b) (request-origin q-guide reception) (request-destination q-guide ward-1) (request-capability q-guide guide-cap) + (request-person q-wellbeing resident-c) (request-origin q-wellbeing social-room) (request-destination q-wellbeing social-room) (request-capability q-wellbeing social-cap) + (request-person q-remote resident-b) (request-origin q-remote charge-a) (request-destination q-remote pharmacy) (request-capability q-remote monitor-cap) + (request-person q-med-normal resident-a) (request-origin q-med-normal laboratory) (request-destination q-med-normal laboratory) (request-capability q-med-normal social-cap) + (request-person q-med-handover resident-b) (request-item q-med-handover med-b) (request-origin q-med-handover pharmacy) (request-destination q-med-handover pharmacy) (request-capability q-med-handover delivery-cap) + (request-person q-heavy resident-c) (request-item q-heavy oxygen-unit) (request-origin q-heavy laboratory) (request-destination q-heavy social-room) (request-capability q-heavy lift-left-cap) + (request-person q-social-urgent resident-e) (request-origin q-social-urgent laboratory) (request-destination q-social-urgent laboratory) (request-capability q-social-urgent social-cap) + + (= (battery r-admin) 45) (= (battery-max r-admin) 70) (= (speed r-admin) 1.1) (= (energy-rate r-admin) 0.8) (= (payload-capacity r-admin) 1) (= (current-load r-admin) 0) + (= (battery r-pharmacy) 42) (= (battery-max r-pharmacy) 80) (= (speed r-pharmacy) 0.9) (= (energy-rate r-pharmacy) 1.0) (= (payload-capacity r-pharmacy) 3) (= (current-load r-pharmacy) 0) + (= (battery r-ward) 55) (= (battery-max r-ward) 90) (= (speed r-ward) 0.8) (= (energy-rate r-ward) 1.1) (= (payload-capacity r-ward) 4) (= (current-load r-ward) 0) + (= (battery r-guide) 50) (= (battery-max r-guide) 70) (= (speed r-guide) 1.0) (= (energy-rate r-guide) 0.9) (= (payload-capacity r-guide) 1) (= (current-load r-guide) 0) + (= (battery r-social) 60) (= (battery-max r-social) 85) (= (speed r-social) 0.9) (= (energy-rate r-social) 1.1) (= (payload-capacity r-social) 4) (= (current-load r-social) 0) + (= (battery r-remote) 2) (= (battery-max r-remote) 80) (= (speed r-remote) 1.0) (= (energy-rate r-remote) 1.0) (= (payload-capacity r-remote) 1) (= (current-load r-remote) 0) + (= (battery r-hybrid) 65) (= (battery-max r-hybrid) 90) (= (speed r-hybrid) 1.1) (= (energy-rate r-hybrid) 1.0) (= (payload-capacity r-hybrid) 5) (= (current-load r-hybrid) 1) + + (= (item-weight med-a) 1) (= (item-size med-a) 1) + (= (item-weight med-b) 1) (= (item-size med-b) 1) + (= (item-weight oxygen-unit) 9) (= (item-size oxygen-unit) 5) + (= (item-weight meal-tray) 2) (= (item-size meal-tray) 2) + + (= (request-priority q-checkin) 2) (= (task-duration q-checkin) 1) + (= (request-priority q-guide) 6) (= (task-duration q-guide) 2) + (= (request-priority q-wellbeing) 8) (= (task-duration q-wellbeing) 2) + (= (request-priority q-remote) 25) (= (task-duration q-remote) 2) + (= (request-priority q-med-normal) 10) (= (task-duration q-med-normal) 1) + (= (request-priority q-med-handover) 18) (= (task-duration q-med-handover) 1) + (= (request-priority q-heavy) 14) (= (task-duration q-heavy) 2) + (= (request-priority q-social-urgent) 20) (= (task-duration q-social-urgent) 1)) + + (:goal (and + (checked-in visitor-a) + (guided visitor-b ward-1) + (comforted resident-c) + (assisted resident-b) + (comforted resident-a) + (handover-done med-b r-pharmacy r-ward) + (delivered med-b resident-b) + (delivered oxygen-unit resident-c) + (comforted resident-e) + (service-completed q-checkin) + (service-completed q-guide) + (service-completed q-wellbeing) + (service-completed q-remote) + (service-completed q-med-normal) + (service-completed q-med-handover) + (service-completed q-heavy) + (service-completed q-social-urgent))) +) From 66d97261d33e21d320ec05740f4632d66af4d50b Mon Sep 17 00:00:00 2001 From: igonzf Date: Thu, 23 Jul 2026 09:58:25 +0200 Subject: [PATCH 02/10] minor changes --- README.md | 2 +- upf4ros2/upf4ros2/ros2_interface_reader.py | 18 +++++++++--------- upf4ros2/upf4ros2/ros2_interface_writer.py | 10 +++++----- 3 files changed, 15 insertions(+), 15 deletions(-) diff --git a/README.md b/README.md index 0217c78..dfa824c 100644 --- a/README.md +++ b/README.md @@ -181,7 +181,7 @@ For run this demo I used the simulated Leo Rover robot in Gazebo Ignition Fortre | Demo 2 | UPF4ROS2 | 0.18429 | 0.1816 | 0.00868 | 0.1771 | 0.2035 | 10 | | Demo 3 | UPF | 0.04703 | 0.0466 | 0.0013 | 0.0454 | 0.0498 | 10 | | Demo 3 | UPF4ROS2 | 0.22318 | 0.2258 | 0.02218 | 0.1767 | 0.2592 | 10 | -| Demo 3 - Harvest | UPF | 0.18 | 0.04965 | 0.0048 | 0.0482 | 0.064 | 10 | +| Demo 3 - Harvest | UPF | 0.0513 | 0.04965 | 0.0048 | 0.0482 | 0.064 | 10 | | Demo 3 - Harvest | UPF4ROS2 | 0.30883 | 0.31305 | 0.05294 | 0.1778 | 0.3678 | 10 | ## Acknowledgments diff --git a/upf4ros2/upf4ros2/ros2_interface_reader.py b/upf4ros2/upf4ros2/ros2_interface_reader.py index 7d076be..7736112 100644 --- a/upf4ros2/upf4ros2/ros2_interface_reader.py +++ b/upf4ros2/upf4ros2/ros2_interface_reader.py @@ -30,8 +30,9 @@ from unified_planning import Environment from unified_planning import model -from unified_planning.exceptions import UPException, UPValueError from unified_planning import shortcuts +from unified_planning.engines.results import PlanGenerationResultStatus +from unified_planning.exceptions import UPException, UPValueError from unified_planning.model import ( DurativeAction, Effect, @@ -45,9 +46,8 @@ from unified_planning.model.effect import EffectKind from unified_planning.model.operators import OperatorKind import unified_planning.plans -from upf4ros2.converter import Converter, handles from unified_planning.plans.plan import PlanKind -from unified_planning.engines.results import PlanGenerationResultStatus +from upf4ros2.converter import Converter, handles # from upf4ros2.ros2_utils import print_expr from upf_msgs import msg as msgs @@ -367,7 +367,7 @@ def _convert_decomposition( else: raise ValueError( - f"Unknown subtask type: {type(subtask.task)}") + f'Unknown subtask type: {type(subtask.task)}') return decomposition @@ -383,18 +383,18 @@ def _convert_schedule( for item in expr.expressions: var_name = item.type - container, kind = var_name.split(".") + container, kind = var_name.split('.') activity = problem.get_activity(container) - if ".start" in var_name or ".end" in var_name: - if kind == "start": + if '.start' in var_name or '.end' in var_name: + if kind == 'start': var = model.Timepoint( model.TimepointKind.START, container) - elif kind == "end": + elif kind == 'end': var = model.Timepoint( model.TimepointKind.END, container) else: - raise ValueError(f"Invalid timepoint kind: {kind}") + raise ValueError(f'Invalid timepoint kind: {kind}') else: var = activity.get_parameter(kind) if var is None: diff --git a/upf4ros2/upf4ros2/ros2_interface_writer.py b/upf4ros2/upf4ros2/ros2_interface_writer.py index f1c2b4e..62afbe9 100644 --- a/upf4ros2/upf4ros2/ros2_interface_writer.py +++ b/upf4ros2/upf4ros2/ros2_interface_writer.py @@ -23,6 +23,7 @@ from unified_planning import model from unified_planning.engines import PlanGenerationResult +from unified_planning.environment import get_environment from unified_planning.exceptions import UPException import unified_planning.model.htn from unified_planning.model.operators import ( @@ -33,7 +34,6 @@ ) from unified_planning.model.timing import TimepointKind from unified_planning.model.types import domain_item, domain_size -from unified_planning.environment import get_environment import unified_planning.model.walkers as walkers from upf4ros2.converter import Converter, handles # from upf4ros2.ros2_utils import print_expr @@ -691,11 +691,11 @@ def _convert_schedule( if isinstance(var, model.Timepoint): if var.kind == TimepointKind.START: - var = f"{var.container}.start" + var = f'{var.container}.start' elif var.kind == TimepointKind.END: - var = f"{var.container}.end" + var = f'{var.container}.end' else: - raise ValueError(f"Invalid timepoint in assignment: {var}") + raise ValueError(f'Invalid timepoint in assignment: {var}') else: assert isinstance(var, model.Parameter) var = var.name @@ -892,7 +892,7 @@ def _convert_hierarchical_plan( elif isinstance(plan._flat_plan, unified_planning.plans.TimeTriggeredPlan): ret = self._convert_time_triggered_plan(plan._flat_plan) else: - raise UPException(f"Unknown plan: {type(plan._flat_plan)}") + raise UPException(f'Unknown plan: {type(plan._flat_plan)}') ret.kind = 6 return ret From 4962f5209b4e63d0faac4be925433a25b395ea3f Mon Sep 17 00:00:00 2001 From: igonzf Date: Thu, 23 Jul 2026 10:00:30 +0200 Subject: [PATCH 03/10] minor change --- .../test/pddl/domain_complex_integrated.pddl | 434 ++++++++++++++++++ .../test/pddl/problem_complex_integrated.pddl | 136 ++++++ 2 files changed, 570 insertions(+) create mode 100644 upf4ros2_demo/test/pddl/domain_complex_integrated.pddl create mode 100644 upf4ros2_demo/test/pddl/problem_complex_integrated.pddl diff --git a/upf4ros2_demo/test/pddl/domain_complex_integrated.pddl b/upf4ros2_demo/test/pddl/domain_complex_integrated.pddl new file mode 100644 index 0000000..a61f8e7 --- /dev/null +++ b/upf4ros2_demo/test/pddl/domain_complex_integrated.pddl @@ -0,0 +1,434 @@ +(define (domain social-care-tamer-complex-integrated) + (:requirements :typing :durative-actions :numeric-fluents :negative-preconditions) + + (:types location robot person item request resource capability - object) + + (:constants + nav-cap delivery-cap social-cap monitor-cap lift-left-cap lift-right-cap admin-cap guide-cap - capability) + + (:predicates + (connected ?from - location ?to - location) + (corridor-link ?from - location ?to - location) + (blocked ?from - location ?to - location) + (can-enter ?r - robot ?l - location) + (can-move ?r - robot ?from - location ?to - location) + (robot-at ?r - robot ?l - location) + (person-at ?p - person ?l - location) + (item-at ?i - item ?l - location) + (robot-free ?r - robot) + (available ?x - resource) + (charger-for ?dock - resource ?l - location) + (uses-corridor ?from - location ?to - location ?c - resource) + (uses-terminal ?q - request ?terminal - resource) + (robot-has ?r - robot ?c - capability) + (can-pick ?r - robot ?i - item) + (can-deliver ?r - robot ?q - request) + (can-guide ?r - robot ?q - request) + (can-comfort ?r - robot ?q - request) + (can-assist ?monitor - robot ?actor - robot ?q - request) + (can-handover ?from - robot ?to - robot ?i - item ?l - location) + (can-cooperate ?left - robot ?right - robot ?i - item) + (request-person ?q - request ?p - person) + (request-item ?q - request ?i - item) + (request-origin ?q - request ?l - location) + (request-destination ?q - request ?l - location) + (request-capability ?q - request ?c - capability) + (carrying ?r - robot ?i - item) + (co-carrying ?left - robot ?right - robot ?i - item) + (handover-done ?i - item ?from - robot ?to - robot) + (delivered ?i - item ?p - person) + (comforted ?p - person) + (assisted ?p - person) + (checked-in ?p - person) + (guided ?p - person ?l - location) + (service-completed ?q - request)) + + (:functions + (battery ?r - robot) + (battery-max ?r - robot) + (speed ?r - robot) + (energy-rate ?r - robot) + (payload-capacity ?r - robot) + (current-load ?r - robot) + (item-weight ?i - item) + (item-size ?i - item) + (request-priority ?q - request) + (task-duration ?q - request) + (total-cost)) + + (:durative-action navigate + :parameters (?r - robot ?from - location ?to - location) + :duration (= ?duration (+ 2 (/ 3 (speed ?r)))) + :condition (and + (at start (robot-at ?r ?from)) + (at start (connected ?from ?to)) + (at start (can-move ?r ?from ?to)) + (at start (not (blocked ?from ?to))) + (at start (can-enter ?r ?to)) + (at start (robot-free ?r)) + (at start (robot-has ?r nav-cap)) + (at start (>= (battery ?r) (* 3 (energy-rate ?r)))) + (over all (not (blocked ?from ?to)))) + :effect (and + (at start (not (robot-free ?r))) + (at start (not (robot-at ?r ?from))) + (at start (decrease (battery ?r) (* 3 (energy-rate ?r)))) + (at end (robot-at ?r ?to)) + (at end (robot-free ?r)) + (at end (increase (total-cost) (+ 2 (* 3 (energy-rate ?r))))))) + + (:durative-action traverse-shared-corridor + :parameters (?r - robot ?from - location ?to - location ?corridor - resource) + :duration (= ?duration (+ 4 (/ 3 (speed ?r)))) + :condition (and + (at start (robot-at ?r ?from)) + (at start (connected ?from ?to)) + (at start (can-move ?r ?from ?to)) + (at start (corridor-link ?from ?to)) + (at start (uses-corridor ?from ?to ?corridor)) + (at start (available ?corridor)) + (at start (can-enter ?r ?to)) + (at start (robot-free ?r)) + (at start (robot-has ?r nav-cap)) + (at start (>= (battery ?r) (* 4 (energy-rate ?r)))) + (over all (not (blocked ?from ?to)))) + :effect (and + (at start (not (available ?corridor))) + (at start (not (robot-free ?r))) + (at start (not (robot-at ?r ?from))) + (at start (decrease (battery ?r) (* 4 (energy-rate ?r)))) + (at end (robot-at ?r ?to)) + (at end (available ?corridor)) + (at end (robot-free ?r)) + (at end (increase (total-cost) (+ 5 (* 4 (energy-rate ?r))))))) + + (:durative-action charge-robot + :parameters (?r - robot ?l - location ?dock - resource) + :duration (= ?duration 10) + :condition (and + (over all (robot-at ?r ?l)) + (at start (charger-for ?dock ?l)) + (at start (available ?dock)) + (at start (robot-free ?r))) + :effect (and + (at start (not (available ?dock))) + (at start (not (robot-free ?r))) + (at end (assign (battery ?r) (battery-max ?r))) + (at end (available ?dock)) + (at end (robot-free ?r)) + (at end (increase (total-cost) 1)))) + + (:durative-action pick-item + :parameters (?r - robot ?i - item ?l - location) + :duration (= ?duration (+ 1 (item-size ?i))) + :condition (and + (over all (robot-at ?r ?l)) + (at start (item-at ?i ?l)) + (at start (robot-free ?r)) + (at start (robot-has ?r delivery-cap)) + (at start (can-pick ?r ?i)) + (at start (<= (+ (current-load ?r) (item-weight ?i)) (payload-capacity ?r)))) + :effect (and + (at start (not (robot-free ?r))) + (at start (not (item-at ?i ?l))) + (at end (carrying ?r ?i)) + (at end (increase (current-load ?r) (item-weight ?i))) + (at end (robot-free ?r)) + (at end (increase (total-cost) (item-size ?i))))) + + (:durative-action deliver-item + :parameters (?r - robot ?i - item ?p - person ?l - location ?q - request) + :duration (= ?duration (+ 2 (task-duration ?q))) + :condition (and + (over all (robot-at ?r ?l)) + (over all (person-at ?p ?l)) + (at start (carrying ?r ?i)) + (at start (robot-free ?r)) + (at start (robot-has ?r delivery-cap)) + (at start (can-deliver ?r ?q)) + (at start (request-person ?q ?p)) + (at start (request-item ?q ?i)) + (at start (request-destination ?q ?l)) + (at start (request-capability ?q delivery-cap))) + :effect (and + (at start (not (robot-free ?r))) + (at start (not (carrying ?r ?i))) + (at end (delivered ?i ?p)) + (at end (service-completed ?q)) + (at end (decrease (current-load ?r) (item-weight ?i))) + (at end (robot-free ?r)) + (at end (increase (total-cost) (request-priority ?q))))) + + (:durative-action handover-item + :parameters (?from - robot ?to - robot ?i - item ?l - location) + :duration (= ?duration 3) + :condition (and + (over all (robot-at ?from ?l)) + (over all (robot-at ?to ?l)) + (at start (carrying ?from ?i)) + (at start (can-handover ?from ?to ?i ?l)) + (at start (robot-free ?from)) + (at start (robot-free ?to)) + (at start (robot-has ?to delivery-cap)) + (at start (<= (+ (current-load ?to) (item-weight ?i)) (payload-capacity ?to)))) + :effect (and + (at start (not (robot-free ?from))) + (at start (not (robot-free ?to))) + (at start (not (carrying ?from ?i))) + (at end (carrying ?to ?i)) + (at end (handover-done ?i ?from ?to)) + (at end (decrease (current-load ?from) (item-weight ?i))) + (at end (increase (current-load ?to) (item-weight ?i))) + (at end (robot-free ?from)) + (at end (robot-free ?to)) + (at end (increase (total-cost) 4)))) + + (:durative-action handover-deliver-item + :parameters (?from - robot ?to - robot ?i - item ?p - person ?l - location ?q - request) + :duration (= ?duration (+ 4 (task-duration ?q))) + :condition (and + (over all (robot-at ?from ?l)) + (over all (robot-at ?to ?l)) + (over all (person-at ?p ?l)) + (at start (carrying ?from ?i)) + (at start (can-handover ?from ?to ?i ?l)) + (at start (can-deliver ?to ?q)) + (at start (robot-free ?from)) + (at start (robot-free ?to)) + (at start (robot-has ?to delivery-cap)) + (at start (request-person ?q ?p)) + (at start (request-item ?q ?i)) + (at start (request-destination ?q ?l)) + (at start (request-capability ?q delivery-cap))) + :effect (and + (at start (not (robot-free ?from))) + (at start (not (robot-free ?to))) + (at start (not (carrying ?from ?i))) + (at end (handover-done ?i ?from ?to)) + (at end (delivered ?i ?p)) + (at end (service-completed ?q)) + (at end (decrease (current-load ?from) (item-weight ?i))) + (at end (robot-free ?from)) + (at end (robot-free ?to)) + (at end (increase (total-cost) (+ 4 (request-priority ?q)))))) + + (:durative-action cooperative-pick-heavy + :parameters (?left - robot ?right - robot ?i - item ?l - location) + :duration (= ?duration (+ 4 (item-size ?i))) + :condition (and + (over all (robot-at ?left ?l)) + (over all (robot-at ?right ?l)) + (at start (item-at ?i ?l)) + (at start (can-cooperate ?left ?right ?i)) + (at start (robot-free ?left)) + (at start (robot-free ?right)) + (at start (robot-has ?left lift-left-cap)) + (at start (robot-has ?right lift-right-cap))) + :effect (and + (at start (not (robot-free ?left))) + (at start (not (robot-free ?right))) + (at start (not (item-at ?i ?l))) + (at end (co-carrying ?left ?right ?i)) + (at end (robot-free ?left)) + (at end (robot-free ?right)) + (at end (increase (total-cost) (+ 8 (item-size ?i)))))) + + (:durative-action cooperative-transport-heavy + :parameters (?left - robot ?right - robot ?i - item ?p - person ?from - location ?to - location ?q - request) + :duration (= ?duration (+ 9 (task-duration ?q))) + :condition (and + (at start (robot-at ?left ?from)) + (at start (robot-at ?right ?from)) + (at start (item-at ?i ?from)) + (over all (person-at ?p ?to)) + (at start (connected ?from ?to)) + (at start (can-move ?left ?from ?to)) + (at start (can-move ?right ?from ?to)) + (at start (can-cooperate ?left ?right ?i)) + (at start (robot-free ?left)) + (at start (robot-free ?right)) + (at start (robot-has ?left lift-left-cap)) + (at start (robot-has ?right lift-right-cap)) + (at start (>= (battery ?left) (* 5 (energy-rate ?left)))) + (at start (>= (battery ?right) (* 5 (energy-rate ?right)))) + (at start (request-person ?q ?p)) + (at start (request-item ?q ?i)) + (at start (request-origin ?q ?from)) + (at start (request-destination ?q ?to)) + (at start (request-capability ?q lift-left-cap))) + :effect (and + (at start (not (robot-free ?left))) + (at start (not (robot-free ?right))) + (at start (not (robot-at ?left ?from))) + (at start (not (robot-at ?right ?from))) + (at start (not (item-at ?i ?from))) + (at start (decrease (battery ?left) (* 5 (energy-rate ?left)))) + (at start (decrease (battery ?right) (* 5 (energy-rate ?right)))) + (at end (robot-at ?left ?to)) + (at end (robot-at ?right ?to)) + (at end (delivered ?i ?p)) + (at end (service-completed ?q)) + (at end (robot-free ?left)) + (at end (robot-free ?right)) + (at end (increase (total-cost) (+ 12 (request-priority ?q)))))) + + (:durative-action cooperative-carry-heavy + :parameters (?left - robot ?right - robot ?i - item ?from - location ?to - location) + :duration (= ?duration (+ 5 (/ 3 (speed ?left)))) + :condition (and + (at start (co-carrying ?left ?right ?i)) + (at start (robot-at ?left ?from)) + (at start (robot-at ?right ?from)) + (at start (connected ?from ?to)) + (at start (can-move ?left ?from ?to)) + (at start (can-move ?right ?from ?to)) + (at start (not (blocked ?from ?to))) + (at start (can-enter ?left ?to)) + (at start (can-enter ?right ?to)) + (at start (robot-free ?left)) + (at start (robot-free ?right)) + (at start (>= (battery ?left) (* 5 (energy-rate ?left)))) + (at start (>= (battery ?right) (* 5 (energy-rate ?right)))) + (over all (not (blocked ?from ?to)))) + :effect (and + (at start (not (robot-free ?left))) + (at start (not (robot-free ?right))) + (at start (not (robot-at ?left ?from))) + (at start (not (robot-at ?right ?from))) + (at start (decrease (battery ?left) (* 5 (energy-rate ?left)))) + (at start (decrease (battery ?right) (* 5 (energy-rate ?right)))) + (at end (robot-at ?left ?to)) + (at end (robot-at ?right ?to)) + (at end (robot-free ?left)) + (at end (robot-free ?right)) + (at end (increase (total-cost) 10)))) + + (:durative-action cooperative-deliver-heavy + :parameters (?left - robot ?right - robot ?i - item ?p - person ?l - location ?q - request) + :duration (= ?duration (+ 5 (task-duration ?q))) + :condition (and + (over all (robot-at ?left ?l)) + (over all (robot-at ?right ?l)) + (over all (person-at ?p ?l)) + (at start (co-carrying ?left ?right ?i)) + (at start (robot-free ?left)) + (at start (robot-free ?right)) + (at start (request-person ?q ?p)) + (at start (request-item ?q ?i)) + (at start (request-destination ?q ?l)) + (at start (request-capability ?q lift-left-cap))) + :effect (and + (at start (not (robot-free ?left))) + (at start (not (robot-free ?right))) + (at start (not (co-carrying ?left ?right ?i))) + (at end (delivered ?i ?p)) + (at end (service-completed ?q)) + (at end (robot-free ?left)) + (at end (robot-free ?right)) + (at end (increase (total-cost) (request-priority ?q))))) + + (:durative-action check-in-visitor + :parameters (?r - robot ?p - person ?l - location ?q - request ?terminal - resource) + :duration (= ?duration (+ 2 (task-duration ?q))) + :condition (and + (over all (robot-at ?r ?l)) + (over all (person-at ?p ?l)) + (at start (available ?terminal)) + (at start (uses-terminal ?q ?terminal)) + (at start (robot-free ?r)) + (at start (robot-has ?r admin-cap)) + (at start (request-person ?q ?p)) + (at start (request-origin ?q ?l)) + (at start (request-destination ?q ?l)) + (at start (request-capability ?q admin-cap))) + :effect (and + (at start (not (available ?terminal))) + (at start (not (robot-free ?r))) + (at end (checked-in ?p)) + (at end (service-completed ?q)) + (at end (available ?terminal)) + (at end (robot-free ?r)) + (at end (increase (total-cost) (request-priority ?q))))) + + (:durative-action guide-person + :parameters (?r - robot ?p - person ?from - location ?to - location ?q - request) + :duration (= ?duration (+ 3 (/ 3 (speed ?r)))) + :condition (and + (at start (robot-at ?r ?from)) + (at start (person-at ?p ?from)) + (at start (connected ?from ?to)) + (at start (can-move ?r ?from ?to)) + (at start (not (blocked ?from ?to))) + (at start (can-enter ?r ?to)) + (at start (robot-free ?r)) + (at start (robot-has ?r guide-cap)) + (at start (can-guide ?r ?q)) + (at start (request-person ?q ?p)) + (at start (request-origin ?q ?from)) + (at start (request-destination ?q ?to)) + (at start (request-capability ?q guide-cap)) + (at start (>= (battery ?r) (* 3 (energy-rate ?r)))) + (over all (not (blocked ?from ?to)))) + :effect (and + (at start (not (robot-free ?r))) + (at start (not (robot-at ?r ?from))) + (at start (not (person-at ?p ?from))) + (at start (decrease (battery ?r) (* 3 (energy-rate ?r)))) + (at end (robot-at ?r ?to)) + (at end (person-at ?p ?to)) + (at end (guided ?p ?to)) + (at end (service-completed ?q)) + (at end (robot-free ?r)) + (at end (increase (total-cost) (request-priority ?q))))) + + (:durative-action comfort-person + :parameters (?r - robot ?p - person ?l - location ?q - request) + :duration (= ?duration (+ 3 (task-duration ?q))) + :condition (and + (over all (robot-at ?r ?l)) + (over all (person-at ?p ?l)) + (at start (robot-free ?r)) + (at start (robot-has ?r social-cap)) + (at start (can-comfort ?r ?q)) + (at start (request-person ?q ?p)) + (at start (request-origin ?q ?l)) + (at start (request-destination ?q ?l)) + (at start (request-capability ?q social-cap))) + :effect (and + (at start (not (robot-free ?r))) + (at end (comforted ?p)) + (at end (service-completed ?q)) + (at end (robot-free ?r)) + (at end (increase (total-cost) (request-priority ?q))))) + + (:durative-action remote-assist + :parameters (?monitor - robot ?actor - robot ?p - person ?station - location ?l - location ?q - request ?terminal - resource) + :duration (= ?duration (+ 4 (task-duration ?q))) + :condition (and + (over all (robot-at ?monitor ?station)) + (over all (robot-at ?actor ?l)) + (over all (person-at ?p ?l)) + (at start (available ?terminal)) + (at start (uses-terminal ?q ?terminal)) + (at start (robot-free ?monitor)) + (at start (robot-free ?actor)) + (at start (robot-has ?monitor monitor-cap)) + (at start (robot-has ?actor social-cap)) + (at start (can-assist ?monitor ?actor ?q)) + (at start (request-person ?q ?p)) + (at start (request-origin ?q ?station)) + (at start (request-destination ?q ?l)) + (at start (request-capability ?q monitor-cap)) + (at start (>= (battery ?monitor) 4))) + :effect (and + (at start (not (available ?terminal))) + (at start (not (robot-free ?monitor))) + (at start (not (robot-free ?actor))) + (at start (decrease (battery ?monitor) 4)) + (at end (assisted ?p)) + (at end (service-completed ?q)) + (at end (available ?terminal)) + (at end (robot-free ?monitor)) + (at end (robot-free ?actor)) + (at end (increase (total-cost) (request-priority ?q))))) +) diff --git a/upf4ros2_demo/test/pddl/problem_complex_integrated.pddl b/upf4ros2_demo/test/pddl/problem_complex_integrated.pddl new file mode 100644 index 0000000..7cf88a1 --- /dev/null +++ b/upf4ros2_demo/test/pddl/problem_complex_integrated.pddl @@ -0,0 +1,136 @@ +(define (problem social-care-tamer-complex-integrated) + (:domain social-care-tamer-complex-integrated) + (:objects + reception pharmacy central-corridor ward-1 ward-2 laboratory