From 54146d9aa44a5b655d9ee002559bfc55893f9ecc Mon Sep 17 00:00:00 2001 From: Bernhard Wally Date: Sun, 12 Apr 2020 22:29:06 +0200 Subject: [PATCH] The one and only commit. --- README.MD | 33 + iec62264/CIIRC-Testbed-TASE-1.iec62264 | 1592 +++++++++++++++++++ iec62264/CIIRC-Testbed-TASE-Goal-1.iec62264 | 47 + metamodels/iec62264.ecore | 1254 +++++++++++++++ metamodels/pddl.ecore | 396 +++++ move-shuttle/move-shuttle.iec62264 | 29 + move-shuttle/move-shuttle.pddl | 58 + pddl/domain-CIIRC-Testbed-TASE-1.pddl | 316 ++++ pddl/plan-CIIRC-Testbed-TASE-1.pddl | 26 + pddl/problem-CIIRC-Testbed-TASE-1.pddl | 295 ++++ results/out-1-false-false-false.csv | 37 + results/out-1-false-false-true.csv | 37 + results/out-1-false-true-false.csv | 37 + results/out-1-false-true-true.csv | 37 + results/out-1-true-false-false.csv | 37 + results/out-1-true-false-true.csv | 37 + results/out-1-true-true-false.csv | 37 + results/out-1-true-true-true.csv | 37 + results/out-2-false-false-false.csv | 37 + 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changed, 6578 insertions(+) create mode 100644 README.MD create mode 100644 iec62264/CIIRC-Testbed-TASE-1.iec62264 create mode 100644 iec62264/CIIRC-Testbed-TASE-Goal-1.iec62264 create mode 100644 metamodels/iec62264.ecore create mode 100644 metamodels/pddl.ecore create mode 100644 move-shuttle/move-shuttle.iec62264 create mode 100644 move-shuttle/move-shuttle.pddl create mode 100644 pddl/domain-CIIRC-Testbed-TASE-1.pddl create mode 100644 pddl/plan-CIIRC-Testbed-TASE-1.pddl create mode 100644 pddl/problem-CIIRC-Testbed-TASE-1.pddl create mode 100644 results/out-1-false-false-false.csv create mode 100644 results/out-1-false-false-true.csv create mode 100644 results/out-1-false-true-false.csv create mode 100644 results/out-1-false-true-true.csv create mode 100644 results/out-1-true-false-false.csv create mode 100644 results/out-1-true-false-true.csv create mode 100644 results/out-1-true-true-false.csv create mode 100644 results/out-1-true-true-true.csv create mode 100644 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supplemental resources for the T-ASE paper "Leveraging Iterative Plan Refinement for Reactive Smart Manufacturing Systems". Specifically, it provides detailed information about the mapping from IEC 62264 to PDDL: +* A small example with model fragments to [show how PDDL actions are created from IEC 62264 process segments](#creating-pddl-actions-from-iec-62264-process-segments). +* A [detailed explanation of IEC 62264 to PDDL mapping rules](#mapping-rules). +* A [complete set of IEC 62264 input models](#iec-62264-models). +* A [complete set of PDDL output files](#pddl-files). +* The [underlying metamodels](#metamodels). +* The [results](#results) from the evaluation runs. + +## Creating PDDL actions from IEC 62264 process segments +Excerpts from an IEC 62264 model that are relevant to generate a PDDL action from an IEC 62264 process segment. The example files are provided in the sub-folder [move-shuttle](move-shuttle). + +## Mapping Rules +A detailed guide to the mapping rules between IEC 62264 and PDDL that have been applied in the context of this paper are explained in the [README.MD](transformations/README.MD) in the sub-folder [transformations](transformations). + +## IEC 62264 Models +Full IEC 62264 model of the production system, as it is used in the paper, for the test-run with *one* product to be manufactured. The core IEC 62264 model that is used to generate the PDDL domain description as well as most parts of the PDDL problem file is provided in [iec62264/CIIRC-Testbed-TASE-1.iec62264](iec62264/CIIRC-Testbed-TASE-1.iec62264). The IEC 62264 model that describes the envisioned goal state of the production system and is used to generate the goal clause of the PDDL problem file is given in [iec62264/CIIRC-Testbed-TASE-Goal-1.iec62264](iec62264/CIIRC-Testbed-TASE-Goal-1.iec62264). + +## PDDL Files +The generated PDDL files are provided in sub-folder [pddl](pddl). The [domain](pddl/domain-CIIRC-Testbed-TASE-1.pddl) file is used together with the [problem](pddl/problem-CIIRC-Testbed-TASE-1.pddl) description to compute a [plan](pddl/plan-CIIRC-Testbed-TASE-1.pddl). The plan file itself is already a computed artifact returned from the PDDL solver, which in this use case was [FastDownward](http://www.fast-downward.org/). The following call can be used to re-create the plan file (potentially with a different sequence of actions). +``` +fast-downward.py --plan-file plan-CIIRC-Testbed-TASE-1.pddl domain-CIIRC-Testbed-TASE.pddl problem-CIIRC-Testbed-TASE-1.pddl --evaluator h1=ff --search eager_greedy([g,goalcount,cg,h1],[h1]) +``` + +## Metamodels +Full metamodels for IEC 62264 and for PDDL, as they have been used in the context of this paper, are provided in sub-folder [metamodels](metamodels). Both are defined using [Ecore](https://www.eclipse.org/modeling/emf/) as the meta-metamodel. + +## Results +Results of all evaluation runs (as tab-separated values) are provided in sub-folder [results](results). Nomenclature of the files is as follows: `out----.csv`. +Where `numOfProducts` is the number of products to be produced in one production run (from 1 to 7). `eagerInitial` states that the initial plan was searched for using an eager search algorithm (`true`) or a lazy one (`false`). `eagerForecast` is `true` if the forecasting service was realized using an eager search algorithm, otherwise `false`. `parallel` is `true` if the found plans are being parallelized a-posteriori, otherwise `false`. diff --git a/iec62264/CIIRC-Testbed-TASE-1.iec62264 b/iec62264/CIIRC-Testbed-TASE-1.iec62264 new file mode 100644 index 0000000..f903771 --- /dev/null +++ b/iec62264/CIIRC-Testbed-TASE-1.iec62264 @@ -0,0 +1,1592 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/move-shuttle/move-shuttle.iec62264 b/move-shuttle/move-shuttle.iec62264 new file mode 100644 index 0000000..f65d7c1 --- /dev/null +++ b/move-shuttle/move-shuttle.iec62264 @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/move-shuttle/move-shuttle.pddl b/move-shuttle/move-shuttle.pddl new file mode 100644 index 0000000..67b50c6 --- /dev/null +++ b/move-shuttle/move-shuttle.pddl @@ -0,0 +1,58 @@ +(:types EquipmentClass Equipment) + +(:constants + EC_PositioningUnit - EquipmentClass + EC_TransportationNode - EquipmentClass + EC_Shuttle - EquipmentClass +) + +(:predicates + (EquipmentClassed ?E - Equipment ?C - EquipmentClass) + (TransportationNodeOccupied ?E - Equipment) + (PositioningUnitLocked ?E - Equipment) + (TransportationNodeConnection ?F ?T - Equipment) + (EquipmentLocation ?E ?R - Equipment) +) + +(:functions + (total-cost) + (shuttle-time ?FROM ?TO - Equipment) +) + +(:action MoveShuttle + :parameters (?SHUTTLE ?FROM ?TO - Equipment) + :precondition + (and + (EquipmentClassed ?SHUTTLE EC_Shuttle) + (or + (EquipmentClassed ?FROM EC_PositioningUnit) + (EquipmentClassed ?FROM EC_TransportationNode) + ) + (imply (EquipmentClassed ?FROM EC_PositioningUnit) + (not (PositioningUnitLocked ?FROM)) + ) + (imply (EquipmentClassed ?FROM EC_TransportationNode) (TransportationNodeOccupied ?FROM) + ) + (or + (EquipmentClassed ?TO EC_PositioningUnit) + (EquipmentClassed ?TO EC_TransportationNode) + ) + (imply (EquipmentClassed ?TO EC_PositioningUnit) + (not (PositioningUnitLocked ?TO)) + ) + (imply (EquipmentClassed ?TO EC_TransportationNode) + (not (TransportationNodeOccupied ?TO)) + ) + (TransportationNodeConnection ?FROM ?TO) + (EquipmentLocation ?SHUTTLE ?FROM) + (not (EquipmentLocation ?SHUTTLE ?TO)) + ) + :effect + (and + (not (TransportationNodeOccupied ?FROM)) + (TransportationNodeOccupied ?TO) + (increase (total-cost) (shuttle-time ?FROM ?TO)) + (not (EquipmentLocation ?SHUTTLE ?FROM)) + (EquipmentLocation ?SHUTTLE ?TO) + ) +) diff --git a/pddl/domain-CIIRC-Testbed-TASE-1.pddl b/pddl/domain-CIIRC-Testbed-TASE-1.pddl new file mode 100644 index 0000000..99d0f9a --- /dev/null +++ b/pddl/domain-CIIRC-Testbed-TASE-1.pddl @@ -0,0 +1,316 @@ +(define (domain CIIRC-Testbed-TASE) + + (:requirements :action-costs :typing :negative-preconditions :disjunctive-preconditions :equality) + + (:types PersonnelClass Person EquipmentClass Equipment MaterialClass MaterialDefinition MaterialLot) + + (:constants + PC_MaintenanceEngineer - PersonnelClass + EC_Shuttle - EquipmentClass + EC_Robot - EquipmentClass + EC_BaseplateCarrier - EquipmentClass + EC_PositioningUnit - EquipmentClass + EC_TransportationNode - EquipmentClass + MC_Body - MaterialClass + MC_Truck - MaterialClass + MC_Pickable - MaterialClass + MC_Baseplate - MaterialClass + MC_TruckComponent - MaterialClass + MC_Chassis - MaterialClass + MC_Cabin - MaterialClass + MD_StakeBed-White-White-White - MaterialDefinition + MD_Cabin-Silver - MaterialDefinition + MD_StakeBed-Black-Blue-White - MaterialDefinition + MD_Body-Dumper-Yellow - MaterialDefinition + MD_Dumper-White-Transparent-Yellow - MaterialDefinition + MD_Tank-Black-White-Black - MaterialDefinition + MD_Body-OpenTop-Blue - MaterialDefinition + MD_TruckBaseplate - MaterialDefinition + MD_Chassis-Black - MaterialDefinition + MD_Cabin-Yellow - MaterialDefinition + MD_Body-Tank-Black - MaterialDefinition + MD_Cabin-Blue - MaterialDefinition + MD_OpenTop-Black-Yellow-Blue - MaterialDefinition + MD_Dumper-White-Silver-Silver - MaterialDefinition + MD_Body-Dumper-Silver - MaterialDefinition + MD_Chassis-White - MaterialDefinition + MD_Cabin-Transparent - MaterialDefinition + MD_Body-StakeBed-White - MaterialDefinition + MD_Tank-Black-Blue-Silver - MaterialDefinition + MD_Cabin-White - MaterialDefinition + MD_Body-Tank-Silver - MaterialDefinition + EC_Table - EquipmentClass + ) + + (:predicates + (PersonClassed ?P - Person ?C - PersonnelClass) + (EquipmentClassed ?E - Equipment ?C - EquipmentClass) + (MaterialClassed ?D - MaterialDefinition ?C - MaterialClass) + (MaterialDefined ?L - MaterialLot ?D - MaterialDefinition) + (MaterialLotClassed ?L - MaterialLot ?C - MaterialClass) + (RobotOccupied ?E - Equipment) + (TransportationNodeOccupied ?E - Equipment) + (PositioningUnitLocked ?E - Equipment) + (RobotEnabled ?E - Equipment) + (TransportationNodeConnection ?F ?T - Equipment) + (EquipmentLocation ?E ?R - Equipment) + (ReachesTo ?R ?E - Equipment) + (MaterialLocation ?M - MaterialLot ?E - Equipment) + (MaterialRaw ?M - MaterialLot) + (DefinitionMountable ?M ?B - MaterialDefinition) + (ClassMountable ?M ?B - MaterialClass) + (Mounted ?M ?B - MaterialLot) + (MaterialLotAssembly ?W ?P - MaterialLot) + (MaterialDefinitionAssembly ?W ?P - MaterialDefinition) + ) + + (:functions + (total-cost) + (shuttle-time ?FROM ?TO - Equipment) + ) + + (:action LockPositioningUnit + :parameters (?E - Equipment) + :precondition + (and + (EquipmentClassed ?E EC_PositioningUnit) + (not (PositioningUnitLocked ?E)) + ) + :effect + (and + (increase (total-cost) 1) + (PositioningUnitLocked ?E) + ) + ) + + (:action UnlockPositioningUnit + :parameters (?E - Equipment) + :precondition + (and + (EquipmentClassed ?E EC_PositioningUnit) + (PositioningUnitLocked ?E) + ) + :effect + (and + (increase (total-cost) 1) + (not (PositioningUnitLocked ?E)) + ) + ) + + (:action MoveShuttle + :parameters (?SHUTTLE ?FROM ?TO - Equipment) + :precondition + (and + (EquipmentClassed ?SHUTTLE EC_Shuttle) + (or + (EquipmentClassed ?FROM EC_PositioningUnit) + (EquipmentClassed ?FROM EC_TransportationNode) + ) + (imply (EquipmentClassed ?FROM EC_PositioningUnit) + (not (PositioningUnitLocked ?FROM)) + ) + (imply (EquipmentClassed ?FROM EC_TransportationNode) (TransportationNodeOccupied ?FROM) + ) + (or + (EquipmentClassed ?TO EC_PositioningUnit) + (EquipmentClassed ?TO EC_TransportationNode) + ) + (imply (EquipmentClassed ?TO EC_PositioningUnit) + (not (PositioningUnitLocked ?TO)) + ) + (imply (EquipmentClassed ?TO EC_TransportationNode) + (not (TransportationNodeOccupied ?TO)) + ) + (TransportationNodeConnection ?FROM ?TO) + (EquipmentLocation ?SHUTTLE ?FROM) + (not (EquipmentLocation ?SHUTTLE ?TO)) + ) + :effect + (and + (not (TransportationNodeOccupied ?FROM)) + (TransportationNodeOccupied ?TO) + (increase (total-cost) (shuttle-time ?FROM ?TO)) + (not (EquipmentLocation ?SHUTTLE ?FROM)) + (EquipmentLocation ?SHUTTLE ?TO) + ) + ) + + (:action Pick + :parameters (?ROBOT ?CARRIER - Equipment ?PICKABLE ?BASEPLATE - MaterialLot ?SUBCARRIER - Equipment) + :precondition + (and + (EquipmentClassed ?ROBOT EC_Robot) + (not (RobotOccupied ?ROBOT)) + (RobotEnabled ?ROBOT) + (EquipmentClassed ?CARRIER EC_BaseplateCarrier) + (MaterialLotClassed ?PICKABLE MC_Pickable) + (MaterialLotClassed ?BASEPLATE MC_Baseplate) + (MaterialRaw ?PICKABLE) + (MaterialLocation ?BASEPLATE ?CARRIER) + (Mounted ?PICKABLE ?BASEPLATE) + (not (MaterialLocation ?PICKABLE ?ROBOT)) + (imply (EquipmentClassed ?CARRIER EC_Table) + (and + (ReachesTo ?ROBOT ?CARRIER) + (= ?CARRIER ?SUBCARRIER) + ) + ) + (imply (EquipmentClassed ?CARRIER EC_Shuttle) + (and + (EquipmentClassed ?SUBCARRIER EC_PositioningUnit) + (EquipmentLocation ?CARRIER ?SUBCARRIER) + (ReachesTo ?ROBOT ?SUBCARRIER) + (PositioningUnitLocked ?SUBCARRIER) + ) + ) + ) + :effect + (and + (RobotOccupied ?ROBOT) + (increase (total-cost) 5) + (not (Mounted ?PICKABLE ?BASEPLATE)) + (MaterialLocation ?PICKABLE ?ROBOT) + ) + ) + + (:action Place + :parameters (?ROBOT ?CARRIER - Equipment ?PICKABLE ?BASEPLATE - MaterialLot ?SUBCARRIER - Equipment) + :precondition + (and + (EquipmentClassed ?ROBOT EC_Robot) + (RobotOccupied ?ROBOT) + (RobotEnabled ?ROBOT) + (EquipmentClassed ?CARRIER EC_BaseplateCarrier) + (MaterialLotClassed ?PICKABLE MC_Pickable) + (MaterialLotClassed ?BASEPLATE MC_Baseplate) + (MaterialRaw ?PICKABLE) + (MaterialLocation ?BASEPLATE ?CARRIER) + (not (Mounted ?PICKABLE ?BASEPLATE)) + (MaterialLocation ?PICKABLE ?ROBOT) + (imply (EquipmentClassed ?CARRIER EC_Table) + (and + (ReachesTo ?ROBOT ?CARRIER) + (= ?CARRIER ?SUBCARRIER) + ) + ) + (imply (EquipmentClassed ?CARRIER EC_Shuttle) + (and + (EquipmentClassed ?SUBCARRIER EC_PositioningUnit) + (EquipmentLocation ?CARRIER ?SUBCARRIER) + (ReachesTo ?ROBOT ?SUBCARRIER) + (PositioningUnitLocked ?SUBCARRIER) + ) + ) + ) + :effect + (and + (not (RobotOccupied ?ROBOT)) + (increase (total-cost) 5) + (Mounted ?PICKABLE ?BASEPLATE) + (not (MaterialLocation ?PICKABLE ?ROBOT)) + ) + ) + + (:action Assemble + :parameters (?ROBOT ?CARRIER - Equipment ?PICKABLE ?BASE ?ASSEMBLY ?BASEPLATE - MaterialLot ?SUBCARRIER - Equipment) + :precondition + (and + (EquipmentClassed ?ROBOT EC_Robot) + (RobotOccupied ?ROBOT) + (RobotEnabled ?ROBOT) + (EquipmentClassed ?CARRIER EC_BaseplateCarrier) + (MaterialLotClassed ?PICKABLE MC_Pickable) + (MaterialLotClassed ?BASE MC_TruckComponent) + (MaterialLotClassed ?ASSEMBLY MC_Truck) + (MaterialLotClassed ?BASEPLATE MC_Baseplate) + (MaterialRaw ?PICKABLE) + (MaterialLocation ?BASEPLATE ?CARRIER) + (Mounted ?BASE ?BASEPLATE) + (or + (exists ( ?AMD - MaterialDefinition ?PMD - MaterialDefinition ?BMD - MaterialDefinition) + (and + (MaterialDefined ?ASSEMBLY ?AMD) + (MaterialDefined ?PICKABLE ?PMD) + (MaterialDefined ?BASE ?BMD) + (MaterialDefinitionAssembly ?AMD ?PMD) + (MaterialDefinitionAssembly ?AMD ?BMD) + (DefinitionMountable ?PMD ?BMD) + ) + ) + (exists ( ?PMC - MaterialClass ?BMC - MaterialClass ?AMD - MaterialDefinition ?PMD - MaterialDefinition ?BMD - MaterialDefinition) + (and + (MaterialDefined ?ASSEMBLY ?AMD) + (MaterialDefined ?PICKABLE ?PMD) + (MaterialDefined ?BASE ?BMD) + (MaterialClassed ?BMD ?BMC) + (MaterialClassed ?PMD ?PMC) + (MaterialDefinitionAssembly ?AMD ?PMD) + (MaterialDefinitionAssembly ?AMD ?BMD) + (ClassMountable ?PMC ?BMC) + ) + ) + ) + (not (exists (?A - MaterialLot) + (and + (not (= ?A ?ASSEMBLY) + ) + (MaterialLotAssembly ?A ?BASE) + ) + ) + ) + (not (exists (?BP - MaterialLot) + (and + (not (= ?BP ?BASEPLATE) + ) + (Mounted ?ASSEMBLY ?BP) + ) + ) + ) + (not (Mounted ?PICKABLE ?BASEPLATE)) + (MaterialLocation ?PICKABLE ?ROBOT) + (imply (EquipmentClassed ?CARRIER EC_Table) + (and + (ReachesTo ?ROBOT ?CARRIER) + (= ?CARRIER ?SUBCARRIER) + ) + ) + (imply (EquipmentClassed ?CARRIER EC_Shuttle) + (and + (EquipmentClassed ?SUBCARRIER EC_PositioningUnit) + (EquipmentLocation ?CARRIER ?SUBCARRIER) + (ReachesTo ?ROBOT ?SUBCARRIER) + (PositioningUnitLocked ?SUBCARRIER) + ) + ) + ) + :effect + (and + (not (RobotOccupied ?ROBOT)) + (increase (total-cost) 5) + (Mounted ?PICKABLE ?BASE) + (not (MaterialRaw ?PICKABLE)) + (not (MaterialRaw ?BASE)) + (MaterialLotAssembly ?ASSEMBLY ?PICKABLE) + (MaterialLotAssembly ?ASSEMBLY ?BASE) + (Mounted ?ASSEMBLY ?BASEPLATE) + (MaterialLocation ?ASSEMBLY ?CARRIER) + (MaterialLocation ?PICKABLE ?CARRIER) + (not (MaterialLocation ?PICKABLE ?ROBOT)) + ) + ) + + (:action RepairRobot + :parameters (?ENGINEER - Person ?ROBOT - Equipment) + :precondition + (and + (PersonClassed ?ENGINEER PC_MaintenanceEngineer) + (EquipmentClassed ?ROBOT EC_Robot) + (not (RobotEnabled ?ROBOT)) + ) + :effect + (and + (RobotEnabled ?ROBOT) + (increase (total-cost) 99) + ) + ) +) diff --git a/pddl/plan-CIIRC-Testbed-TASE-1.pddl b/pddl/plan-CIIRC-Testbed-TASE-1.pddl new file mode 100644 index 0000000..10e0856 --- /dev/null +++ b/pddl/plan-CIIRC-Testbed-TASE-1.pddl @@ -0,0 +1,26 @@ +(pick