Action Testing

Simulation

Move

set instance bumble robot
set instance jem_bay7 location
set instance jem_bay6 location
set instance jem_bay5 location

set predicate (robot-available bumble)
set predicate (robot-at bumble jem_bay7)
set predicate (location-available jem_bay6)

set predicate (move-connected jem_bay7 jem_bay6)
set predicate (location-real jem_bay6)
set predicate (locations-different jem_bay5 jem_bay7)
set predicate (move-connected jem_bay5 jem_bay6)
set predicate (location-available jem_bay5)


run action (move bumble jem_bay7 jem_bay6 jem_bay5)

Dock

set instance bumble robot
set instance jem_bay7 location
set instance berth1 location

set predicate (robot-available bumble)
set predicate (robot-at bumble jem_bay7)
set predicate (dock-connected jem_bay7 berth1)
set predicate (location-available berth1)

run action (dock bumble jem_bay7 berth1)

Undock

set instance bumble robot
set instance jem_bay6 location
set instance jem_bay7 location
set instance jem_bay8 location
set instance berth1 location

set predicate (robot-available bumble)
set predicate (robot-at bumble berth1)
set predicate (dock-connected jem_bay7 berth1)
set predicate (location-available jem_bay7)
set predicate (location-real jem_bay7)
set predicate (locations-different jem_bay8 jem_bay6)
set predicate (move-connected jem_bay8 jem_bay7)
set predicate (move-connected jem_bay6 jem_bay7)
set predicate (location-available jem_bay8)
set predicate (location-available jem_bay6)

run action (undock bumble berth1 jem_bay7 jem_bay8 jem_bay6)

Panorama

set instance bumble robot
set instance jem_bay6 location
set instance  o0 order

set predicate (robot-available bumble)

set function (= (order-identity o0) 0)
set function (= (robot-order bumble) -1)

set predicate (robot-at bumble jem_bay6)

run action (panorama bumble o0 jem_bay6)

Stereo

set instance bumble robot
set instance jem_bay7 location
set instance jem_bay6 location
set instance jem_bay5 location
set instance jem_bay4 location
set instance jem_bay3 location
set instance  o0 order


set predicate (robot-available bumble)
set predicate (robot-at bumble jem_bay7)
set predicate (location-real jem_bay4)
set predicate (need-stereo bumble o0 jem_bay7 jem_bay4)
set predicate (location-available jem_bay4)
set predicate (locations-different jem_bay5 jem_bay3)
set predicate (move-connected jem_bay5 jem_bay4)
set predicate (move-connected jem_bay3 jem_bay4)
set predicate (location-available jem_bay5)
set predicate (location-available jem_bay3)

set function (= (order-identity o0) 0)
set function (= (robot-order bumble) -1)


run action (stereo bumble o0 jem_bay7 jem_bay4 jem_bay5 jem_bay3)

Granite table

Move

set instance wannabee robot
set instance gra_p1 location
set instance gra_p2 location
set instance jem_bay5 location

set predicate (robot-available wannabee)
set predicate (robot-at wannabee gra_p1)
set predicate (location-available gra_p2)

set predicate (move-connected gra_p1 gra_p2)
set predicate (location-real gra_p2)
set predicate (locations-different jem_bay5 gra_p1)
set predicate (move-connected jem_bay5 gra_p2)
set predicate (location-available jem_bay5)


run action (move wannabee gra_p1 gra_p2 jem_bay5)

Dock

set instance wannabee robot
set instance gra_p1 location
set instance berth2 location

set predicate (robot-available wannabee)
set predicate (robot-at wannabee gra_p1)
set predicate (dock-connected gra_p1 berth2)
set predicate (location-available berth2)

run action (dock wannabee gra_p1 berth2)

Undock

set instance wannabee robot
set instance gra_p2 location
set instance gra_p1 location
set instance gra_p0 location
set instance berth1 location

set predicate (robot-available wannabee)
set predicate (robot-at wannabee berth1)
set predicate (dock-connected gra_p1 berth1)
set predicate (location-available gra_p1)
set predicate (location-real gra_p1)
set predicate (locations-different gra_p0 gra_p2)
set predicate (move-connected gra_p0 gra_p1)
set predicate (move-connected gra_p2 gra_p1)
set predicate (location-available gra_p0)
set predicate (location-available gra_p2)

run action (undock wannabee berth1 gra_p1 gra_p0 gra_p2)

Panorama

set instance wannabee robot
set instance gra_p2 location
set instance  o0 order

set predicate (robot-available wannabee)

set function (= (order-identity o0) 0)
set function (= (robot-order wannabee) -1)

set predicate (robot-at wannabee gra_p2)

run action (panorama wannabee o0 gra_p2)

Stereo

set instance wannabee robot
set instance gra_p1 location
set instance gra_p2 location
set instance jem_bay5 location
set instance jem_bay4 location
set instance jem_bay3 location
set instance  o0 order


set predicate (robot-available wannabee)
set predicate (robot-at wannabee gra_p1)
set predicate (location-real jem_bay4)
set predicate (need-stereo wannabee o0 gra_p1 jem_bay4)
set predicate (location-available jem_bay4)
set predicate (locations-different jem_bay5 jem_bay3)
set predicate (move-connected jem_bay5 jem_bay4)
set predicate (move-connected jem_bay3 jem_bay4)
set predicate (location-available jem_bay5)
set predicate (location-available jem_bay3)

set function (= (order-identity o0) 0)
set function (= (robot-order wannabee) -1)


run action (stereo wannabee o0 gra_p1 jem_bay4 jem_bay5 jem_bay3)