Is it possible to modify the domain via the DomainExpertClient?

[Rezenders]

Hello,

Is it possible to modify the domain formulation via the DomainExpertClient? For example, adding a precondition to an action.

Similar to how the problem formulation is modified with the ProblemExpertClient? E.g., problem_expert_->addPredicate(plansys2::Predicate("(robot_at r2d2 wp1)"));

By checking the code, I concluded that this is not possible, but I would like to double-check with you.

Best,
Gustavo.

[fmrico]

Well, the DomainExpert is currently static, but that is not necessarily written on Stone. It could be a good contribution if you want to work on It 😉

[Rezenders]

Good to know. This is something I would like to work on.
I will investigate the code more, sketch a solution, and post it here before implementing something.