e_robot-2 e_table-2 ml_body-opentop-blue-1 ml_truckbaseplate-table-2 e_table-2) +(moveshuttle e_shuttle-1 e_positioningunit-io-1 e_positioningunit-machiningcenter-1) +(pick e_robot-3 e_table-3 ml_chassis-black-1 ml_truckbaseplate-table-3 e_table-3) +(pick e_robot-1 e_table-1 ml_cabin-yellow-1 ml_truckbaseplate-table-1 e_table-1) +(lockpositioningunit e_positioningunit-machiningcenter-1) +(place e_robot-1 e_shuttle-1 ml_cabin-yellow-1 ml_truckbaseplate-shuttle-1 e_positioningunit-machiningcenter-1) +(pick e_robot-10 e_shuttle-1 ml_cabin-yellow-1 ml_truckbaseplate-shuttle-1 e_positioningunit-machiningcenter-1) +(moveshuttle e_shuttle-2 e_positioningunit-io-2 e_positioningunit-machiningcenter-3) +(lockpositioningunit e_positioningunit-machiningcenter-3) +(place e_robot-3 e_shuttle-2 ml_chassis-black-1 ml_truckbaseplate-shuttle-2 e_positioningunit-machiningcenter-3) +(unlockpositioningunit e_positioningunit-machiningcenter-3) +(moveshuttle e_shuttle-2 e_positioningunit-machiningcenter-3 e_positioningunit-machiningcenter-2) +(lockpositioningunit e_positioningunit-machiningcenter-2) +(pick e_robot-1 e_shuttle-2 ml_chassis-black-1 ml_truckbaseplate-shuttle-2 e_positioningunit-machiningcenter-2) +(place e_robot-1 e_shuttle-1 ml_chassis-black-1 ml_truckbaseplate-shuttle-1 e_positioningunit-machiningcenter-1) +(place e_robot-2 e_shuttle-2 ml_body-opentop-blue-1 ml_truckbaseplate-shuttle-2 e_positioningunit-machiningcenter-2) +(pick e_robot-1 e_shuttle-2 ml_body-opentop-blue-1 ml_truckbaseplate-shuttle-2 e_positioningunit-machiningcenter-2) +(place e_robot-10 e_shuttle-1 ml_cabin-yellow-1 ml_truckbaseplate-shuttle-1 e_positioningunit-machiningcenter-1) +(pick e_robot-10 e_shuttle-1 ml_chassis-black-1 ml_truckbaseplate-shuttle-1 e_positioningunit-machiningcenter-1) +(place e_robot-10 e_table-10 ml_chassis-black-1 ml_truckbaseplate-table-10 e_table-10) +(pick e_robot-10 e_shuttle-1 ml_cabin-yellow-1 ml_truckbaseplate-shuttle-1 e_positioningunit-machiningcenter-1) +(assemble e_robot-10 e_table-10 ml_cabin-yellow-1 ml_chassis-black-1 ml_opentop-black-yellow-blue-1 ml_truckbaseplate-table-10 e_table-10) +(place e_robot-1 e_shuttle-1 ml_body-opentop-blue-1 ml_truckbaseplate-shuttle-1 e_positioningunit-machiningcenter-1) +(pick e_robot-10 e_shuttle-1 ml_body-opentop-blue-1 ml_truckbaseplate-shuttle-1 e_positioningunit-machiningcenter-1) +(assemble e_robot-10 e_table-10 ml_body-opentop-blue-1 ml_chassis-black-1 ml_opentop-black-yellow-blue-1 ml_truckbaseplate-table-10 e_table-10) +; cost = 198 (general cost) diff --git a/pddl/problem-CIIRC-Testbed-TASE-1.pddl b/pddl/problem-CIIRC-Testbed-TASE-1.pddl new file mode 100644 index 0000000..7599270 --- /dev/null +++ b/pddl/problem-CIIRC-Testbed-TASE-1.pddl @@ -0,0 +1,295 @@ +(define (problem CIIRC-Testbed-TASE-1) + + (:domain CIIRC-Testbed-TASE) + + (:objects + P_MaintenanceEngineer-1 - Person + E_PositioningUnit-MachiningCenter-3 - Equipment + E_Shuttle-3 - Equipment + E_Table-2 - Equipment + E_PositioningUnit-MachiningCenter-2 - Equipment + E_PositioningUnit-Buffer - Equipment + E_Shuttle-2 - Equipment + E_PositioningUnit-IO-1 - Equipment + E_Robot-1 - Equipment + E_Robot-10 - Equipment + E_Table-10 - Equipment + E_Table-1 - Equipment + E_Shuttle-1 - Equipment + E_Table-3 - Equipment + E_Robot-3 - Equipment + E_PositioningUnit-MachiningCenter-1 - Equipment + E_PositioningUnit-IO-2 - Equipment + E_Robot-2 - Equipment + ML_TruckBaseplate-Table-2 - MaterialLot + ML_TruckBaseplate-Shuttle-2 - MaterialLot + ML_Cabin-Yellow-1 - MaterialLot + ML_Body-OpenTop-Blue-1 - MaterialLot + ML_TruckBaseplate-Table-1 - MaterialLot + ML_TruckBaseplate-Shuttle-1 - MaterialLot + ML_TruckBaseplate-Table-10 - MaterialLot + ML_Chassis-Black-1 - MaterialLot + ML_OpenTop-Black-Yellow-Blue-1 - MaterialLot + ML_TruckBaseplate-Table-3 - MaterialLot + ML_TruckBaseplate-Shuttle-3 - MaterialLot + ) + + (:init + (= (total-cost) 0) + (MaterialClassed MD_StakeBed-White-White-White MC_Truck) + (MaterialDefinitionAssembly MD_StakeBed-White-White-White MD_Body-StakeBed-White) + (MaterialDefinitionAssembly MD_StakeBed-White-White-White MD_Cabin-White) + (MaterialDefinitionAssembly MD_StakeBed-White-White-White MD_Chassis-White) + (MaterialClassed MD_Cabin-Silver MC_Pickable) + (MaterialClassed MD_Cabin-Silver MC_TruckComponent) + (MaterialClassed MD_Cabin-Silver MC_Cabin) + (MaterialClassed MD_StakeBed-Black-Blue-White MC_Truck) + (MaterialDefinitionAssembly MD_StakeBed-Black-Blue-White MD_Chassis-Black) + (MaterialDefinitionAssembly MD_StakeBed-Black-Blue-White MD_Cabin-Blue) + (MaterialDefinitionAssembly MD_StakeBed-Black-Blue-White MD_Body-StakeBed-White) + (MaterialClassed MD_Body-Dumper-Yellow MC_Pickable) + (MaterialClassed MD_Body-Dumper-Yellow MC_TruckComponent) + (MaterialClassed MD_Body-Dumper-Yellow MC_Body) + (MaterialClassed MD_Dumper-White-Transparent-Yellow MC_Truck) + (MaterialDefinitionAssembly MD_Dumper-White-Transparent-Yellow MD_Chassis-White) + (MaterialDefinitionAssembly MD_Dumper-White-Transparent-Yellow MD_Cabin-Transparent) + (MaterialDefinitionAssembly MD_Dumper-White-Transparent-Yellow MD_Body-Dumper-Yellow) + (MaterialClassed MD_Tank-Black-White-Black MC_Truck) + (MaterialDefinitionAssembly MD_Tank-Black-White-Black MD_Chassis-Black) + (MaterialDefinitionAssembly MD_Tank-Black-White-Black MD_Cabin-White) + (MaterialDefinitionAssembly MD_Tank-Black-White-Black MD_Body-Tank-Black) + (MaterialClassed MD_Body-OpenTop-Blue MC_Pickable) + (MaterialClassed MD_Body-OpenTop-Blue MC_TruckComponent) + (MaterialClassed MD_Body-OpenTop-Blue MC_Body) + (MaterialClassed MD_TruckBaseplate MC_Baseplate) + (MaterialClassed MD_TruckBaseplate MC_TruckComponent) + (MaterialClassed MD_Chassis-Black MC_Pickable) + (MaterialClassed