PDDL 使用

1 下载 Fast-Downward-a8d82c9506b5.zip

2 安装cmake

3 执行./build.py

4 使用：

./fast-downward.py domain.pddl problem.pddl --search "astar(lmcut())"

(define (problem solve)
    (:domain gripper-strips)
    (:objects
        rooma roomb ball1 ball2 left right
    )
    (:init
        (room rooma)
        (room roomb)
        (ball ball1)
        (ball ball2)
        (gripper left)
        (gripper right)
        (free left)
        (free right)
        (at ball1 rooma)
        (at ball2 rooma)
        (at-robby roomb)
    )
    (:goal
        (and
            (at ball1 roomb)
             (at ball2 roomb)
        )
    )
)

5 查看计划：cat sas_plan

(move roomb rooma)
(pick ball1 rooma left)
(pick ball2 rooma right)
(move rooma roomb)
(drop roomb ball1 left)
(drop roomb ball2 right)
; cost = 6 (unit cost)

可以修改at-robby roomb 查看计划变更。