具有持续作用的 PDDL forall 效果

Question

我既在使用持续性操作，又在尝试能够清除某个类型的所有元素的谓词。见下文。这可能吗？如果是这样，有人知道正确的语法吗？谢谢！

    (:durative-action init
      :parameters (?r - robot)
      :duration ( = ?duration 1)
      :condition (and
             (at start (robot_uninitialized ?r))
             (at start (robot_free ?r))
                 )
      :effect (and
          (at start(not(robot_free ?r)))
          (at end (assign (robot_on_fastener_number_in_sequence) 1))
          (at end (not(robot_uninitialized ?r)))
          (at end (robot_free ?r))
          (at end (forall (?f - fastener) (not(fastener_selected ?f))))
          )
    )

我是运行 popf planner，提供的错误是：Syntax error in timed effect.

Answer 1

VAL 解析器确实显示了 Syntax error in timed effect 错误。我试图颠倒 at end 和 forall 的顺序，它停止了抱怨。由于 popf 使用相同的解析器，它也应该对这种语法感到满意。

  :effect (and
      (forall (?f - fastener) 
          (at end (not (fastener_selected ?f)))
      )
  )

但在条件中，VAL 接受相反顺序的语法：

    :condition (and
        (at end (forall (?f - fastener) 
            (fastener_selected ?f))
        )
    )

完整示例：http://editor.planning.domains/#read_session=BCBDpV4YQE

具有持续作用的 PDDL forall 效果

PDDL forall effect with durative actions

forall

pddl