MD_Chassis-Black MC_TruckComponent) + (MaterialClassed MD_Chassis-Black MC_Chassis) + (MaterialClassed MD_Cabin-Yellow MC_Pickable) + (MaterialClassed MD_Cabin-Yellow MC_TruckComponent) + (MaterialClassed MD_Cabin-Yellow MC_Cabin) + (MaterialClassed MD_Body-Tank-Black MC_Pickable) + (MaterialClassed MD_Body-Tank-Black MC_TruckComponent) + (MaterialClassed MD_Body-Tank-Black MC_Body) + (MaterialClassed MD_Cabin-Blue MC_Pickable) + (MaterialClassed MD_Cabin-Blue MC_TruckComponent) + (MaterialClassed MD_Cabin-Blue MC_Cabin) + (MaterialClassed MD_OpenTop-Black-Yellow-Blue MC_Truck) + (MaterialDefinitionAssembly MD_OpenTop-Black-Yellow-Blue MD_Chassis-Black) + (MaterialDefinitionAssembly MD_OpenTop-Black-Yellow-Blue MD_Cabin-Yellow) + (MaterialDefinitionAssembly MD_OpenTop-Black-Yellow-Blue MD_Body-OpenTop-Blue) + (MaterialClassed MD_Dumper-White-Silver-Silver MC_Truck) + (MaterialDefinitionAssembly MD_Dumper-White-Silver-Silver MD_Chassis-White) + (MaterialDefinitionAssembly MD_Dumper-White-Silver-Silver MD_Cabin-Silver) + (MaterialDefinitionAssembly MD_Dumper-White-Silver-Silver MD_Body-Dumper-Silver) + (MaterialClassed MD_Body-Dumper-Silver MC_Pickable) + (MaterialClassed MD_Body-Dumper-Silver MC_TruckComponent) + (MaterialClassed MD_Body-Dumper-Silver MC_Body) + (MaterialClassed MD_Chassis-White MC_Pickable) + (MaterialClassed MD_Chassis-White MC_TruckComponent) + (MaterialClassed MD_Chassis-White MC_Chassis) + (MaterialClassed MD_Cabin-Transparent MC_Pickable) + (MaterialClassed MD_Cabin-Transparent MC_TruckComponent) + (MaterialClassed MD_Cabin-Transparent MC_Cabin) + (MaterialClassed MD_Body-StakeBed-White MC_Pickable) + (MaterialClassed MD_Body-StakeBed-White MC_TruckComponent) + (MaterialClassed MD_Body-StakeBed-White MC_Body) + (MaterialClassed MD_Tank-Black-Blue-Silver MC_Truck) + (MaterialDefinitionAssembly MD_Tank-Black-Blue-Silver MD_Chassis-Black) + (MaterialDefinitionAssembly MD_Tank-Black-Blue-Silver MD_Cabin-Blue) + (MaterialDefinitionAssembly MD_Tank-Black-Blue-Silver MD_Body-Tank-Silver) + (MaterialClassed MD_Cabin-White MC_Pickable) + (MaterialClassed MD_Cabin-White MC_TruckComponent) + (MaterialClassed MD_Cabin-White MC_Cabin) + (MaterialClassed MD_Body-Tank-Silver MC_Pickable) + (MaterialClassed MD_Body-Tank-Silver MC_TruckComponent) + (MaterialClassed MD_Body-Tank-Silver MC_Body) + (PersonClassed P_MaintenanceEngineer-1 PC_MaintenanceEngineer) + (EquipmentClassed E_PositioningUnit-MachiningCenter-3 EC_PositioningUnit) + (EquipmentClassed E_PositioningUnit-MachiningCenter-3 EC_TransportationNode) + (EquipmentClassed E_Shuttle-3 EC_Shuttle) + (EquipmentClassed E_Shuttle-3 EC_BaseplateCarrier) + (EquipmentClassed E_Table-2 EC_Table) + (EquipmentClassed E_Table-2 EC_BaseplateCarrier) + (EquipmentClassed E_PositioningUnit-MachiningCenter-2 EC_PositioningUnit) + (EquipmentClassed E_PositioningUnit-MachiningCenter-2 EC_TransportationNode) + (EquipmentClassed E_PositioningUnit-Buffer EC_PositioningUnit) + (EquipmentClassed E_PositioningUnit-Buffer EC_TransportationNode) + (EquipmentClassed E_Shuttle-2 EC_Shuttle) + (EquipmentClassed E_Shuttle-2 EC_BaseplateCarrier) + (EquipmentClassed E_PositioningUnit-IO-1 EC_PositioningUnit) + (EquipmentClassed E_PositioningUnit-IO-1 EC_TransportationNode) + (EquipmentClassed E_Robot-1 EC_Robot) + (EquipmentClassed E_Robot-10 EC_Robot) + (EquipmentClassed E_Table-10 EC_Table) + (EquipmentClassed E_Table-10 EC_BaseplateCarrier) + (EquipmentClassed E_Table-1 EC_Table) + (EquipmentClassed E_Table-1 EC_BaseplateCarrier) + (EquipmentClassed E_Shuttle-1 EC_Shuttle) + (EquipmentClassed E_Shuttle-1 EC_BaseplateCarrier) + (EquipmentClassed E_Table-3 EC_Table) + (EquipmentClassed E_Table-3 EC_BaseplateCarrier) + (EquipmentClassed E_Robot-3 EC_Robot) + (EquipmentClassed E_PositioningUnit-MachiningCenter-1 EC_PositioningUnit) + (EquipmentClassed E_PositioningUnit-MachiningCenter-1 EC_TransportationNode) + (EquipmentClassed E_PositioningUnit-IO-2 EC_PositioningUnit) + (EquipmentClassed E_PositioningUnit-IO-2 EC_TransportationNode) + (EquipmentClassed E_Robot-2 EC_Robot) + (MaterialDefined ML_TruckBaseplate-Table-2 MD_TruckBaseplate) + (MaterialRaw ML_TruckBaseplate-Table-2) + (MaterialLotClassed ML_TruckBaseplate-Table-2 MC_Baseplate) + (MaterialLotClassed ML_TruckBaseplate-Table-2 MC_TruckComponent) + (MaterialDefined ML_TruckBaseplate-Shuttle-2 MD_TruckBaseplate) + (MaterialRaw ML_TruckBaseplate-Shuttle-2) + (MaterialLotClassed ML_TruckBaseplate-Shuttle-2 MC_Baseplate) + (MaterialLotClassed ML_TruckBaseplate-Shuttle-2 MC_TruckComponent) + (MaterialDefined ML_Cabin-Yellow-1 MD_Cabin-Yellow) + (MaterialRaw ML_Cabin-Yellow-1) + (MaterialLotClassed ML_Cabin-Yellow-1 MC_Pickable) + (MaterialLotClassed ML_Cabin-Yellow-1 MC_TruckComponent) + (MaterialLotClassed ML_Cabin-Yellow-1 MC_Cabin) + (MaterialDefined ML_Body-OpenTop-Blue-1 MD_Body-OpenTop-Blue) + (MaterialRaw ML_Body-OpenTop-Blue-1) + (MaterialLotClassed ML_Body-OpenTop-Blue-1 MC_Pickable) + (MaterialLotClassed ML_Body-OpenTop-Blue-1 MC_TruckComponent) + (MaterialLotClassed ML_Body-OpenTop-Blue-1 MC_Body) + (MaterialDefined ML_TruckBaseplate-Table-1 MD_TruckBaseplate) + (MaterialRaw ML_TruckBaseplate-Table-1) + (MaterialLotClassed ML_TruckBaseplate-Table-1 MC_Baseplate) + (MaterialLotClassed ML_TruckBaseplate-Table-1 MC_TruckComponent) + (MaterialDefined ML_TruckBaseplate-Shuttle-1 MD_TruckBaseplate) + (MaterialRaw ML_TruckBaseplate-Shuttle-1) + (MaterialLotClassed ML_TruckBaseplate-Shuttle-1 MC_Baseplate) + (MaterialLotClassed ML_TruckBaseplate-Shuttle-1 MC_TruckComponent) + (MaterialDefined ML_TruckBaseplate-Table-10 MD_TruckBaseplate) + (MaterialRaw ML_TruckBaseplate-Table-10) + (MaterialLotClassed ML_TruckBaseplate-Table-10 