social-room charge-a charge-b - location + r-admin r-pharmacy r-ward r-guide r-social r-remote r-hybrid - robot + visitor-a visitor-b resident-a resident-b resident-c resident-e resident-f - person + med-a med-b oxygen-unit meal-tray - item + q-checkin q-guide q-wellbeing q-remote q-med-normal q-med-handover q-heavy q-social-urgent - request + terminal-1 elevator-1 dock-a dock-b - resource) + (:init + (= (total-cost) 0) + + (robot-at r-admin reception) + (robot-at r-pharmacy pharmacy) + (robot-at r-ward pharmacy) + (robot-at r-guide reception) + (robot-at r-social laboratory) + (robot-at r-remote charge-a) + (robot-at r-hybrid laboratory) + (robot-free r-admin) (robot-free r-pharmacy) (robot-free r-ward) (robot-free r-guide) (robot-free r-social) (robot-free r-remote) (robot-free r-hybrid) + + (person-at visitor-a reception) + (person-at visitor-b reception) + (person-at resident-a laboratory) + (person-at resident-b pharmacy) + (person-at resident-c social-room) + (person-at resident-e laboratory) + (person-at resident-f ward-2) + + (carrying r-hybrid med-a) + (item-at med-b pharmacy) + (item-at oxygen-unit laboratory) + (item-at meal-tray pharmacy) + + (available terminal-1) + (available elevator-1) + (available dock-a) + (available dock-b) + (charger-for dock-a charge-a) + (charger-for dock-b charge-b) + + (connected reception ward-1) (connected ward-1 reception) + (connected pharmacy central-corridor) (connected central-corridor pharmacy) + (connected central-corridor ward-2) (connected ward-2 central-corridor) + (connected pharmacy ward-1) (connected ward-1 pharmacy) + (connected laboratory social-room) (connected social-room laboratory) + (corridor-link central-corridor ward-2) (corridor-link ward-2 central-corridor) + (uses-corridor central-corridor ward-2 elevator-1) (uses-corridor ward-2 central-corridor elevator-1) + + (robot-has r-admin admin-cap) + (robot-has r-pharmacy nav-cap) (robot-has r-pharmacy delivery-cap) + (robot-has r-ward nav-cap) (robot-has r-ward delivery-cap) (robot-has r-ward social-cap) + (robot-has r-guide nav-cap) (robot-has r-guide guide-cap) (robot-has r-guide social-cap) + (robot-has r-social nav-cap) (robot-has r-social social-cap) (robot-has r-social lift-right-cap) + (robot-has r-remote nav-cap) (robot-has r-remote monitor-cap) + (robot-has r-hybrid nav-cap) (robot-has r-hybrid delivery-cap) (robot-has r-hybrid social-cap) (robot-has r-hybrid lift-left-cap) + + (can-enter r-admin reception) (can-enter r-admin central-corridor) + (can-enter r-pharmacy pharmacy) (can-enter r-pharmacy ward-1) (can-enter r-pharmacy charge-a) + (can-enter r-ward pharmacy) (can-enter r-ward central-corridor) (can-enter r-ward ward-2) (can-enter r-ward charge-b) + (can-enter r-guide reception) (can-enter r-guide central-corridor) (can-enter r-guide ward-1) (can-enter r-guide social-room) (can-enter r-guide charge-a) + (can-enter r-social laboratory) (can-enter r-social social-room) (can-enter r-social central-corridor) (can-enter r-social ward-2) (can-enter r-social charge-b) + (can-enter r-remote charge-a) + (can-enter r-hybrid laboratory) (can-enter r-hybrid social-room) (can-enter r-hybrid charge-a) + + (can-move r-pharmacy pharmacy ward-1) + (can-move r-ward pharmacy central-corridor) + (can-move r-ward central-corridor ward-2) + (can-move r-guide reception ward-1) + (can-move r-social laboratory social-room) + (can-move r-hybrid laboratory social-room) + + (can-pick r-pharmacy med-a) + (can-pick r-pharmacy med-b) + (can-deliver r-ward q-med-handover) + (can-guide r-guide q-guide) + (can-comfort r-social q-wellbeing) + (can-comfort r-hybrid q-med-normal) + (can-comfort r-hybrid q-social-urgent) + (can-assist r-remote r-ward q-remote) + (can-handover r-pharmacy r-ward med-b pharmacy) + (can-cooperate r-hybrid r-social oxygen-unit) + + (uses-terminal q-checkin terminal-1) + (uses-terminal q-remote terminal-1) + + (request-person q-checkin visitor-a) (request-origin q-checkin reception) (request-destination q-checkin reception) (request-capability q-checkin admin-cap) + (request-person q-guide visitor-b) (request-origin q-guide reception) (request-destination q-guide ward-1) (request-capability q-guide guide-cap) + (request-person q-wellbeing resident-c) (request-origin q-wellbeing social-room) (request-destination q-wellbeing social-room) (request-capability q-wellbeing social-cap) + (request-person q-remote resident-b) (request-origin q-remote charge-a) (request-destination q-remote pharmacy) (request-capability q-remote monitor-cap) + (request-person q-med-normal resident-a) (request-origin q-med-normal laboratory) (request-destination q-med-normal laboratory) (request-capability q-med-normal social-cap) + (request-person q-med-handover resident-b) (request-item q-med-handover med-b) (request-origin q-med-handover pharmacy) (request-destination q-med-handover pharmacy) (request-capability q-med-handover delivery-cap) + (request-person q-heavy resident-c) (request-item q-heavy oxygen-unit) (request-origin q-heavy laboratory) (request-destination q-heavy social-room) (request-capability q-heavy lift-left-cap) + (request-person q-social-urgent resident-e) (request-origin q-social-urgent laboratory) (request-destination q-social-urgent laboratory) (request-capability q-social-urgent social-cap) + + (= (battery r-admin) 45) (= (battery-max r-admin) 70) (= (speed r-admin) 1.1) (= (energy-rate r-admin) 0.8) (= (payload-capacity r-admin) 1) (= (current-load r-admin) 0) + (= (battery r-pharmacy) 42) (= (battery-max r-pharmacy) 80) (= (speed r-pharmacy) 0.9) (= (energy-rate r-pharmacy) 1.0) (= (payload-capacity r-pharmacy) 3) (= (current-load r-pharmacy) 0) + (= (battery r-ward) 55) (= (battery-max r-ward) 90) (= (speed r-ward) 0.8) (= (energy-rate r-ward) 1.1) (= (payload-capacity r-ward) 4) (= (current-load r-ward) 0) + (= (battery r-guide) 50) (= (battery-max r-guide) 70) (= (speed r-guide) 1.0) (= (energy-rate r-guide) 0.9) (= (payload-capacity r-guide) 1) (= (current-load r-guide) 0) + (= (battery r-social) 60) (= (battery-max r-social) 85) (= (speed r-social) 0.9) (= (energy-rate r-social) 1.1) (= (payload-capacity r-social) 4) (= (current-load r-social) 0) + (= (battery r-remote) 2) (= (battery-max r-remote) 80) (= (speed r-remote) 1.0) (= (energy-rate r-remote) 1.0) (= (payload-capacity r-remote) 1) (= (current-load r-remote) 0) + (= (battery r-hybrid) 65) (= (battery-max r-hybrid) 90) (= (speed r-hybrid) 1.1) (= (energy-rate r-hybrid) 1.0) (= (payload-capacity r-hybrid) 5) (= (current-load r-hybrid) 1) + + (= (item-weight med-a) 1) (= (item-size med-a) 1) + (= (item-weight med-b) 1) (= (item-size med-b) 1) + (= (item-weight oxygen-unit) 9) (= (item-size oxygen-unit) 5) + (= (item-weight meal-tray) 2) (= (item-size meal-tray) 2) + + (= (request-priority q-checkin) 2) (= (task-duration q-checkin) 1) + (= (request-priority q-guide) 6) (= (task-duration q-guide) 2) + (= (request-priority q-wellbeing) 8) (= (task-duration q-wellbeing) 2) + (= (request-priority q-remote) 25) (= (task-duration q-remote) 2) + (= (request-priority q-med-normal) 10) (= (task-duration q-med-normal) 1) + (= (request-priority q-med-handover) 18) (= (task-duration q-med-handover) 1) + (= (request-priority q-heavy) 14) (= (task-duration q-heavy) 2) + (= (request-priority q-social-urgent) 20) (= (task-duration q-social-urgent) 1)) + + (:goal (and + (checked-in visitor-a) + (guided visitor-b ward-1) + (comforted resident-c) + (assisted resident-b) + (comforted resident-a) + (handover-done med-b r-pharmacy r-ward) + (delivered med-b resident-b) + (delivered oxygen-unit resident-c) + (comforted resident-e) + (service-completed q-checkin) + (service-completed q-guide) + (service-completed q-wellbeing) + (service-completed q-remote) + (service-completed q-med-normal) + (service-completed q-med-handover) + (service-completed q-heavy) + (service-completed q-social-urgent))) +) From 09b30215732761afa4d90585058c90fa6d21168a Mon Sep 17 00:00:00 2001 From: igonzf Date: Thu, 23 Jul 2026 10:02:41 +0200 Subject: [PATCH 04/10] rm pddl folder --- .../domain_complex_integrated.pddl | 434 ------------------ .../problem_complex_integrated.pddl | 136 ------ 2 files changed, 570 deletions(-) delete mode 100644 upf4ros2_demo/test/pddl/upf_robotics_benchmarks/social_robotics/domain_complex_integrated.pddl delete mode 100644 upf4ros2_demo/test/pddl/upf_robotics_benchmarks/social_robotics/problem_complex_integrated.pddl diff --git a/upf4ros2_demo/test/pddl/upf_robotics_benchmarks/social_robotics/domain_complex_integrated.pddl b/upf4ros2_demo/test/pddl/upf_robotics_benchmarks/social_robotics/domain_complex_integrated.pddl deleted file mode 100644 index a61f8e7..0000000 --- a/upf4ros2_demo/test/pddl/upf_robotics_benchmarks/social_robotics/domain_complex_integrated.pddl +++ /dev/null @@ -1,434 +0,0 @@ -(define (domain social-care-tamer-complex-integrated) - (:requirements :typing :durative-actions :numeric-fluents :negative-preconditions) - - (:types location robot person item request resource capability - object) - - (:constants - nav-cap delivery-cap social-cap monitor-cap lift-left-cap lift-right-cap admin-cap guide-cap - capability) - - (:predicates - (connected ?from - location ?to - location) - (corridor-link ?from - location ?to - location) - (blocked ?from - location ?to - location) - (can-enter ?r - robot ?l - location) - (can-move ?r - robot ?from - location ?to - location) - (robot-at ?r - robot ?l - location) - (person-at ?p - person ?l - location) - (item-at ?i - item ?l - location) - (robot-free ?r - robot) - (available ?x - resource) - (charger-for ?dock - resource ?l - location) - (uses-corridor ?from - location ?to - location ?c - resource) - (uses-terminal ?q - request ?terminal - resource) - (robot-has ?r - robot ?c - capability) - (can-pick ?r - robot ?i - item) - (can-deliver ?r - robot ?q - request) - (can-guide ?r - robot ?q - request) - (can-comfort ?r - robot ?q - request) - (can-assist ?monitor - robot ?actor - robot ?q - request) - (can-handover ?from - robot ?to - robot ?i - item ?l - location) - (can-cooperate ?left - robot ?right - robot ?i - item) - (request-person ?q - request ?p - person) - (request-item ?q - request ?i - item) - (request-origin ?q - request ?l - location) - (request-destination ?q - request ?l - location) - (request-capability ?q - request ?c - capability) - (carrying ?r - robot ?i - item) - (co-carrying ?left - robot ?right - robot ?i - item) - (handover-done ?i - item ?from - robot ?to - robot) - (delivered ?i - item ?p - person) - (comforted ?p - person) - (assisted ?p - person) - (checked-in ?p - person) - (guided ?p - person ?l - location) - (service-completed ?q - request)) - - (:functions - (battery ?r - robot) - (battery-max ?r - robot) - (speed ?r - robot) - (energy-rate ?r - robot) - (payload-capacity ?r - robot) - (current-load ?r - robot) - (item-weight ?i - item) - (item-size ?i - item) - (request-priority ?q - request) - (task-duration ?q - request) - (total-cost)) - - (:durative-action navigate - :parameters (?r - robot ?from - location ?to - location) - :duration (= ?duration (+ 2 (/ 3 (speed ?r)))) - :condition (and - (at start (robot-at ?r ?from)) - (at start (connected ?from ?to)) - (at start (can-move ?r ?from ?to)) - (at start (not (blocked ?from ?to))) - (at start (can-enter ?r ?to)) - (at start (robot-free ?r)) - (at start (robot-has ?r nav-cap)) - (at start (>= (battery ?r) (* 3 (energy-rate ?r)))) - (over all (not (blocked ?from ?to)))) - :effect (and - (at start (not (robot-free ?r))) - (at start (not (robot-at ?r ?from))) - (at start (decrease (battery ?r) (* 3 (energy-rate ?r)))) - (at end (robot-at ?r ?to)) - (at end (robot-free ?r)) - (at end (increase (total-cost) (+ 2 (* 3 (energy-rate ?r))))))) - - (:durative-action traverse-shared-corridor - :parameters (?r - robot ?from - location ?to - location ?corridor - resource) - :duration (= ?duration (+ 4 (/ 3 (speed ?r)))) - :condition (and - (at start (robot-at ?r ?from)) - (at start (connected ?from ?to)) - (at start (can-move ?r ?from ?to)) - (at start (corridor-link ?from ?to)) - (at start (uses-corridor ?from ?to ?corridor)) - (at start (available ?corridor)) - (at start (can-enter ?r ?to)) - (at start (robot-free ?r)) - (at start (robot-has ?r nav-cap)) - (at start (>= (battery ?r) (* 4 (energy-rate ?r)))) - (over all (not (blocked ?from ?to)))) - :effect (and - (at start (not (available ?corridor))) - (at start (not (robot-free ?r))) - (at start (not (robot-at ?r ?from))) - (at start (decrease (battery ?r) (* 4 (energy-rate ?r)))) - (at end (robot-at ?r ?to)) - (at end (available ?corridor)) - (at end (robot-free ?r)) - (at end (increase (total-cost) (+ 5 (* 4 (energy-rate ?r))))))) - - (:durative-action charge-robot - :parameters (?r - robot ?l - location ?dock - resource) - :duration (= ?duration 10) - :condition (and - (over all (robot-at ?r ?l)) - (at start (charger-for ?dock ?l)) - (at start (available ?dock)) - (at start (robot-free ?r))) - :effect (and - (at start (not (available ?dock))) - (at start (not (robot-free ?r))) - (at end (assign (battery ?r) (battery-max ?r))) - (at end (available ?dock)) - (at end (robot-free ?r)) - (at end (increase (total-cost) 1)))) - - (:durative-action pick-item - :parameters (?r - robot ?i - item ?l - location) - :duration (= ?duration (+ 1 (item-size ?i))) - :condition (and - (over all (robot-at ?r ?l)) - (at start (item-at ?i ?l)) - (at start (robot-free ?r)) - (at start (robot-has ?r delivery-cap)) - (at start (can-pick ?r ?i)) - (at start (<= (+ (current-load ?r) (item-weight ?i)) (payload-capacity ?r)))) - :effect (and - (at start (not (robot-free ?r))) - (at start (not (item-at ?i ?l))) - (at end (carrying ?r ?i)) - (at end (increase (current-load ?r) (item-weight ?i))) - (at end (robot-free ?r)) - (at end (increase (total-cost) (item-size ?i))))) - - (:durative-action deliver-item - :parameters (?r - robot ?i - item ?p - person ?l - location ?q - request) - :duration (= ?duration (+ 2 (task-duration ?q))) - :condition (and - (over all (robot-at ?r ?l)) - (over all (person-at ?p ?l)) - (at start (carrying ?r ?i)) - (at start (robot-free ?r)) - (at start (robot-has ?r delivery-cap)) - (at start (can-deliver ?r ?q)) - (at start (request-person ?q ?p)) - (at start (request-item ?q ?i)) - (at start (request-destination ?q ?l)) - (at start (request-capability ?q delivery-cap))) - :effect (and - (at start (not (robot-free ?r))) - (at start (not (carrying ?r ?i))) - (at end (delivered ?i ?p)) - (at end (service-completed ?q)) - (at end (decrease (current-load ?r) (item-weight ?i))) - (at end (robot-free ?r)) - (at end (increase (total-cost) (request-priority ?q))))) - - (:durative-action handover-item - :parameters (?from - robot ?to - robot ?i - item ?l - location) - :duration (= ?duration 3) - :condition (and - (over all (robot-at ?from ?l)) - (over all (robot-at ?to ?l)) - (at start (carrying ?from ?i)) - (at start (can-handover ?from ?to ?i ?l)) - (at start (robot-free ?from)) - (at start (robot-free ?to)) - (at start (robot-has ?to delivery-cap)) - (at start (<= (+ (current-load ?to) (item-weight ?i)) (payload-capacity ?to)))) - :effect (and - (at start (not (robot-free ?from))) - (at start (not (robot-free ?to))) - (at start (not (carrying ?from ?i))) - (at end (carrying ?to ?i)) - (at end (handover-done ?i ?from ?to)) - (at end (decrease (current-load ?from) (item-weight ?i))) - (at end (increase (current-load ?to) (item-weight ?i))) - (at end (robot-free ?from)) - (at end (robot-free ?to)) - (at end (increase (total-cost) 4)))) - - (:durative-action handover-deliver-item - :parameters (?from - robot ?to - robot ?i - item ?p - person ?l - location ?q - request) - :duration (= ?duration (+ 4 (task-duration ?q))) - :condition (and - (over all (robot-at ?from ?l)) - (over all (robot-at ?to ?l)) - (over all (person-at ?p ?l)) - (at start (carrying ?from ?i)) - (at start (can-handover ?from ?to ?i ?l)) - (at start (can-deliver ?to ?q)) - (at start (robot-free ?from)) - (at start (robot-free ?to)) - (at start (robot-has ?to delivery-cap)) - (at start (request-person ?q ?p)) - (at start (request-item ?q ?i)) - (at start (request-destination ?q ?l)) - (at start (request-capability ?q delivery-cap))) - :effect (and - (at start (not (robot-free ?from))) - (at start (not (robot-free ?to))) - (at start (not (carrying ?from ?i))) - (at end (handover-done ?i ?from ?to)) - (at end (delivered ?i ?p)) - (at end (service-completed ?q)) - (at end (decrease (current-load ?from) (item-weight ?i))) - (at end (robot-free ?from)) - (at end (robot-free ?to)) - (at end (increase (total-cost) (+ 4 (request-priority ?q)))))) - - (:durative-action cooperative-pick-heavy - :parameters (?left - robot ?right - robot ?i - item ?l - location) - :duration (= ?duration (+ 4 (item-size ?i))) - :condition (and - (over all (robot-at ?left ?l)) - (over all (robot-at ?right ?l)) - (at start (item-at ?i ?l)) - (at start (can-cooperate ?left ?right ?i)) - (at start (robot-free ?left)) - (at start (robot-free ?right)) - (at start (robot-has ?left lift-left-cap)) - (at start (robot-has ?right lift-right-cap))) - :effect (and - (at start (not (robot-free ?left))) - (at start (not (robot-free ?right))) - (at start (not (item-at ?i ?l))) - (at end (co-carrying ?left ?right ?i)) - (at end (robot-free ?left)) - (at end (robot-free ?right)) - (at end (increase (total-cost) (+ 8 (item-size ?i)))))) - - (:durative-action cooperative-transport-heavy - :parameters (?left - robot ?right - robot ?i - item ?p - person ?from - location ?to - location ?q - request) - :duration (= ?duration (+ 9 (task-duration ?q))) - :condition (and - (at start (robot-at ?left ?from)) - (at start (robot-at ?right ?from)) - (at start (item-at ?i ?from)) - (over all (person-at ?p ?to)) - (at start (connected ?from ?to)) - (at start (can-move ?left ?from ?to)) - (at start (can-move ?right ?from ?to)) - (at start (can-cooperate ?left ?right ?i)) - (at start (robot-free ?left)) - (at start (robot-free ?right)) - (at start (robot-has ?left lift-left-cap)) - (at start (robot-has ?right lift-right-cap)) - (at start (>= (battery ?left) (* 5 (energy-rate ?left)))) - (at start (>= (battery ?right) (* 5 (energy-rate ?right)))) - (at start (request-person ?q ?p)) - (at start (request-item ?q ?i)) - (at start (request-origin ?q ?from)) - (at start (request-destination ?q ?to)) - (at start (request-capability ?q lift-left-cap))) - :effect (and - (at start (not (robot-free ?left))) - (at start (not (robot-free ?right))) - (at start (not (robot-at ?left ?from))) - (at start (not (robot-at ?right ?from))) - (at start (not (item-at ?i ?from))) - (at start (decrease (battery ?left) (* 5 (energy-rate ?left)))) - (at start (decrease (battery ?right) (* 5 (energy-rate ?right)))) - (at end (robot-at ?left ?to)) - (at end (robot-at ?right ?to)) - (at end (delivered ?i ?p)) - (at end (service-completed ?q)) - (at end (robot-free ?left)) - (at end (robot-free ?right)) - (at end (increase (total-cost) (+ 12 (request-priority ?q)))))) - - (:durative-action cooperative-carry-heavy - :parameters (?left - robot ?right - robot ?i - item ?from - location ?to - location) - :duration (= ?duration (+ 5 (/ 3 (speed ?left)))) - :condition (and - (at start (co-carrying ?left ?right ?i)) - (at start (robot-at ?left ?from)) - (at start (robot-at ?right ?from)) - (at start (connected ?from ?to)) - (at start (can-move ?left ?from ?to)) - (at start (can-move ?right ?from ?to)) - (at start (not (blocked ?from ?to))) - (at start (can-enter ?left ?to)) - (at start (can-enter ?right ?to)) - (at start (robot-free ?left)) - (at start (robot-free ?right)) - (at start (>= (battery ?left) (* 5 (energy-rate ?left)))) - (at start (>= (battery ?right) (* 5 (energy-rate ?right)))) - (over all (not (blocked ?from ?to)))) - :effect (and - (at start (not (robot-free ?left))) - (at start (not (robot-free ?right))) - (at start (not (robot-at ?left ?from))) - (at start (not (robot-at ?right ?from))) - (at start (decrease (battery ?left) (* 5 (energy-rate ?left)))) - (at start (decrease (battery ?right) (* 5 (energy-rate ?right)))) - (at end (robot-at ?left ?to)) - (at end (robot-at ?right ?to)) - (at end (robot-free ?left)) - (at end (robot-free ?right)) - (at end (increase (total-cost) 10)))) - - (:durative-action cooperative-deliver-heavy - :parameters (?left - robot ?right - robot ?i - item ?p - person ?l - location ?q - request) - :duration (= ?duration (+ 5 (task-duration ?q))) - :condition (and - (over all (robot-at ?left ?l)) - (over all (robot-at ?right ?l)) - (over all (person-at ?p ?l)) - (at start (co-carrying ?left ?right ?i)) - (at start (robot-free ?left)) - (at start (robot-free ?right)) - (at start (request-person ?q ?p)) - (at start (request-item ?q ?i)) - (at start (request-destination ?q ?l)) - (at start (request-capability ?q lift-left-cap))) - :effect (and - (at start (not (robot-free ?left))) - (at start (not (robot-free ?right))) - (at start (not (co-carrying ?left ?right ?i))) - (at end (delivered ?i ?p)) - (at end (service-completed ?q)) - (at end (robot-free ?left)) - (at end (robot-free ?right)) - (at end (increase (total-cost) (request-priority ?q))))) - - (:durative-action check-in-visitor - :parameters (?r - robot ?p - person ?l - location ?q - request ?terminal - resource) - :duration (= ?duration (+ 2 (task-duration ?q))) - :condition (and - (over all (robot-at ?r ?l)) - (over all (person-at ?p ?l)) - (at start (available ?terminal)) - (at start (uses-terminal ?q ?terminal)) - (at start (robot-free ?r)) - (at start (robot-has ?r admin-cap)) - (at start (request-person ?q ?p)) - (at start (request-origin ?q ?l)) - (at start (request-destination ?q ?l)) - (at start (request-capability ?q admin-cap))) - :effect (and - (at start (not (available ?terminal))) - (at start (not (robot-free ?r))) - (at end (checked-in ?p)) - (at end (service-completed ?q)) - (at end (available ?terminal)) - (at end (robot-free ?r)) - (at end (increase (total-cost) (request-priority ?q))))) - - (:durative-action guide-person - :parameters (?r - robot ?p - person ?from - location ?to - location ?q - request) - :duration (= ?duration (+ 3 (/ 3 (speed ?r)))) - :condition (and - (at start (robot-at ?r ?from)) - (at start (person-at ?p ?from)) - (at start (connected ?from ?to)) - (at start (can-move ?r ?from ?to)) - (at start (not (blocked ?from ?to))) - (at start (can-enter ?r ?to)) - (at start (robot-free ?r)) - (at start (robot-has ?r guide-cap)) - (at start (can-guide ?r ?q)) - (at start (request-person ?q ?p)) - (at start (request-origin ?q ?from)) - (at start (request-destination ?q ?to)) - (at start (request-capability ?q guide-cap)) - (at start (>= (battery ?r) (* 3 (energy-rate ?r)))) - (over all (not (blocked ?from ?to)))) - :effect (and - (at start (not (robot-free ?r))) - (at start (not (robot-at ?r ?from))) - (at start (not (person-at ?p ?from))) - (at start (decrease (battery ?r) (* 3 (energy-rate ?r)))) - (at end (robot-at ?r ?to)) - (at end (person-at ?p ?to)) - (at end (guided ?p ?to)) - (at end (service-completed ?q)) - (at end (robot-free ?r)) - (at end (increase (total-cost) (request-priority ?q))))) - - (:durative-action comfort-person - :parameters (?r - robot ?p - person ?l - location ?q - request) - :duration (= ?duration (+ 3 (task-duration ?q))) - :condition (and - (over all (robot-at ?r ?l)) - (over all (person-at ?p ?l)) - (at start (robot-free ?r)) - (at start (robot-has ?r social-cap)) - (at start (can-comfort ?r ?q)) - (at start (request-person ?q ?p)) - (at start (request-origin ?q ?l)) - (at start (request-destination ?q ?l)) - (at start (request-capability ?q social-cap))) - :effect (and - (at start (not (robot-free ?r))) - (at end (comforted ?p)) - (at end (service-completed ?q)) - (at end (robot-free ?r)) - (at end (increase (total-cost) (request-priority ?q))))) - - (:durative-action remote-assist - :parameters (?monitor - robot ?actor - robot ?p - person ?station - location ?l - location ?q - request ?terminal - resource) - :duration (= ?duration (+ 4 (task-duration ?q))) - :condition (and - (over all (robot-at ?monitor ?station)) - (over all (robot-at ?actor ?l)) - (over all (person-at ?p ?l)) - (at start (available ?terminal)) - (at start (uses-terminal ?q ?terminal)) - (at start (robot-free ?monitor)) - (at start (robot-free ?actor)) - (at start (robot-has ?monitor monitor-cap)) - (at start (robot-has ?actor social-cap)) - (at start (can-assist ?monitor ?actor ?q)) - (at start (request-person ?q ?p)) - (at start (request-origin ?q ?station)) - (at start (request-destination ?q ?l)) - (at start (request-capability ?q monitor-cap)) - (at start (>= (battery ?monitor) 4))) - :effect (and - (at start (not (available ?terminal))) - (at start (not (robot-free ?monitor))) - (at start (not (robot-free ?actor))) - (at start (decrease (battery ?monitor) 4)) - (at end (assisted ?p)) - (at end (service-completed ?q)) - (at end (available ?terminal)) - (at end (robot-free ?monitor)) - (at end (robot-free ?actor)) - (at end (increase (total-cost) (request-priority ?q))))) -) diff --git a/upf4ros2_demo/test/pddl/upf_robotics_benchmarks/social_robotics/problem_complex_integrated.pddl b/upf4ros2_demo/test/pddl/upf_robotics_benchmarks/social_robotics/problem_complex_integrated.pddl deleted file mode 100644 index 7cf88a1..0000000 --- a/upf4ros2_demo/test/pddl/upf_robotics_benchmarks/social_robotics/problem_complex_integrated.pddl +++ /dev/null @@ -1,136 +0,0 @@ -(define (problem social-care-tamer-complex-integrated) - (:domain social-care-tamer-complex-integrated) - (:objects - reception pharmacy central-corridor ward-1 ward-2 laboratory social-room charge-a charge-b - location - r-admin r-pharmacy r-ward r-guide r-social r-remote r-hybrid - robot - visitor-a visitor-b resident-a resident-b resident-c resident-e resident-f - person - med-a med-b oxygen-unit meal-tray - item - q-checkin q-guide q-wellbeing q-remote q-med-normal