domain_skt

domain_skt.pddl

+(define (domain game-strips)
+	(:requirements :strips)
+	(:requirements :typing)
+	(:requirements :equality)
+	(:requirements :fluents)
+	(:requirements :conditional-effects)
+	
+	(:types block - object 
+			from - location
+			level - engagement_level
+			robot patient - user
+			gripper hand - gripper
+
+	)
+	(:constants LEV1 - engagement_level
+				LEV2 - engagement_level
+				LEV3 - engagement_level
+				LEV4 - engagement_level
+
+
+	)
+	(:predicates 	
+			(at ?x - object ?y - location)
+			(free ?x - gripper)
+			(carry ?x - user ?y - gripper ?z - object)
+			(piece ?x - object)
+			(loc ?x - location)
+			(gripper ?x - gripper)
+			(catch ?x - object ?y - location)
+			(free_loc ?x - location)
+			(agent ?x - user)
+			(userMove ?x - object ?y ?z - location)
+			(allowedMove ?x - object ?y ?z - location)
+			(suggestMove ?x - object  ?y - location)
+			(suggestSolution ?x - object ?y - location)
+			(demonstrateMove ?x - object ?y - location)
+			(engagement ?level - engagement_level)
+			(demonstrationEngagement)
+			(checkMove)
+			(verbalEngagement ?level - engagement_level)
+			(verbalEngagement_1 ?level - engagement_level)
+			(verbalEngagement_2 ?level - engagement_level)
+			(verbalEngagement_3 ?level - engagement_level)
+			(verbalEngagement_4 ?level - engagement_level)
+			(releasedblock ?x - object ?y ?z - location) 
+			(encourageUser)
+			(sendTricks)
+			(suggestSubset)
+			(suggestAnswer)
+			(performDemonstration)
+			(waitForUserMove)
+			(rightMove)	
+	)
+	
+	(:action encourage_user
+		:parameters(  )
+		:precondition(and   (verbalEngagement LEV1))
+		:effect(and  (waitForUserMove)
+				)
+	)
+	
+	(:action suggest_subsets_user
+		:parameters( ?block - object ?from_1 ?from_2 ?from_3 - location)
+		:precondition(and  (verbalEngagement LEV2) (not(= ?from_1 ?from_2)) (not(= ?from_1 ?from_3)) (not(= ?from_2 ?from_3)) (loc ?from_1) (loc ?from_2) (loc ?from_3) (suggestMove ?block  ?from_1) (suggestMove ?block  ?from_2) (suggestMove ?block  ?from_3)   (piece ?block))
+		:effect(and (waitForUserMove) 
+					)
+	)
+	
+	(:action suggest_solution_user
+		:parameters( ?block - object ?from - location)
+		:precondition(and (loc ?from)  (verbalEngagement LEV3)  (suggestAnswer) (suggestSolution ?block  ?from)   (piece ?block))
+		:effect(and (waitForUserMove)		
+		 			)
+	) 
+
+	(:action demonstrate_how_to_perform_move
+		:parameters( ?block - object ?from - location)
+		:vars(?level - engagement_level)
+		:precondition(and (loc ?from)  (verbalEngagement LEV4)  (performDemonstration) (demonstrateMove ?block ?from)   (piece ?block))
+		:effect(and (waitForUserMove) 
+					)	
+	)
+
+	(:action   grab
+        :parameters( ?patient - user ?hand - gripper ?block - object ?from ?to - location ?level - engagement_level)
+        :precondition(and  (waitForUserMove) (verbalEngagement ?level) (at ?block ?from) (userMove ?block  ?from ?to)   (piece ?block)  (agent ?patient)  (loc ?from) (loc ?to) (not(free_loc ?from)) (free_loc ?to)  (not(catch ?block ?from )))
+        :effect (and  (not(free ?hand))  (at ?block ?from) (catch ?block ?from) (not(carry ?patient ?hand ?block))
+        	)  
+    )
+    
+	(:action 	move
+		:parameters( ?patient - user ?hand - gripper ?block - object ?from ?to - location ?level - engagement_level)
+		:precondition(and   (not(checkMove)) (verbalEngagement ?level) (loc ?from)  (loc ?to) (agent ?patient) (catch ?block ?from) (userMove ?block  ?from ?to))  
+		:effect (and    (not(checkMove)) (not(at ?block ?from)) (carry ?patient ?hand ?block)
+			)
+	)
+
+    (:action move_is_correct
+		:parameters( ?patient - user ?hand - gripper ?block - object ?from ?to  - location ?level - engagement_level)
+		:precondition(and(piece ?block) (verbalEngagement ?level) (loc ?from) (not(checkMove)) (carry ?patient ?hand ?block) (catch ?block ?from) (verbalEngagement ?level)   (userMove ?block  ?from ?to) (allowedMove ?block ?from ?to) )
+		:effect(and (rightMove) (not(waitForUserMove)) (checkMove)		
+				)  		
+	)
+
+	(:action move_is_not_correct
+		:parameters( ?patient - user ?hand - gripper ?block - object ?from ?to  - location ?level - engagement_level)
+		:precondition(and(piece ?block) (verbalEngagement ?level) (loc ?from) (loc ?to) (not(checkMove)) (carry ?patient ?hand ?block) (catch ?block ?from) (verbalEngagement ?level)   (userMove ?block  ?from ?to) (not(allowedMove ?block ?from ?to)) )
+		:effect (and(not(rightMove)) (not(waitForUserMove)) (checkMove)
+				)
+	)
+
+	(:action release_block_correct_position
+		:parameters( ?patient - user ?hand - gripper ?block - object ?from ?to - location ?level - engagement_level)
+		:precondition (and (piece ?block) (checkMove) (rightMove) (verbalEngagement ?level)  (allowedMove ?block ?from ?to)  (userMove ?block ?from ?to)  (agent ?patient) (catch ?block ?from) (loc ?from) (loc ?to)  (not(free ?hand)) (gripper ?hand)  (carry ?patient ?hand ?block))
+		;:effect(DEBUG)
+		;:effect(and (at ?block ?to)  (free ?gripper) (not(select ?block ?to)) (not(free_loc ?to)) (not(catch ?block ?from ?to)) (not(carry ?agent ?gripper ?block)))
+		:effect (and (rightMove) (at ?block ?from) (releasedblock ?block ?from ?to)	
+				)	
+	)
+
+(:action release_block_wrong_position
+		:parameters( ?patient - user ?hand - gripper ?block - object ?from  ?to - location ?level - engagement_level)
+		:precondition (and (piece ?block) (not(rightMove)) (checkMove) (verbalEngagement ?level)  (not(allowedMove ?block ?from ?to))  (userMove ?block ?from ?to)  (agent ?patient) (catch ?block ?from) (loc ?from)  (not(free ?hand)) (gripper ?hand)  (carry ?patient ?hand ?block))
+		:effect (and (not(rightMove)) (not(allowedMove ?block ?from ?to)) (releasedblock ?block ?from ?to)
+		)
+	)
+)