From 0707dd101495ca0dda68a0d55d014d1eff3bea6f Mon Sep 17 00:00:00 2001 From: Brian Kempa Date: Wed, 20 Dec 2023 20:35:56 -0800 Subject: [PATCH] Remove newlines in PDDL domain predicates to work around [1] [1] https://github.com/PlanSys2/ros2_planning_system/issues/286 --- .../survey_planner/pddl/domain_survey.pddl | 12 ++---------- 1 file changed, 2 insertions(+), 10 deletions(-) diff --git a/astrobee/survey_manager/survey_planner/pddl/domain_survey.pddl b/astrobee/survey_manager/survey_planner/pddl/domain_survey.pddl index 36041f47..02a8b779 100644 --- a/astrobee/survey_manager/survey_planner/pddl/domain_survey.pddl +++ b/astrobee/survey_manager/survey_planner/pddl/domain_survey.pddl @@ -72,11 +72,7 @@ ;; completed-panorama: The goal to add if you want the plan to include collecting a ;; panorama. For now, goals specify ?robot and ?order parameters that constrain ;; multi-robot task allocation and task ordering. - (completed-panorama - ?robot - robot - ?order - order - ?location - location - ) + (completed-panorama ?robot - robot ?order - order ?location - location) ;; completed-stereo: The goal to add if you want the plan to include collecting a stereo ;; survey. For now, goals specify ?robot and ?order parameters that constrain multi-robot @@ -87,11 +83,7 @@ ;; used for collision checking. It's assumed that ?base and ?bound are not adjacent ;; locations. If future stereo surveys violate these assumptions the model will need to be ;; revisited. - (completed-stereo - ?robot - robot - ?order - order - ?base ?bound - location - ) + (completed-stereo ?robot - robot ?order - order ?base ?bound - location) ) (:functions