q-med-handover q-heavy q-social-urgent - request - terminal-1 elevator-1 dock-a dock-b - resource) - (:init - (= (total-cost) 0) - - (robot-at r-admin reception) - (robot-at r-pharmacy pharmacy) - (robot-at r-ward pharmacy) - (robot-at r-guide reception) - (robot-at r-social laboratory) - (robot-at r-remote charge-a) - (robot-at r-hybrid laboratory) - (robot-free r-admin) (robot-free r-pharmacy) (robot-free r-ward) (robot-free r-guide) (robot-free r-social) (robot-free r-remote) (robot-free r-hybrid) - - (person-at visitor-a reception) - (person-at visitor-b reception) - (person-at resident-a laboratory) - (person-at resident-b pharmacy) - (person-at resident-c social-room) - (person-at resident-e laboratory) - (person-at resident-f ward-2) - - (carrying r-hybrid med-a) - (item-at med-b pharmacy) - (item-at oxygen-unit laboratory) - (item-at meal-tray pharmacy) - - (available terminal-1) - (available elevator-1) - (available dock-a) - (available dock-b) - (charger-for dock-a charge-a) - (charger-for dock-b charge-b) - - (connected reception ward-1) (connected ward-1 reception) - (connected pharmacy central-corridor) (connected central-corridor pharmacy) - (connected central-corridor ward-2) (connected ward-2 central-corridor) - (connected pharmacy ward-1) (connected ward-1 pharmacy) - (connected laboratory social-room) (connected social-room laboratory) - (corridor-link central-corridor ward-2) (corridor-link ward-2 central-corridor) - (uses-corridor central-corridor ward-2 elevator-1) (uses-corridor ward-2 central-corridor elevator-1) - - (robot-has r-admin admin-cap) - (robot-has r-pharmacy nav-cap) (robot-has r-pharmacy delivery-cap) - (robot-has r-ward nav-cap) (robot-has r-ward delivery-cap) (robot-has r-ward social-cap) - (robot-has r-guide nav-cap) (robot-has r-guide guide-cap) (robot-has r-guide social-cap) - (robot-has r-social nav-cap) (robot-has r-social social-cap) (robot-has r-social lift-right-cap) - (robot-has r-remote nav-cap) (robot-has r-remote monitor-cap) - (robot-has r-hybrid nav-cap) (robot-has r-hybrid delivery-cap) (robot-has r-hybrid social-cap) (robot-has r-hybrid lift-left-cap) - - (can-enter r-admin reception) (can-enter r-admin central-corridor) - (can-enter r-pharmacy pharmacy) (can-enter r-pharmacy ward-1) (can-enter r-pharmacy charge-a) - (can-enter r-ward pharmacy) (can-enter r-ward central-corridor) (can-enter r-ward ward-2) (can-enter r-ward charge-b) - (can-enter r-guide reception) (can-enter r-guide central-corridor) (can-enter r-guide ward-1) (can-enter r-guide social-room) (can-enter r-guide charge-a) - (can-enter r-social laboratory) (can-enter r-social social-room) (can-enter r-social central-corridor) (can-enter r-social ward-2) (can-enter r-social charge-b) - (can-enter r-remote charge-a) - (can-enter r-hybrid laboratory) (can-enter r-hybrid social-room) (can-enter r-hybrid charge-a) - - (can-move r-pharmacy pharmacy ward-1) - (can-move r-ward pharmacy central-corridor) - (can-move r-ward central-corridor ward-2) - (can-move r-guide reception ward-1) - (can-move r-social laboratory social-room) - (can-move r-hybrid laboratory social-room) - - (can-pick r-pharmacy med-a) - (can-pick r-pharmacy med-b) - (can-deliver r-ward q-med-handover) - (can-guide r-guide q-guide) - (can-comfort r-social q-wellbeing) - (can-comfort r-hybrid q-med-normal) - (can-comfort r-hybrid q-social-urgent) - (can-assist r-remote r-ward q-remote) - (can-handover r-pharmacy r-ward med-b pharmacy) - (can-cooperate r-hybrid r-social oxygen-unit) - - (uses-terminal q-checkin terminal-1) - (uses-terminal q-remote terminal-1) - - (request-person q-checkin visitor-a) (request-origin q-checkin reception) (request-destination q-checkin reception) (request-capability q-checkin admin-cap) - (request-person q-guide visitor-b) (request-origin q-guide reception) (request-destination q-guide ward-1) (request-capability q-guide guide-cap) - (request-person q-wellbeing resident-c) (request-origin q-wellbeing social-room) (request-destination q-wellbeing social-room) (request-capability q-wellbeing social-cap) - (request-person q-remote resident-b) (request-origin q-remote charge-a) (request-destination q-remote pharmacy) (request-capability q-remote monitor-cap) - (request-person q-med-normal resident-a) (request-origin q-med-normal laboratory) (request-destination q-med-normal laboratory) (request-capability q-med-normal social-cap) - (request-person q-med-handover resident-b) (request-item q-med-handover med-b) (request-origin q-med-handover pharmacy) (request-destination q-med-handover pharmacy) (request-capability q-med-handover delivery-cap) - (request-person q-heavy resident-c) (request-item q-heavy oxygen-unit) (request-origin q-heavy laboratory) (request-destination q-heavy social-room) (request-capability q-heavy lift-left-cap) - (request-person q-social-urgent resident-e) (request-origin q-social-urgent laboratory) (request-destination q-social-urgent laboratory) (request-capability q-social-urgent social-cap) - - (= (battery r-admin) 45) (= (battery-max r-admin) 70) (= (speed r-admin) 1.1) (= (energy-rate r-admin) 0.8) (= (payload-capacity r-admin) 1) (= (current-load r-admin) 0) - (= (battery r-pharmacy) 42) (= (battery-max r-pharmacy) 80) (= (speed r-pharmacy) 0.9) (= (energy-rate r-pharmacy) 1.0) (= (payload-capacity r-pharmacy) 3) (= (current-load r-pharmacy) 0) - (= (battery r-ward) 55) (= (battery-max r-ward) 90) (= (speed r-ward) 0.8) (= (energy-rate r-ward) 1.1) (= (payload-capacity r-ward) 4) (= (current-load r-ward) 0) - (= (battery r-guide) 50) (= (battery-max r-guide) 70) (= (speed r-guide) 1.0) (= (energy-rate r-guide) 0.9) (= (payload-capacity r-guide) 1) (= (current-load r-guide) 0) - (= (battery r-social) 60) (= (battery-max r-social) 85) (= (speed r-social) 0.9) (= (energy-rate r-social) 1.1) (= (payload-capacity r-social) 4) (= (current-load r-social) 0) - (= (battery r-remote) 2) (= (battery-max r-remote) 80) (= (speed r-remote) 1.0) (= (energy-rate r-remote) 1.0) (= (payload-capacity r-remote) 1) (= (current-load r-remote) 0) - (= (battery r-hybrid) 65) (= (battery-max r-hybrid) 90) (= (speed r-hybrid) 1.1) (= (energy-rate r-hybrid) 1.0) (= (payload-capacity r-hybrid) 5) (= (current-load r-hybrid) 1) - - (= (item-weight med-a) 1) (= (item-size med-a) 1) - (= (item-weight med-b) 1) (= (item-size med-b) 1) - (= (item-weight oxygen-unit) 9) (= (item-size oxygen-unit) 5) - (= (item-weight meal-tray) 2) (= (item-size meal-tray) 2) - - (= (request-priority q-checkin) 2) (= (task-duration q-checkin) 1) - (= (request-priority q-guide) 6) (= (task-duration q-guide) 2) - (= (request-priority q-wellbeing) 8) (= (task-duration q-wellbeing) 2) - (= (request-priority q-remote) 25) (= (task-duration q-remote) 2) - (= (request-priority q-med-normal) 10) (= (task-duration q-med-normal) 1) - (= (request-priority q-med-handover) 18) (= (task-duration q-med-handover) 1) - (= (request-priority q-heavy) 14) (= (task-duration q-heavy) 2) - (= (request-priority q-social-urgent) 20) (= (task-duration q-social-urgent) 1)) - - (:goal (and - (checked-in visitor-a) - (guided visitor-b ward-1) - (comforted resident-c) - (assisted resident-b) - (comforted resident-a) - (handover-done med-b r-pharmacy r-ward) - (delivered med-b resident-b) - (delivered oxygen-unit resident-c) - (comforted resident-e) - (service-completed q-checkin) - (service-completed q-guide) - (service-completed q-wellbeing) - (service-completed q-remote) - (service-completed q-med-normal) - (service-completed q-med-handover) - (service-completed q-heavy) - (service-completed q-social-urgent))) -) From 46f26dd6f4de0a84537ade8e0fd06a361872c5e0 Mon Sep 17 00:00:00 2001 From: igonzf Date: Thu, 23 Jul 2026 10:14:55 +0200 Subject: [PATCH 05/10] fix dependencies --- upf_msgs/CMakeLists.txt | 4 ++-- upf_msgs/package.xml | 3 ++- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/upf_msgs/CMakeLists.txt b/upf_msgs/CMakeLists.txt index bc8d018..7217382 100644 --- a/upf_msgs/CMakeLists.txt +++ b/upf_msgs/CMakeLists.txt @@ -1,7 +1,7 @@ -project(upf_msgs) - cmake_minimum_required(VERSION 3.5) +project(upf_msgs) + find_package(ament_cmake REQUIRED) find_package(builtin_interfaces REQUIRED) find_package(rosidl_default_generators REQUIRED) diff --git a/upf_msgs/package.xml b/upf_msgs/package.xml index d10b66e..c120b16 100644 --- a/upf_msgs/package.xml +++ b/upf_msgs/package.xml @@ -10,7 +10,8 @@ ament_cmake builtin_interfaces - rosidl_default_generators + rosidl_default_generators + rosidl_default_runtime rosidl_interface_packages From db80de9ac9ef19d5fa33cc1417afd6a7dc1f9629 Mon Sep 17 00:00:00 2001 From: igonzf Date: Fri, 24 Jul 2026 09:37:59 +0200 Subject: [PATCH 06/10] add complex domain demo --- .../upf4ros2_demo_tamer_integrated_node.py | 693 ++++++++++++++++++ 1 file changed, 693 insertions(+) create mode 100644 upf4ros2_demo/upf4ros2_demo/upf4ros2_demo_tamer_integrated_node.py diff --git a/upf4ros2_demo/upf4ros2_demo/upf4ros2_demo_tamer_integrated_node.py b/upf4ros2_demo/upf4ros2_demo/upf4ros2_demo_tamer_integrated_node.py new file mode 100644 index 0000000..480d103 --- /dev/null +++ b/upf4ros2_demo/upf4ros2_demo/upf4ros2_demo_tamer_integrated_node.py @@ -0,0 +1,693 @@ +import argparse +import csv +from collections import OrderedDict +from fractions import Fraction +import os +from pathlib import Path +import subprocess +import time + +import rclpy +from rclpy.node import Node + +from unified_planning import model +from unified_planning.shortcuts import ( + And, + BoolType, + ClosedTimeInterval, + Div, + EndTiming, + Equals, + GE, + Int, + LE, + Not, + OneshotPlanner, + Plus, + Real, + RealType, + StartTiming, + Times, + UserType, + get_environment, +) + +from upf4ros2.ros2_interface_writer import ROS2InterfaceWriter +from upf_msgs.srv import PlanOneShot as PlanOneShotSrv + + +CLK_TCK = os.sysconf(os.sysconf_names['SC_CLK_TCK']) + + +def now(): + return time.perf_counter() + + +def read_self_resource(): + try: + import resource + usage = resource.getrusage(resource.RUSAGE_SELF) + return usage.ru_utime + usage.ru_stime, usage.ru_maxrss + except Exception: + return None, None + + +def read_proc_stat(pid): + try: + stat = Path(f'/proc/{pid}/stat').read_text().split() + return (int(stat[13]) + int(stat[14])) / CLK_TCK + except Exception: + return None + + +def read_proc_rss_kb(pid): + try: + for line in Path(f'/proc/{pid}/status').read_text().splitlines(): + if line.startswith('VmRSS:'): + return int(line.split()[1]) + except Exception: + return None + return None + + +def find_upf4ros2_server_pids(): + try: + result = subprocess.run( + ['pgrep', '-f', 'upf4ros2_main'], + check=False, + capture_output=True, + text=True) + except Exception: + return [] + self_pid = os.getpid() + pids = [] + for token in result.stdout.split(): + try: + pid = int(token) + except ValueError: + continue + if pid != self_pid: + pids.append(pid) + return pids + + +def sum_proc_cpu(pids): + return sum(value for value in (read_proc_stat(pid) for pid in pids) if value is not None) + + +def sum_proc_rss_kb(pids): + return sum(value for value in (read_proc_rss_kb(pid) for pid in pids) if value is not None) + + +class Metrics: + def __init__(self): + self.values = {} + + def add(self, key, value): + self.values[key] = self.values.get(key, 0.0) + value + + def inc(self, key, value=1): + self.values[key] = self.values.get(key, 0) + value + + def measure(self, key, func, *args, **kwargs): + start = now() + result = func(*args, **kwargs) + self.add(key, now() - start) + return result + + +def real(value): + return Real(Fraction(str(value))) + + +def signature(**kwargs): + return OrderedDict(kwargs) + + +def build_tamer_complex_integrated_problem(metrics=None): + metrics = metrics or Metrics() + problem = metrics.measure( + 'build_create_problem_s', model.Problem, 'social-care-tamer-complex-integrated') + + start_types = now() + location = UserType('location') + robot = UserType('robot') + person = UserType('person') + item = UserType('item') + request = UserType('request') + resource = UserType('resource') + capability = UserType('capability') + metrics.add('build_create_types_s', now() - start_types) + + start_fluents = now() + connected = model.Fluent('connected', BoolType(), _signature=signature(**{'from': location, 'to': location})) + corridor_link = model.Fluent('corridor-link', BoolType(), _signature=signature(**{'from': location, 'to': location})) + blocked = model.Fluent('blocked', BoolType(), _signature=signature(**{'from': location, 'to': location})) + can_enter = model.Fluent('can-enter', BoolType(), r=robot, l=location) + can_move = model.Fluent('can-move', BoolType(), _signature=signature(r=robot, **{'from': location, 'to': location})) + robot_at = model.Fluent('robot-at', BoolType(), r=robot, l=location) + person_at = model.Fluent('person-at', BoolType(), p=person, l=location) + item_at = model.Fluent('item-at', BoolType(), i=item, l=location) + robot_free = model.Fluent('robot-free', BoolType(), r=robot) + available = model.Fluent('available', BoolType(), x=resource) + charger_for = model.Fluent('charger-for', BoolType(), dock=resource, l=location) + uses_corridor = model.Fluent('uses-corridor', BoolType(), _signature=signature(**{'from': location, 'to': location, 'c': resource})) + uses_terminal = model.Fluent('uses-terminal', BoolType(), q=request, terminal=resource) + robot_has = model.Fluent('robot-has', BoolType(), r=robot, c=capability) + can_pick = model.Fluent('can-pick', BoolType(), r=robot, i=item) + can_deliver = model.Fluent('can-deliver', BoolType(), r=robot, q=request) + can_guide = model.Fluent('can-guide', BoolType(), r=robot, q=request) + can_comfort = model.Fluent('can-comfort', BoolType(), r=robot, q=request) + can_assist = model.Fluent('can-assist', BoolType(), monitor=robot, actor=robot, q=request) + can_handover = model.Fluent('can-handover', BoolType(), _signature=signature(**{'from': robot, 'to': robot, 'i': item, 'l': location})) + can_cooperate = model.Fluent('can-cooperate', BoolType(), left=robot, right=robot, i=item) + request_person = model.Fluent('request-person', BoolType(), q=request, p=person) + request_item = model.Fluent('request-item', BoolType(), q=request, i=item) + request_origin = model.Fluent('request-origin', BoolType(), q=request, l=location) + request_destination = model.Fluent('request-destination', BoolType(), q=request, l=location) + request_capability = model.Fluent('request-capability', BoolType(), q=request, c=capability) + carrying = model.Fluent('carrying', BoolType(), r=robot, i=item) + co_carrying = model.Fluent('co-carrying', BoolType(), left=robot, right=robot, i=item) + handover_done = model.Fluent('handover-done', BoolType(), i=item, _from=robot, to=robot) + delivered = model.Fluent('delivered', BoolType(), i=item, p=person) + comforted = model.Fluent('comforted', BoolType(), p=person) + assisted = model.Fluent('assisted', BoolType(), p=person) + checked_in = model.Fluent('checked-in', BoolType(), p=person) + guided = model.Fluent('guided', BoolType(), p=person, l=location) + service_completed = model.Fluent('service-completed', BoolType(), q=request) + + battery = model.Fluent('battery', RealType(), r=robot) + battery_max = model.Fluent('battery-max', RealType(), r=robot) + speed = model.Fluent('speed', RealType(), r=robot) + energy_rate = model.Fluent('energy-rate', RealType(), r=robot) + payload_capacity = model.Fluent('payload-capacity', RealType(), r=robot) + current_load = model.Fluent('current-load', RealType(), r=robot) + item_weight = model.Fluent('item-weight', RealType(), i=item) + item_size = model.Fluent('item-size', RealType(), i=item) + request_priority = model.Fluent('request-priority', RealType(), q=request) + task_duration = model.Fluent('task-duration', RealType(), q=request) + total_cost = model.Fluent('total-cost', RealType()) + metrics.add('build_create_fluents_s', now() - start_fluents) + + for fluent in [ + connected, corridor_link, blocked, can_enter, can_move, robot_at, person_at, item_at, + robot_free, available, charger_for, uses_corridor, uses_terminal, robot_has, can_pick, + can_deliver, can_guide, can_comfort, can_assist, can_handover, can_cooperate, + request_person, request_item, request_origin, request_destination, request_capability, + carrying, co_carrying, handover_done, delivered, comforted, assisted, checked_in, guided, + service_completed, + ]: + metrics.measure('build_add_fluents_s', problem.add_fluent, fluent, default_initial_value=False) + metrics.inc('build_add_fluent_calls') + for fluent in [ + battery, battery_max, speed, energy_rate, payload_capacity, current_load, item_weight, + item_size, request_priority, task_duration, total_cost, + ]: + metrics.measure('build_add_fluents_s', problem.add_fluent, fluent, default_initial_value=real(0)) + metrics.inc('build_add_fluent_calls') + + objects = {} + for type_, names in [ + (capability, 'nav-cap delivery-cap social-cap monitor-cap lift-left-cap lift-right-cap admin-cap guide-cap'.split()), + (location, 'reception pharmacy central-corridor ward-1 ward-2 laboratory social-room charge-a charge-b'.split()), + (robot, 'r-admin r-pharmacy r-ward r-guide r-social r-remote r-hybrid'.split()), + (person, 'visitor-a visitor-b resident-a resident-b resident-c resident-e resident-f'.split()), + (item, 'med-a med-b oxygen-unit meal-tray'.split()), + (request, 'q-checkin q-guide q-wellbeing q-remote q-med-normal q-med-handover q-heavy q-social-urgent'.split()), + (resource, 'terminal-1 elevator-1 dock-a dock-b'.split()), + ]: + for name in names: + objects[name] = metrics.measure('build_create_objects_s', model.Object, name, type_) + metrics.measure('build_add_objects_s', problem.add_object, objects[name]) + metrics.inc('build_add_object_calls') + + o = objects + start = StartTiming() + end = EndTiming() + overall = ClosedTimeInterval(start, end) + + def da(name, params, duration): + action = metrics.measure('build_create_actions_s', model.DurativeAction, name, _parameters=OrderedDict(params)) + metrics.measure('build_set_durations_s', action.set_fixed_duration, duration) + metrics.inc('build_create_action_calls') + return action + + def add_action(action): + metrics.measure('build_add_actions_s', problem.add_action, action) + metrics.inc('build_add_action_calls') + + def p(action, name): + return action.parameter(name) + + def add_start_conditions(action, conditions): + for condition in conditions: + metrics.measure('build_add_conditions_s', action.add_condition, start, condition) + metrics.inc('build_add_condition_calls') + + def add_overall_conditions(action, conditions): + for condition in conditions: + metrics.measure('build_add_conditions_s', action.add_condition, overall, condition) + metrics.inc('build_add_condition_calls') + + def add_start_effects(action, effects): + for fluent_exp, value in effects: + metrics.measure('build_add_effects_s', action.add_effect, start, fluent_exp, value) + metrics.inc('build_add_effect_calls') + + def add_end_effects(action, effects): + for fluent_exp, value in effects: + metrics.measure('build_add_effects_s', action.add_effect, end, fluent_exp, value) + metrics.inc('build_add_effect_calls') + + def add_start_decrease(action, fluent_exp, value): + metrics.measure('build_add_effects_s', action.add_decrease_effect, start, fluent_exp, value) + metrics.inc('build_add_effect_calls') + + def add_end_decrease(action, fluent_exp, value): + metrics.measure('build_add_effects_s', action.add_decrease_effect, end, fluent_exp, value) + metrics.inc('build_add_effect_calls') + + def add_end_increase(action, fluent_exp, value): + metrics.measure('build_add_effects_s', action.add_increase_effect, end, fluent_exp, value) + metrics.inc('build_add_effect_calls') + + r_from_to = [('r', robot), ('from', location), ('to', location)] + + navigate = da('navigate', r_from_to, Int(1)) + r, fr, to = p(navigate, 'r'), p(navigate, 'from'), p(navigate, 'to') + metrics.measure('build_set_durations_s', navigate.set_fixed_duration, Plus(Int(2), Div(Int(3), speed(r)))) + add_start_conditions(navigate, [robot_at(r, fr), connected(fr, to), can_move(r, fr, to), Not(blocked(fr, to)), can_enter(r, to), robot_free(r), robot_has(r, o['nav-cap']), GE(battery(r), Times(Int(3), energy_rate(r)))]) + add_overall_conditions(navigate, [Not(blocked(fr, to))]) + add_start_effects(navigate, [(robot_free(r), False), (robot_at(r, fr), False)]) + add_start_decrease(navigate, battery(r), Times(Int(3), energy_rate(r))) + add_end_effects(navigate, [(robot_at(r, to), True), (robot_free(r), True)]) + add_end_increase(navigate, total_cost(), Plus(Int(2), Times(Int(3), energy_rate(r)))) + add_action(navigate) + + traverse = da('traverse-shared-corridor', [('r', robot), ('from', location), ('to', location), ('corridor', resource)], Int(1)) + r, fr, to, corridor = p(traverse, 'r'), p(traverse, 'from'), p(traverse, 'to'), p(traverse, 'corridor') + metrics.measure('build_set_durations_s', traverse.set_fixed_duration, Plus(Int(4), Div(Int(3), speed(r)))) + add_start_conditions(traverse, [robot_at(r, fr), connected(fr, to), can_move(r, fr, to), corridor_link(fr, to), uses_corridor(fr, to, corridor), available(corridor), can_enter(r, to), robot_free(r), robot_has(r, o['nav-cap']), GE(battery(r), Times(Int(4), energy_rate(r)))]) + add_overall_conditions(traverse, [Not(blocked(fr, to))]) + add_start_effects(traverse, [(available(corridor), False), (robot_free(r), False), (robot_at(r, fr), False)]) + add_start_decrease(traverse, battery(r), Times(Int(4), energy_rate(r))) + add_end_effects(traverse, [(robot_at(r, to), True), (available(corridor), True), (robot_free(r), True)]) + add_end_increase(traverse, total_cost(), Plus(Int(5), Times(Int(4), energy_rate(r)))) + add_action(traverse) + + charge = da('charge-robot', [('r', robot), ('l', location), ('dock', resource)], Int(10)) + r, l, dock = p(charge, 'r'), p(charge, 'l'), p(charge, 'dock') + add_overall_conditions(charge, [robot_at(r, l)]) + add_start_conditions(charge, [charger_for(dock, l), available(dock), robot_free(r)]) + add_start_effects(charge, [(available(dock), False), (robot_free(r), False)]) + add_end_effects(charge, [(battery(r), battery_max(r)), (available(dock), True), (robot_free(r), True)]) + add_end_increase(charge, total_cost(), Int(1)) + add_action(charge) + + pick_item = da('pick-item', [('r', robot), ('i', item), ('l', location)], Int(1)) + r, i, l = p(pick_item, 'r'), p(pick_item, 'i'), p(pick_item, 'l') + metrics.measure('build_set_durations_s', pick_item.set_fixed_duration, Plus(Int(1), item_size(i))) + add_overall_conditions(pick_item, [robot_at(r, l)]) + add_start_conditions(pick_item, [item_at(i, l), robot_free(r), robot_has(r, o['delivery-cap']), can_pick(r, i), LE(Plus(current_load(r), item_weight(i)), payload_capacity(r))]) + add_start_effects(pick_item, [(robot_free(r), False), (item_at(i, l), False)]) + add_end_effects(pick_item, [(carrying(r, i), True), (robot_free(r), True)]) + add_end_increase(pick_item, current_load(r), item_weight(i)) + add_end_increase(pick_item, total_cost(), item_size(i)) + add_action(pick_item) + + deliver = da('deliver-item', [('r', robot), ('i', item), ('p', person), ('l', location), ('q', request)], Int(1)) + r, i, pe, l, q = p(deliver, 'r'), p(deliver, 'i'), p(deliver, 'p'), p(deliver, 'l'), p(deliver, 'q') + metrics.measure('build_set_durations_s', deliver.set_fixed_duration, Plus(Int(2), task_duration(q))) + add_overall_conditions(deliver, [robot_at(r, l), person_at(pe, l)]) + add_start_conditions(deliver, [carrying(r, i), robot_free(r), robot_has(r, o['delivery-cap']), can_deliver(r, q), request_person(q, pe), request_item(q, i), request_destination(q, l), request_capability(q, o['delivery-cap'])]) + add_start_effects(deliver, [(robot_free(r), False), (carrying(r, i), False)]) + add_end_effects(deliver, [(delivered(i, pe), True), (service_completed(q), True), (robot_free(r), True)]) + add_end_decrease(deliver, current_load(r), item_weight(i)) + add_end_increase(deliver, total_cost(), request_priority(q)) + add_action(deliver) + + handover = da('handover-item', [('from', robot), ('to', robot), ('i', item), ('l', location)], Int(3)) + rf, rt, i, l = p(handover, 'from'), p(handover, 'to'), p(handover, 'i'), p(handover, 'l') + add_overall_conditions(handover, [robot_at(rf, l), robot_at(rt, l)]) + add_start_conditions(handover, [carrying(rf, i), can_handover(rf, rt, i, l), robot_free(rf), robot_free(rt), robot_has(rt, o['delivery-cap']), LE(Plus(current_load(rt), item_weight(i)), payload_capacity(rt))]) + add_start_effects(handover, [(robot_free(rf), False), (robot_free(rt), False), (carrying(rf, i), False)]) + add_end_effects(handover, [(carrying(rt, i), True), (handover_done(i, rf, rt), True), (robot_free(rf), True), (robot_free(rt), True)]) + add_end_decrease(handover, current_load(rf), item_weight(i)) + add_end_increase(handover, current_load(rt), item_weight(i)) + add_end_increase(handover, total_cost(), Int(4)) + add_action(handover) + + handover_deliver = da('handover-deliver-item', [('from', robot), ('to', robot), ('i', item), ('p', person), ('l', location), ('q', request)], Int(1)) + rf, rt, i, pe, l, q = [p(handover_deliver, n) for n in ['from', 'to', 'i', 'p', 'l', 'q']] + metrics.measure('build_set_durations_s', handover_deliver.set_fixed_duration, Plus(Int(4), task_duration(q))) + add_overall_conditions(handover_deliver, [robot_at(rf, l), robot_at(rt, l), person_at(pe, l)]) + add_start_conditions(handover_deliver, [carrying(rf, i), can_handover(rf, rt, i, l), can_deliver(rt, q), robot_free(rf), robot_free(rt), robot_has(rt, o['delivery-cap']), request_person(q, pe), request_item(q, i), request_destination(q, l), request_capability(q, o['delivery-cap'])]) + add_start_effects(handover_deliver, [(robot_free(rf), False), (robot_free(rt), False), (carrying(rf, i), False)]) + add_end_effects(handover_deliver, [(handover_done(i, rf, rt), True), (delivered(i, pe), True), (service_completed(q), True), (robot_free(rf), True), (robot_free(rt), True)]) + add_end_decrease(handover_deliver, current_load(rf), item_weight(i)) + add_end_increase(handover_deliver, total_cost(), Plus(Int(4), request_priority(q))) + add_action(handover_deliver) + + coop_pick = da('cooperative-pick-heavy', [('left', robot), ('right', robot), ('i', item), ('l', location)], Int(1)) + left, right, i, l = [p(coop_pick, n) for n in ['left', 'right', 'i', 'l']] + metrics.measure('build_set_durations_s', coop_pick.set_fixed_duration, Plus(Int(4), item_size(i))) + add_overall_conditions(coop_pick, [robot_at(left, l), robot_at(right, l)]) + add_start_conditions(coop_pick, [item_at(i, l), can_cooperate(left, right, i), robot_free(left), robot_free(right), robot_has(left, o['lift-left-cap']), robot_has(right, o['lift-right-cap'])]) + add_start_effects(coop_pick, [(robot_free(left), False), (robot_free(right), False), (item_at(i, l), False)]) + add_end_effects(coop_pick, [(co_carrying(left, right, i), True), (robot_free(left), True), (robot_free(right), True)]) + add_end_increase(coop_pick, total_cost(), Plus(Int(8), item_size(i))) + add_action(coop_pick) + + coop_transport = da('cooperative-transport-heavy', [('left', robot), ('right', robot), ('i', item), ('p', person), ('from', location), ('to', location), ('q', request)], Int(1)) + left, right, i, pe, fr, to, q = [p(coop_transport, n) for n in ['left', 'right', 'i', 'p', 'from', 'to', 'q']] + metrics.measure('build_set_durations_s', coop_transport.set_fixed_duration, Plus(Int(9), task_duration(q))) + add_overall_conditions(coop_transport, [person_at(pe, to)]) + add_start_conditions(coop_transport, [robot_at(left, fr), robot_at(right, fr), item_at(i, fr), connected(fr, to), can_move(left, fr, to), can_move(right, fr, to), can_cooperate(left, right, i), robot_free(left), robot_free(right), robot_has(left, o['lift-left-cap']), robot_has(right, o['lift-right-cap']), GE(battery(left), Times(Int(5), energy_rate(left))), GE(battery(right), Times(Int(5), energy_rate(right))), request_person(q, pe), request_item(q, i), request_origin(q, fr), request_destination(q, to), request_capability(q, o['lift-left-cap'])]) + add_start_effects(coop_transport, [(robot_free(left), False), (robot_free(right), False), (robot_at(left, fr), False), (robot_at(right, fr), False), (item_at(i, fr), False)]) + add_start_decrease(coop_transport, battery(left), Times(Int(5), energy_rate(left))) + add_start_decrease(coop_transport, battery(right), Times(Int(5), energy_rate(right))) + add_end_effects(coop_transport, [(robot_at(left, to), True), (robot_at(right, to), True), (delivered(i, pe), True), (service_completed(q), True), (robot_free(left), True), (robot_free(right), True)]) + add_end_increase(coop_transport, total_cost(), Plus(Int(12), request_priority(q))) + add_action(coop_transport) + + coop_carry = da('cooperative-carry-heavy', [('left', robot), ('right', robot), ('i', item), ('from', location), ('to', location)], Int(1)) + left, right, i, fr, to = [p(coop_carry, n) for n in ['left', 'right', 'i', 'from', 'to']] + metrics.measure('build_set_durations_s', coop_carry.set_fixed_duration, Plus(Int(5), Div(Int(3), speed(left)))) + add_start_conditions(coop_carry, [co_carrying(left, right, i), robot_at(left, fr), robot_at(right, fr), connected(fr, to), can_move(left, fr, to), can_move(right, fr, to), Not(blocked(fr, to)), can_enter(left, to), can_enter(right, to), robot_free(left), robot_free(right), GE(battery(left), Times(Int(5), energy_rate(left))), GE(battery(right), Times(Int(5), energy_rate(right)))]) + add_overall_conditions(coop_carry, [Not(blocked(fr, to))]) + add_start_effects(coop_carry, [(robot_free(left), False), (robot_free(right), False), (robot_at(left, fr), False), (robot_at(right, fr), False)]) + add_start_decrease(coop_carry, battery(left), Times(Int(5), energy_rate(left))) + add_start_decrease(coop_carry, battery(right), Times(Int(5), energy_rate(right))) + add_end_effects(coop_carry, [(robot_at(left, to), True), (robot_at(right, to), True), (robot_free(left), True), (robot_free(right), True)]) + add_end_increase(coop_carry, total_cost(), Int(10)) + add_action(coop_carry) + + coop_deliver = da('cooperative-deliver-heavy', [('left', robot), ('right', robot), ('i', item), ('p', person), ('l', location), ('q', request)], Int(1)) + left, right, i, pe, l, q = [p(coop_deliver, n) for n in ['left', 'right', 'i', 'p', 'l', 'q']] + metrics.measure('build_set_durations_s', coop_deliver.set_fixed_duration, Plus(Int(5), task_duration(q))) + add_overall_conditions(coop_deliver, [robot_at(left, l), robot_at(right, l), person_at(pe, l)]) + add_start_conditions(coop_deliver, [co_carrying(left, right, i), robot_free(left), robot_free(right), request_person(q, pe), request_item(q, i), request_destination(q, l), request_capability(q, o['lift-left-cap'])]) + add_start_effects(coop_deliver, [(robot_free(left), False), (robot_free(right), False), (co_carrying(left, right, i), False)]) + add_end_effects(coop_deliver, [(delivered(i, pe), True), (service_completed(q), True), (robot_free(left), True), (robot_free(right), True)]) + add_end_increase(coop_deliver, total_cost(), request_priority(q)) + add_action(coop_deliver) + + check_in = da('check-in-visitor', [('r', robot), ('p', person), ('l', location), ('q', request), ('terminal', resource)], Int(1)) + r, pe, l, q, terminal = [p(check_in, n) for n in ['r', 'p', 'l', 'q', 'terminal']] + metrics.measure('build_set_durations_s', check_in.set_fixed_duration, Plus(Int(2), task_duration(q))) + add_overall_conditions(check_in, [robot_at(r, l), person_at(pe, l)]) + add_start_conditions(check_in, [available(terminal), uses_terminal(q, terminal), robot_free(r), robot_has(r, o['admin-cap']), request_person(q, pe), request_origin(q, l), request_destination(q, l), request_capability(q, o['admin-cap'])]) + add_start_effects(check_in, [(available(terminal), False), (robot_free(r), False)]) + add_end_effects(check_in, [(checked_in(pe), True), (service_completed(q), True), (available(terminal), True), (robot_free(r), True)]) + add_end_increase(check_in, total_cost(), request_priority(q)) + add_action(check_in) + + guide = da('guide-person', [('r', robot), ('p', person), ('from', location), ('to', location), ('q', request)], Int(1)) + r, pe, fr, to, q = [p(guide, n) for n in ['r', 'p', 'from', 'to', 'q']] + metrics.measure('build_set_durations_s', guide.set_fixed_duration, Plus(Int(3), Div(Int(3), speed(r)))) + add_start_conditions(guide, [robot_at(r, fr), person_at(pe, fr), connected(fr, to), can_move(r, fr, to), Not(blocked(fr, to)), can_enter(r, to), robot_free(r), robot_has(r, o['guide-cap']), can_guide(r, q), request_person(q, pe), request_origin(q, fr), request_destination(q, to), request_capability(q, o['guide-cap']), GE(battery(r), Times(Int(3), energy_rate(r)))]) + add_overall_conditions(guide, [Not(blocked(fr, to))]) + add_start_effects(guide, [(robot_free(r), False), (robot_at(r, fr), False), (person_at(pe, fr), False)]) + add_start_decrease(guide, battery(r), Times(Int(3), energy_rate(r))) + add_end_effects(guide, [(robot_at(r, to), True), (person_at(pe, to), True), (guided(pe, to), True), (service_completed(q), True), (robot_free(r), True)]) + add_end_increase(guide, total_cost(), request_priority(q)) + add_action(guide) + + comfort = da('comfort-person', [('r', robot), ('p', person), ('l', location), ('q', request)], Int(1)) + r, pe, l, q = [p(comfort, n) for n in ['r', 'p', 'l', 'q']] + metrics.measure('build_set_durations_s', comfort.set_fixed_duration, Plus(Int(3), task_duration(q))) + add_overall_conditions(comfort, [robot_at(r, l), person_at(pe, l)]) + add_start_conditions(comfort, [robot_free(r), robot_has(r, o['social-cap']), can_comfort(r, q), request_person(q, pe), request_origin(q, l), request_destination(q, l), request_capability(q, o['social-cap'])]) + add_start_effects(comfort, [(robot_free(r), False)]) + add_end_effects(comfort, [(comforted(pe), True), (service_completed(q), True), (robot_free(r), True)]) + add_end_increase(comfort, total_cost(), request_priority(q)) + add_action(comfort) + + remote = da('remote-assist', [('monitor', robot), ('actor', robot), ('p', person), ('station', location), ('l', location), ('q', request), ('terminal', resource)], Int(1)) + monitor, actor, pe, station, l, q, terminal = [p(remote, n) for n in ['monitor', 'actor', 'p', 'station', 'l', 'q', 'terminal']] + metrics.measure('build_set_durations_s', remote.set_fixed_duration, Plus(Int(4), task_duration(q))) + add_overall_conditions(remote, [robot_at(monitor, station), robot_at(actor, l), person_at(pe, l)]) + add_start_conditions(remote, [available(terminal), uses_terminal(q, terminal), robot_free(monitor), robot_free(actor), robot_has(monitor, o['monitor-cap']), robot_has(actor, o['social-cap']), can_assist(monitor, actor, q), request_person(q, pe), request_origin(q, station), request_destination(q, l), request_capability(q, o['monitor-cap']), GE(battery(monitor), Int(4))]) + add_start_effects(remote, [(available(terminal), False), (robot_free(monitor), False), (robot_free(actor), False)]) + add_start_decrease(remote, battery(monitor), Int(4)) + add_end_effects(remote, [(assisted(pe), True), (service_completed(q), True), (available(terminal), True), (robot_free(monitor), True), (robot_free(actor), True)]) + add_end_increase(remote, total_cost(), request_priority(q)) + add_action(remote) + + def set_true(expr): + metrics.measure('build_set_initial_values_s', problem.set_initial_value, expr, True) + metrics.inc('build_set_initial_value_calls') + + def set_num(expr, value): + metrics.measure('build_set_initial_values_s', problem.set_initial_value, expr, real(value)) + metrics.inc('build_set_initial_value_calls') + + set_num(total_cost(), 0) + + for r_name, l_name in [('r-admin', 'reception'), ('r-pharmacy', 'pharmacy'), ('r-ward', 'pharmacy'), ('r-guide', 'reception'), ('r-social', 'laboratory'), ('r-remote', 'charge-a'), ('r-hybrid', 'laboratory')]: + set_true(robot_at(o[r_name], o[l_name])) + set_true(robot_free(o[r_name])) + + for p_name, l_name in [('visitor-a', 'reception'), ('visitor-b', 'reception'), ('resident-a', 'laboratory'), ('resident-b', 'pharmacy'), ('resident-c', 'social-room'), ('resident-e', 'laboratory'), ('resident-f', 'ward-2')]: + set_true(person_at(o[p_name], o[l_name])) + + set_true(carrying(o['r-hybrid'], o['med-a'])) + for i_name, l_name in [('med-b', 'pharmacy'), ('oxygen-unit', 'laboratory'), ('meal-tray', 'pharmacy')]: + set_true(item_at(o[i_name], o[l_name])) + + for res in ['terminal-1', 'elevator-1', 'dock-a', 'dock-b']: + set_true(available(o[res])) + set_true(charger_for(o['dock-a'], o['charge-a'])) + set_true(charger_for(o['dock-b'], o['charge-b'])) + + for a, b in [('reception', 'ward-1'), ('ward-1', 'reception'), ('pharmacy', 'central-corridor'), ('central-corridor', 'pharmacy'), ('central-corridor', 'ward-2'), ('ward-2', 'central-corridor'), ('pharmacy', 'ward-1'), ('ward-1', 'pharmacy'), ('laboratory', 'social-room'), ('social-room', 'laboratory')]: + set_true(connected(o[a], o[b])) + for a, b in [('central-corridor', 'ward-2'), ('ward-2', 'central-corridor')]: + set_true(corridor_link(o[a], o[b])) + set_true(uses_corridor(o[a], o[b], o['elevator-1'])) + + for r_name, caps in { + 'r-admin': ['admin-cap'], + 'r-pharmacy': ['nav-cap', 'delivery-cap'], + 'r-ward': ['nav-cap', 'delivery-cap', 'social-cap'], + 'r-guide': ['nav-cap', 'guide-cap', 'social-cap'], + 'r-social': ['nav-cap', 'social-cap', 'lift-right-cap'], + 'r-remote': ['nav-cap', 'monitor-cap'], + 'r-hybrid': ['nav-cap', 'delivery-cap', 'social-cap', 'lift-left-cap'], + }.items(): + for cap in caps: + set_true(robot_has(o[r_name], o[cap])) + + for r_name, locations in { + 'r-admin': ['reception', 'central-corridor'], + 'r-pharmacy': ['pharmacy', 'ward-1', 'charge-a'], + 'r-ward': ['pharmacy', 'central-corridor', 'ward-2', 'charge-b'], + 'r-guide': ['reception', 'central-corridor', 'ward-1', 'social-room', 'charge-a'], + 'r-social': ['laboratory', 'social-room', 'central-corridor', 'ward-2', 'charge-b'], + 'r-remote': ['charge-a'], + 'r-hybrid': ['laboratory', 'social-room', 'charge-a'], + }.items(): + for loc in locations: + set_true(can_enter(o[r_name], o[loc])) + + for r_name, a, b in [ + ('r-pharmacy', 'pharmacy', 'ward-1'), ('r-ward', 'pharmacy', 'central-corridor'), + ('r-ward', 'central-corridor', 'ward-2'), ('r-guide', 'reception', 'ward-1'), + ('r-social', 'laboratory', 'social-room'), ('r-hybrid', 'laboratory', 'social-room'), + ]: + set_true(can_move(o[r_name], o[a], o[b])) + + for item_name in ['med-a', 'med-b']: + set_true(can_pick(o['r-pharmacy'], o[item_name])) + set_true(can_deliver(o['r-ward'], o['q-med-handover'])) + set_true(can_guide(o['r-guide'], o['q-guide'])) + set_true(can_comfort(o['r-social'], o['q-wellbeing'])) + set_true(can_comfort(o['r-hybrid'], o['q-med-normal'])) + set_true(can_comfort(o['r-hybrid'], o['q-social-urgent'])) + set_true(can_assist(o['r-remote'], o['r-ward'], o['q-remote'])) + set_true(can_handover(o['r-pharmacy'], o['r-ward'], o['med-b'], o['pharmacy'])) + set_true(can_cooperate(o['r-hybrid'], o['r-social'], o['oxygen-unit'])) + set_true(uses_terminal(o['q-checkin'], o['terminal-1'])) + set_true(uses_terminal(o['q-remote'], o['terminal-1'])) + + for