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From: Ryohei U. <ue...@js...> - 2011-06-01 19:33:16
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Hi Andrea There were 3 problems. 1. We updated pddl_planner and pddl_msgs package to support :fluents (its included in :adl). you need to specify "functions" rather than "predicates" in order to use fluents operators. for example: goal.domain.functions = ["(capacity ?jug - object)", "(contents ?jug - object)"] it will be converted in domain file like that: (:functions (capacity ?jug - object) (contents ?jug - object)) 2. you need to use ffha instead of ff as a pddl solver. please use pddl_ffha.launch in the pddl_planner package. 3. you need to use "predicates" instead of fluents operators such as "=", "<" in the goal conjunction. however, i think it's a problem of ffha and we should be able to use fluents operators in the goal conjunction. I will try other pddl planners and when i find a solution, i report it. thanks -- ryohei |