PDDL、Plansys2 错误：减少未命名已知令牌

Question

我正在使用 ROS2 规划系统 (Plansys2) 使用默认规划器 POPF 进行 PDDL 规划。在使用 PDDL flus 规划领域时，PDDL 解析器和/或（不确定！）领域专家节点会导致 PDDL Fluent 的降低效果出现错误 [错误] PDDL 解析：decrease 未命名已知标记。

POPF 规划器正在使用命令 ros2 run popf popf为同一域文件生成预期的规划，没有任何错误。。

欢迎有关此问题的任何帮助或建议。先感谢您！

相关详细信息/资源：

ROS2版本-foxy。

Plansys2 存储库 - https://github.com/IntelligentRoboticsLabs/ros2_planning_system

Plansys2 教程 - https://intelligentroboticslab.gsyc.urjc.es/ros2_planning_system.github。 使用io/tutorials/index.html

域 - （此处的代码粘贴为片段，请原谅我）

(define (domain simple)
(:requirements :strips :typing :adl :fluents :durative-actions)
(:types
    robot
    room
)

(:predicates
    (robot_at ?r - robot ?ro - room)
    (connected ?ro1 ?ro2 - room)
    (battery_full ?r - robot)
    (charging_point_at ?ro - room)
)

(:functions
    (battery_level ?r - robot)
)

(:durative-action move
    :parameters (?r - robot ?r1 ?r2 - room)
    :duration ( = ?duration 10)
    :condition (and
        (at start(connected ?r1 ?r2))
        (at start(robot_at ?r ?r1))
        (over all(> (battery_level ?r) 15))
        )
    :effect (and
        (decrease (battery_level ?r) (* #t 0.5))
        (at start(not(robot_at ?r ?r1)))
        (at end(robot_at ?r ?r2))
    )
)

(:durative-action askcharge
    :parameters (?r - robot ?r1 ?r2 - room)
    :duration ( = ?duration 5)
    :condition (and
        (at start(robot_at ?r ?r1))
        (at start(charging_point_at ?r2))
        (over all (> (battery_level ?r) 10))
    )
    :effect (and
        (decrease (battery_level ?r) (* #t 0.5))
        (at start(not(robot_at ?r ?r1)))
        (at end(robot_at ?r ?r2))
    )
)

(:durative-action charge
    :parameters (?r - robot ?ro - room)
    :duration ( = ?duration 20)
    :condition (and
        (at start(robot_at ?r ?ro))
        (at start(charging_point_at ?ro))
        (over all (> (battery_level ?r) 1))
    )
    :effect (and
         (increase (battery_level ?r) (* #t 5.0))
         (at end(battery_full ?r))
    )
)

)

使用的问题 - （此处的代码作为片段粘贴，请原谅我）

(define (problem test) (:domain simple)
(:objects 
    bot - robot
  entrance  - room
  kitchen - room
  bedroom - room
  dinning - room
  bathroom - room
  chargingroom - room
)

(:init
    (connected entrance dinning)
    (connected dinning entrance)
    (connected dinning kitchen)
    (connected kitchen dinning)
    (connected dinning bedroom)
    (connected bedroom dinning)
    (connected bathroom bedroom)
    (connected bedroom bathroom)
    (connected chargingroom kitchen)
    (connected kitchen chargingroom)
    (charging_point_at chargingroom)
    (robot_at bot entrance)
    (= (battery_level bot) 90)
)

(:goal (and
        (robot_at bot bathroom)   
))


)

Answer 1

根据规划维基，减少由要求numeric-fluids提供，并且POPF 不支持。