MC_Baseplate) + (MaterialLotClassed ML_TruckBaseplate-Table-10 MC_TruckComponent) + (MaterialDefined ML_Chassis-Black-1 MD_Chassis-Black) + (MaterialRaw ML_Chassis-Black-1) + (MaterialLotClassed ML_Chassis-Black-1 MC_Pickable) + (MaterialLotClassed ML_Chassis-Black-1 MC_TruckComponent) + (MaterialLotClassed ML_Chassis-Black-1 MC_Chassis) + (MaterialDefined ML_OpenTop-Black-Yellow-Blue-1 MD_OpenTop-Black-Yellow-Blue) + (MaterialRaw ML_OpenTop-Black-Yellow-Blue-1) + (MaterialLotClassed ML_OpenTop-Black-Yellow-Blue-1 MC_Truck) + (MaterialDefined ML_TruckBaseplate-Table-3 MD_TruckBaseplate) + (MaterialRaw ML_TruckBaseplate-Table-3) + (MaterialLotClassed ML_TruckBaseplate-Table-3 MC_Baseplate) + (MaterialLotClassed ML_TruckBaseplate-Table-3 MC_TruckComponent) + (MaterialDefined ML_TruckBaseplate-Shuttle-3 MD_TruckBaseplate) + (MaterialRaw ML_TruckBaseplate-Shuttle-3) + (MaterialLotClassed ML_TruckBaseplate-Shuttle-3 MC_Baseplate) + (MaterialLotClassed ML_TruckBaseplate-Shuttle-3 MC_TruckComponent) + (TransportationNodeOccupied E_PositioningUnit-Buffer) + (TransportationNodeOccupied E_PositioningUnit-IO-1) + (TransportationNodeOccupied E_PositioningUnit-IO-2) + (RobotEnabled E_Robot-1) + (RobotEnabled E_Robot-10) + (RobotEnabled E_Robot-3) + (RobotEnabled E_Robot-2) + (ClassMountable MC_Cabin MC_Chassis) + (ClassMountable MC_Body MC_Chassis) + (ClassMountable MC_Cabin MC_Baseplate) + (ClassMountable MC_Body MC_Baseplate) + (ClassMountable MC_Chassis MC_Baseplate) + (ReachesTo E_Robot-1 E_Table-1) + (ReachesTo E_Robot-1 E_PositioningUnit-MachiningCenter-1) + (ReachesTo E_Robot-1 E_PositioningUnit-MachiningCenter-2) + (ReachesTo E_Robot-2 E_Table-2) + (ReachesTo E_Robot-2 E_PositioningUnit-MachiningCenter-2) + (ReachesTo E_Robot-2 E_PositioningUnit-MachiningCenter-3) + (ReachesTo E_Robot-3 E_Table-3) + (ReachesTo E_Robot-3 E_PositioningUnit-MachiningCenter-3) + (ReachesTo E_Robot-10 E_Table-10) + (ReachesTo E_Robot-10 E_PositioningUnit-MachiningCenter-1) + (MaterialLocation ML_TruckBaseplate-Table-1 E_Table-1) + (MaterialLocation ML_TruckBaseplate-Table-2 E_Table-2) + (MaterialLocation ML_TruckBaseplate-Table-3 E_Table-3) + (MaterialLocation ML_TruckBaseplate-Table-10 E_Table-10) + (MaterialLocation ML_TruckBaseplate-Shuttle-1 E_Shuttle-1) + (MaterialLocation ML_TruckBaseplate-Shuttle-2 E_Shuttle-2) + (MaterialLocation ML_TruckBaseplate-Shuttle-3 E_Shuttle-3) + (Mounted ML_Chassis-Black-1 ML_TruckBaseplate-Table-3) + (Mounted ML_Body-OpenTop-Blue-1 ML_TruckBaseplate-Table-2) + (Mounted ML_Cabin-Yellow-1 ML_TruckBaseplate-Table-1) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-MachiningCenter-2) + (= (shuttle-time E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-MachiningCenter-2) 25) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-MachiningCenter-1) + (= (shuttle-time E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-MachiningCenter-1) 30) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-Buffer) + (= (shuttle-time E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-Buffer) 54) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-IO-1) + (= (shuttle-time E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-IO-1) 78) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-IO-2) + (= (shuttle-time E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-IO-2) 37) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-MachiningCenter-3) + (= (shuttle-time E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-MachiningCenter-3) 25) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-MachiningCenter-1) + (= (shuttle-time E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-MachiningCenter-1) 35) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-Buffer) + (= (shuttle-time E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-Buffer) 59) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-IO-1) + (= (shuttle-time E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-IO-1) 83) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-IO-2) + (= (shuttle-time E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-IO-2) 42) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-MachiningCenter-3) + (= (shuttle-time E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-MachiningCenter-3) 28) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-MachiningCenter-2) + (= (shuttle-time E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-MachiningCenter-2) 33) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-Buffer) + (= (shuttle-time E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-Buffer) 62) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-IO-1) + (= (shuttle-time E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-IO-1) 86) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-IO-2) + (= (shuttle-time E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-IO-2) 45) + (TransportationNodeConnection E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-3) + (= (shuttle-time E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-3) 30) + (TransportationNodeConnection E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-2) + (= (shuttle-time E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-2) 35) + (TransportationNodeConnection E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-1) + (= (shuttle-time E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-1) 40) + (TransportationNodeConnection E_PositioningUnit-Buffer E_PositioningUnit-IO-1) + (= (shuttle-time E_PositioningUnit-Buffer E_PositioningUnit-IO-1) 26) + (TransportationNodeConnection E_PositioningUnit-Buffer E_PositioningUnit-IO-2) + (= (shuttle-time E_PositioningUnit-Buffer E_PositioningUnit-IO-2) 