q_name, p_name, origin, dest, cap in [ + ('q-checkin', 'visitor-a', 'reception', 'reception', 'admin-cap'), + ('q-guide', 'visitor-b', 'reception', 'ward-1', 'guide-cap'), + ('q-wellbeing', 'resident-c', 'social-room', 'social-room', 'social-cap'), + ('q-remote', 'resident-b', 'charge-a', 'pharmacy', 'monitor-cap'), + ('q-med-normal', 'resident-a', 'laboratory', 'laboratory', 'social-cap'), + ('q-med-handover', 'resident-b', 'pharmacy', 'pharmacy', 'delivery-cap'), + ('q-heavy', 'resident-c', 'laboratory', 'social-room', 'lift-left-cap'), + ('q-social-urgent', 'resident-e', 'laboratory', 'laboratory', 'social-cap'), + ]: + set_true(request_person(o[q_name], o[p_name])) + set_true(request_origin(o[q_name], o[origin])) + set_true(request_destination(o[q_name], o[dest])) + set_true(request_capability(o[q_name], o[cap])) + set_true(request_item(o['q-med-handover'], o['med-b'])) + set_true(request_item(o['q-heavy'], o['oxygen-unit'])) + + for r_name, values in { + 'r-admin': (45, 70, 1.1, 0.8, 1, 0), + 'r-pharmacy': (42, 80, 0.9, 1.0, 3, 0), + 'r-ward': (55, 90, 0.8, 1.1, 4, 0), + 'r-guide': (50, 70, 1.0, 0.9, 1, 0), + 'r-social': (60, 85, 0.9, 1.1, 4, 0), + 'r-remote': (2, 80, 1.0, 1.0, 1, 0), + 'r-hybrid': (65, 90, 1.1, 1.0, 5, 1), + }.items(): + b, bmax, spd, erate, capacity, load = values + set_num(battery(o[r_name]), b) + set_num(battery_max(o[r_name]), bmax) + set_num(speed(o[r_name]), spd) + set_num(energy_rate(o[r_name]), erate) + set_num(payload_capacity(o[r_name]), capacity) + set_num(current_load(o[r_name]), load) + + for i_name, weight, size in [('med-a', 1, 1), ('med-b', 1, 1), ('oxygen-unit', 9, 5), ('meal-tray', 2, 2)]: + set_num(item_weight(o[i_name]), weight) + set_num(item_size(o[i_name]), size) + + for q_name, priority, duration in [ + ('q-checkin', 2, 1), ('q-guide', 6, 2), ('q-wellbeing', 8, 2), + ('q-remote', 25, 2), ('q-med-normal', 10, 1), ('q-med-handover', 18, 1), + ('q-heavy', 14, 2), ('q-social-urgent', 20, 1), + ]: + set_num(request_priority(o[q_name]), priority) + set_num(task_duration(o[q_name]), duration) + + goals = [ + checked_in(o['visitor-a']), guided(o['visitor-b'], o['ward-1']), comforted(o['resident-c']), + assisted(o['resident-b']), comforted(o['resident-a']), handover_done(o['med-b'], o['r-pharmacy'], o['r-ward']), + delivered(o['med-b'], o['resident-b']), delivered(o['oxygen-unit'], o['resident-c']), comforted(o['resident-e']), + service_completed(o['q-checkin']), service_completed(o['q-guide']), service_completed(o['q-wellbeing']), + service_completed(o['q-remote']), service_completed(o['q-med-normal']), service_completed(o['q-med-handover']), + service_completed(o['q-heavy']), service_completed(o['q-social-urgent']), + ] + metrics.measure('build_add_goals_s', problem.add_goal, And(*goals)) + metrics.inc('build_add_goal_calls') + + return problem + + +class TamerIntegratedNodeDemo(Node): + def __init__(self): + super().__init__('upf4ros2_demo_tamer_integrated_node') + self._writer = ROS2InterfaceWriter() + self._plan_client = self.create_client(PlanOneShotSrv, 'upf4ros2/srv/planOneShot') + + def solve(self, problem, wait_service_timeout_s): + row = {} + start = now() + service_ready = self._plan_client.wait_for_service(timeout_sec=wait_service_timeout_s) + row['wait_service_s'] = now() - start + if not service_ready: + raise RuntimeError('upf4ros2/srv/planOneShot is not available') + + request = PlanOneShotSrv.Request() + start = now() + request.problem = self._writer.convert(problem) + row['serialize_problem_s'] = now() - start + + self.get_logger().info('Planning with a node-built UPF Problem through upf4ros2/srv/planOneShot...') + start = now() + future = self._plan_client.call_async(request) + row['service_call_submit_s'] = now() - start + + start = now() + rclpy.spin_until_future_complete(self, future) + row['service_wait_response_s'] = now() - start + + start = now() + response = future.result() + row['response_extract_s'] = now() - start + self.get_logger().info(f'success={response.success}') + start = now() + for action in response.plan_result.plan.actions: + params = [x.symbol_atom[0] for x in action.parameters] + self.get_logger().info(action.action_name + '(' + ', '.join(params) + ')') + row['plan_log_s'] = now() - start + row['success'] = response.success + row['plan_action_count'] = len(response.plan_result.plan.actions) + return response, row + + +def build_row(run_id, node, args): + row = {'run_id': run_id, 'configuration': 'upf4ros2_node_problem'} + total_start = now() + cpu_before, maxrss_before = read_self_resource() + server_pids = find_upf4ros2_server_pids() + server_cpu_before = sum_proc_cpu(server_pids) + server_rss_before = sum_proc_rss_kb(server_pids) + + metrics = Metrics() + start = now() + problem = build_tamer_complex_integrated_problem(metrics) + row['build_total_s'] = now() - start + row.update(metrics.values) + row['problem_kind'] = str(problem.kind).replace('\n', ' | ') + row['actions'] = len(list(problem.actions)) + row['objects'] = len(list(problem.all_objects)) + row['fluents'] = len(list(problem.fluents)) + row['goals'] = len(problem.goals) + + try: + _, solve_row = node.solve(problem, args.wait_service_timeout_s) + row.update(solve_row) + except Exception as error: + row['success'] = False + row['error'] = repr(error) + + cpu_after, maxrss_after = read_self_resource() + server_cpu_after = sum_proc_cpu(server_pids) + server_rss_after = sum_proc_rss_kb(server_pids) + row['cpu_s_delta'] = None if cpu_before is None or cpu_after is None else cpu_after - cpu_before + row['server_cpu_s_delta'] = server_cpu_after - server_cpu_before + row['server_rss_kb_before'] = server_rss_before + row['server_rss_kb_after'] = server_rss_after + row['server_pids'] = ' '.join(str(pid) for pid in server_pids) + row['maxrss_kb_before'] = maxrss_before + row['maxrss_kb_after'] = maxrss_after + row['loadavg_1m'] = os.getloadavg()[0] + row['total_s'] = now() - total_start + return row + + +def write_csv(rows, output): + fieldnames = sorted({key for row in rows for key in row.keys()}) + with open(output, 'w', newline='') as stream: + writer = csv.DictWriter(stream, fieldnames=fieldnames) + writer.writeheader() + writer.writerows(rows) + + +def main(args=None): + parser = argparse.ArgumentParser(description='UPF4ROS2 benchmark with the integrated Tamer problem built in the node') + parser.add_argument('--runs', type=int, default=50) + parser.add_argument('--output', default='tamer_integrated_node_upf4ros2.csv') + parser.add_argument('--wait-service-timeout-s', type=float, default=20.0) + parsed_args, ros_args = parser.parse_known_args(args) + + get_environment().credits_stream = None + rclpy.init(args=ros_args) + node = TamerIntegratedNodeDemo() + rows = [] + try: + for run_id in range(1, parsed_args.runs + 1): + node.get_logger().info(f'Benchmark run {run_id}/{parsed_args.runs}') + row = build_row(run_id, node, parsed_args) + rows.append(row) + node.get_logger().info( + f'run={run_id} success={row.get("success")} ' + f'total_s={row.get("total_s", 0):.3f} ' + f'build_s={row.get("build_total_s", 0):.3f} ' + f'service_wait_s={row.get("service_wait_response_s", 0):.3f}') + write_csv(rows, parsed_args.output) + node.get_logger().info(f'wrote {parsed_args.output}') + finally: + node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() From d1702d5df4c7fec87a48e2d4e46a905cb5604c80 Mon Sep 17 00:00:00 2001 From: igonzf Date: Fri, 24 Jul 2026 09:53:43 +0200 Subject: [PATCH 07/10] fix dependencies --- upf_msgs/CMakeLists.txt | 11 ++++++++++- upf_msgs/package.xml | 11 ++++++++++- 2 files changed, 20 insertions(+), 2 deletions(-) diff --git a/upf_msgs/CMakeLists.txt b/upf_msgs/CMakeLists.txt index 7217382..1ae770f 100644 --- a/upf_msgs/CMakeLists.txt +++ b/upf_msgs/CMakeLists.txt @@ -4,7 +4,16 @@ project(upf_msgs) find_package(ament_cmake REQUIRED) find_package(builtin_interfaces REQUIRED) -find_package(rosidl_default_generators REQUIRED) +find_package(rosidl_cmake REQUIRED) +find_package(rosidl_generator_c REQUIRED) +find_package(rosidl_generator_cpp REQUIRED) +find_package(rosidl_generator_py REQUIRED) +find_package(rosidl_typesupport_c REQUIRED) +find_package(rosidl_typesupport_cpp REQUIRED) +find_package(rosidl_typesupport_fastrtps_c REQUIRED) +find_package(rosidl_typesupport_fastrtps_cpp REQUIRED) +find_package(rosidl_typesupport_introspection_c REQUIRED) +find_package(rosidl_typesupport_introspection_cpp REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} "msg/AbstractTaskDeclaration.msg" diff --git a/upf_msgs/package.xml b/upf_msgs/package.xml index c120b16..5274a2f 100644 --- a/upf_msgs/package.xml +++ b/upf_msgs/package.xml @@ -10,7 +10,16 @@ ament_cmake builtin_interfaces - rosidl_default_generators + rosidl_cmake + rosidl_generator_c + rosidl_generator_cpp + rosidl_generator_py + rosidl_typesupport_c + rosidl_typesupport_cpp + rosidl_typesupport_fastrtps_c + rosidl_typesupport_fastrtps_cpp + rosidl_typesupport_introspection_c + rosidl_typesupport_introspection_cpp rosidl_default_runtime rosidl_interface_packages From 19f0346e647145cd40590512d98cb97832a7e888 Mon Sep 17 00:00:00 2001 From: igonzf Date: Mon, 27 Jul 2026 10:23:04 +0200 Subject: [PATCH 08/10] restore generators --- upf_msgs/CMakeLists.txt | 11 +---------- upf_msgs/package.xml | 11 +---------- 2 files changed, 2 insertions(+), 20 deletions(-) diff --git a/upf_msgs/CMakeLists.txt b/upf_msgs/CMakeLists.txt index 1ae770f..7217382 100644 --- a/upf_msgs/CMakeLists.txt +++ b/upf_msgs/CMakeLists.txt @@ -4,16 +4,7 @@ project(upf_msgs) find_package(ament_cmake REQUIRED) find_package(builtin_interfaces REQUIRED) -find_package(rosidl_cmake REQUIRED) -find_package(rosidl_generator_c REQUIRED) -find_package(rosidl_generator_cpp REQUIRED) -find_package(rosidl_generator_py REQUIRED) -find_package(rosidl_typesupport_c REQUIRED) -find_package(rosidl_typesupport_cpp REQUIRED) -find_package(rosidl_typesupport_fastrtps_c REQUIRED) -find_package(rosidl_typesupport_fastrtps_cpp REQUIRED) -find_package(rosidl_typesupport_introspection_c REQUIRED) -find_package(rosidl_typesupport_introspection_cpp REQUIRED) +find_package(rosidl_default_generators REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} "msg/AbstractTaskDeclaration.msg" diff --git a/upf_msgs/package.xml b/upf_msgs/package.xml index 5274a2f..5faf34f 100644 --- a/upf_msgs/package.xml +++ b/upf_msgs/package.xml @@ -10,16 +10,7 @@ ament_cmake builtin_interfaces - rosidl_cmake - rosidl_generator_c - rosidl_generator_cpp - rosidl_generator_py - rosidl_typesupport_c - rosidl_typesupport_cpp - rosidl_typesupport_fastrtps_c - rosidl_typesupport_fastrtps_cpp - rosidl_typesupport_introspection_c - rosidl_typesupport_introspection_cpp + rosidl_default_generators rosidl_default_runtime rosidl_interface_packages From ba962f314d04717cbcf5f6153c4843d3fc0e39a7 Mon Sep 17 00:00:00 2001 From: igonzf Date: Mon, 27 Jul 2026 10:36:44 +0200 Subject: [PATCH 09/10] add rosidl-pycommon dependency --- .github/workflows/main.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml index 3e084ad..882934f 100644 --- a/.github/workflows/main.yaml +++ b/.github/workflows/main.yaml @@ -45,6 +45,7 @@ jobs: ros-humble-navigation2 \ ros-humble-nav2-bringup \ ros-humble-rosidl-adapter \ + ros-humble-rosidl-pycommon \ python3-colcon-common-extensions \ python3-vcstool python3-pytest python3-colcon-coveragepy-result libfl-dev - name: Install deps From 45a908336fc2c4806e19ae6c886358967b56e846 Mon Sep 17 00:00:00 2001 From: igonzf Date: Mon, 27 Jul 2026 10:41:37 +0200 Subject: [PATCH 10/10] rm rosidl-pycommon --- .github/workflows/main.yaml | 1 - upf_msgs/CMakeLists.txt | 5 +++++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml index 882934f..3e084ad 100644 --- a/.github/workflows/main.yaml +++ b/.github/workflows/main.yaml @@ -45,7 +45,6 @@ jobs: ros-humble-navigation2 \ ros-humble-nav2-bringup \ ros-humble-rosidl-adapter \ - ros-humble-rosidl-pycommon \ python3-colcon-common-extensions \ python3-vcstool python3-pytest python3-colcon-coveragepy-result libfl-dev - name: Install deps diff --git a/upf_msgs/CMakeLists.txt b/upf_msgs/CMakeLists.txt index 7217382..8ceecdd 100644 --- a/upf_msgs/CMakeLists.txt +++ b/upf_msgs/CMakeLists.txt @@ -6,6 +6,11 @@ find_package(ament_cmake REQUIRED) find_package(builtin_interfaces REQUIRED) find_package(rosidl_default_generators REQUIRED) +# rosidl_generator_rs is optional and currently missing rosidl_pycommon on Humble CI. +if(AMENT_EXTENSIONS_rosidl_generate_idl_interfaces) + list(FILTER AMENT_EXTENSIONS_rosidl_generate_idl_interfaces EXCLUDE REGEX "^rosidl_generator_rs:") +endif() + rosidl_generate_interfaces(${PROJECT_NAME} "msg/AbstractTaskDeclaration.msg" "msg/Effect.msg"