47) + (TransportationNodeConnection E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-3) + (= (shuttle-time E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-3) 18) + (TransportationNodeConnection E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-2) + (= (shuttle-time E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-2) 23) + (TransportationNodeConnection E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-1) + (= (shuttle-time E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-1) 28) + (TransportationNodeConnection E_PositioningUnit-IO-1 E_PositioningUnit-Buffer) + (= (shuttle-time E_PositioningUnit-IO-1 E_PositioningUnit-Buffer) 52) + (TransportationNodeConnection E_PositioningUnit-IO-1 E_PositioningUnit-IO-2) + (= (shuttle-time E_PositioningUnit-IO-1 E_PositioningUnit-IO-2) 36) + (TransportationNodeConnection E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-3) + (= (shuttle-time E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-3) 51) + (TransportationNodeConnection E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-2) + (= (shuttle-time E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-2) 56) + (TransportationNodeConnection E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-1) + (= (shuttle-time E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-1) 61) + (TransportationNodeConnection E_PositioningUnit-IO-2 E_PositioningUnit-Buffer) + (= (shuttle-time E_PositioningUnit-IO-2 E_PositioningUnit-Buffer) 22) + (TransportationNodeConnection E_PositioningUnit-IO-2 E_PositioningUnit-IO-1) + (= (shuttle-time E_PositioningUnit-IO-2 E_PositioningUnit-IO-1) 47) + (EquipmentLocation E_Shuttle-2 E_PositioningUnit-IO-2) + (TransportationNodeOccupied E_PositioningUnit-IO-2) + (EquipmentLocation E_Shuttle-3 E_PositioningUnit-Buffer) + (TransportationNodeOccupied E_PositioningUnit-Buffer) + (EquipmentLocation E_Shuttle-1 E_PositioningUnit-IO-1) + (TransportationNodeOccupied E_PositioningUnit-IO-1) + ) + + (:goal + (and + (Mounted ML_OpenTop-Black-Yellow-Blue-1 ML_TruckBaseplate-Table-10) + (MaterialLotAssembly ML_OpenTop-Black-Yellow-Blue-1 ML_Body-OpenTop-Blue-1) + (MaterialLotAssembly ML_OpenTop-Black-Yellow-Blue-1 ML_Cabin-Yellow-1) + (MaterialLotAssembly ML_OpenTop-Black-Yellow-Blue-1 ML_Chassis-Black-1) + ) + ) + + (:metric minimize (total-cost)) +) diff --git a/results/out-1-false-false-false.csv b/results/out-1-false-false-false.csv new file mode 100644 index 0000000..4cd73c7 --- /dev/null +++ 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478.128 828.284 1268.366 790.238 4.8 diff --git a/transformations/README.MD b/transformations/README.MD new file mode 100644 index 0000000..e1b5dcd --- /dev/null +++ b/transformations/README.MD @@ -0,0 +1,460 @@ +The following rules have been applied in order to create PDDL files from IEC 62264 production system models. + +# PDDL Domain Definitions + +## Metamodel Concepts +Metamodel concepts of IEC 62264 are being converted to a set of PDDL type specifications and predicates. Relevant elements are those that appear within a given IEC 62264 model. Unused elements are not translated in order to reduce file size and increase performance and readability. +* IEC 62264 elements (e.g., `Equipment`, `Equipment Class`) are converted to types. +* IEC 62264 relations (e.g., `Equipment` can be classified by [0..*] `Equipment Classes`) are converted to predicates. + +For the above mentioned examples, the IEC 62264 concepts are translated from +```mermaid +classDiagram + Person "0..*" --> "0..*" Personnel Class : defined by + Equipment "0..*" --> "0..*" Equipment Class : defined by + Material Lot "0..*" --> "1" Material Definition : defined by + Material Definition "0..*" --> "0..*" Material Class : grouped by +``` + +to + +```pddl +(:types + PersonnelClass Person + EquipmentClass Equipment + MaterialClass MaterialDefinition MaterialLot +) +(:predicates + (PersonClassed ?P - Person ?C - PersonnelClass) + (EquipmentClassed ?E - Equipment ?C - EquipmentClass) + (MaterialClassed ?D - MaterialDefinition ?C - MaterialClass) + (MaterialDefined ?L - MaterialLot ?D - MaterialDefinition) + (MaterialLotClassed ?L - MaterialLot ?C - MaterialClass) +) +``` +Where the last predicate `(MaterialLotClassed ?L - MaterialLot ?C - MaterialClass)` is the composition of `defined by` and `grouped by` in the material information model. + +## Model Concepts +IEC 62264 instance data is converted into PDDL information using the rules laid out in the following clauses. Note, that we are using class diagram visual syntax instead of object diagram syntax due to limitations in the used Markdown rendering engine. + +### * Class and Material Definition +`* Class` and `Material Definition` instances are converted to constants + +From + +```mermaid +classDiagram + class MaintenanceEngineer + <> MaintenanceEngineer + class PositioningUnit + <> PositioningUnit + class Chassis + <> Chassis + class ChassisBlack + <> ChassisBlack +``` + +to + +```pddl +(:constants + PC_MaintenanceEngineer - PersonnelClass + EC_PositioningUnit - EquipmentClass + MC_Chassis - MaterialClass + MD_Chassis-Black - MaterialDefinition +) +``` + +### * Class Property and Material Definition Property +Boolean `* Class Property` and `Material Definition Property` instances are converted to predicates and actions. Non-boolean properties are not supported in the current state of implementation. The actions are only generated, if the property is not marked as of kind `implicit`, in which case the corresponding predicate is only triggered by other actions' effects. + +From + +```mermaid +classDiagram + class PositioningUnit + <> PositioningUnit + class Locked + <> Locked + PositioningUnit *-- Locked : has property +``` + +to + +```pddl +(:predicates + (PositioningUnitLocked ?E - Equipment) +) + +(:action LockPositioningUnit + :parameters (?E - Equipment) + :precondition + (and + (EquipmentClassed ?E EC_PositioningUnit) + (not (PositioningUnitLocked ?E)) + ) + :effect + (and + (increase (total-cost) 1) + (PositioningUnitLocked ?E) + ) +) + +(:action UnlockPositioningUnit + :parameters (?E - Equipment) + :precondition + (and + (EquipmentClassed ?E EC_PositioningUnit) + (PositioningUnitLocked ?E) + ) + :effect + (and + (increase (total-cost) 1) + (not (PositioningUnitLocked ?E)) + ) +) +``` +Please, note that we have applied hard-coded "pretty-printing" to some of the `* Class Property` instances. In the above case `PositioningUnit`'s `locked` is translated into the terms `LockPositioningUnit` and `UnlockPositioningUnit`. The default translation for this instance would be `PositioningUnitLockedTrue` `PositioningUnitLockedFalse`. Action cost for setting a property are considered to be 1. + +### Resource Network Connection Type +`Resource Network Connection Type` instances are converted to predicates. + +From + +```mermaid +classDiagram + class EquipmentReachTo + <> EquipmentReachTo + class MaterialLocation + <> MaterialLocation +``` + +to + +```pddl +(:predicates + (ReachesTo ?R ?E - Equipment) + (MaterialLocation ?M - MaterialLot ?E - Equipment) +) +``` + +Please, note that we have applied hard-coded "pretty-printing" to some of the `ResourceNetworkConnectionType` instances. In the above case `EquipmentReachTo` is translated into the term `ReachesTo`. + +### Process Segment +`Process Segment` instances are converted to actions, with their `* Segment Specification` instances becoming their parameters and being used in certain pre and post condition statements. In the example below, we are not listing all elements specified in the IEC 62264 input model, as this would increase complexity a lot. Instead, we are listing the main elements of the input model, but we are listing the complete result for the PDDL domain description. + +From + +```mermaid +classDiagram + class MoveShuttle + <> MoveShuttle + class SHUTTLE + <> SHUTTLE + class Shuttle + <> Shuttle + class FROM + <> FROM + class TO + <> TO + class LockedFrom { + <> + description = "pddl:pre" + value = false + } + class PositioningUnit + <> PositioningUnit + class TransportationNode + <> TransportationNode + class LockedTo { + <> + description = "pddl:pre" + value = false + } + class Locked + <> Locked + MoveShuttle *-- SHUTTLE : contains + MoveShuttle *-- FROM : contains + MoveShuttle *-- TO : contains + SHUTTLE --> Shuttle : specifies + FROM *-- LockedFrom : has property + FROM --> PositioningUnit : specifies + FROM --> TransportationNode : specifies + TO --> PositioningUnit : specifies + TO --> TransportationNode : specifies + TO *-- LockedTo : has property + PositioningUnit *-- Locked : has property + LockedFrom --> Locked : corresponds to + LockedTo --> Locked : corresponds to +``` + +to + +```pddl +(:action MoveShuttle + :parameters (?SHUTTLE ?FROM ?TO - Equipment) + :precondition + (and + (EquipmentClassed ?SHUTTLE EC_Shuttle) + (or + (EquipmentClassed ?FROM EC_PositioningUnit) + (EquipmentClassed ?FROM EC_TransportationNode) + ) + (imply (EquipmentClassed ?FROM EC_PositioningUnit) + (not (PositioningUnitLocked ?FROM)) + ) + (or + (EquipmentClassed ?TO EC_PositioningUnit) + (EquipmentClassed ?TO EC_TransportationNode) + ) + (imply (EquipmentClassed ?TO EC_PositioningUnit) + (not (PositioningUnitLocked ?TO)) + ) + (TransportationNodeConnection ?FROM ?TO) + (EquipmentLocation ?SHUTTLE ?FROM) + (not (EquipmentLocation ?SHUTTLE ?TO)) + ) + :effect + (and + (increase (total-cost) (shuttle-time ?FROM ?TO)) + (not (EquipmentLocation ?SHUTTLE ?FROM)) + (EquipmentLocation ?SHUTTLE ?TO) + ) +) +``` + +Please, note that we are adding a few pre- and post conditions hard-coded in the transformation process, based on our knowledge of the underlying production system, e.g., utilization of the `EquipmentLocation` and `TransportationNodeConnection` predicates. + +Further, the action cost are encoded as a function `shuttle-time` that is filled with values in the PDDL problem description. + +# PDDL Problem Definitions + +## Person, Equipment, and Material Lot +Instances of `Person`, `Equipment`, and `Material Lot` are converted to objects. Their relations to `* Class` or `Material Definition` instances are materialized as initialization statements. + +From + +```mermaid +classDiagram + class MaintenanceEngineer1 + <> MaintenanceEngineer1 + class MaintenanceEngineer + <> MaintenanceEngineer + class Shuttle1 + <> Shuttle1 + class Shuttle + <> Shuttle + class ChassisBlack1 + <> ChassisBlack1 + class ChassisBlack + <> ChassisBlack + class Chassis + <> Chassis + MaintenanceEngineer1 --> MaintenanceEngineer : defined by + Shuttle1 --> Shuttle : defined by + ChassisBlack1 --> ChassisBlack : defined by + ChassisBlack --> Chassis : grouped by +``` + +to + +```pddl +(:objects + P_MaintenanceEngineer-1 - Person + E_Shuttle-1 - Equipment + ML_Chassis-Black-1 - MaterialLot +) +(:init + (PersonClassed P_MaintenanceEngineer-1 PC_MaintenanceEngineer) + (EquipmentClassed E_Shuttle-1 EC_Shuttle) + (MaterialClassed MD_Chassis-Black MC_Chassis) + (MaterialDefined ML_Chassis-Black-1 MD_Chassis-Black) + (MaterialLotClassed ML_Chassis-Black-1 MC_Chassis) +) +``` + +## Resource Network Connection +`Resource Network Connection` instances are converted to init statements, except for goal description models, where they are converted to goal statements. + +From + +```mermaid +classDiagram + class Robot1ReachesToTable1 + <> Robot1ReachesToTable1 + class Robot1ReachesToPUMC1 + <> Robot1ReachesToPUMC1 + class Robot1ReachesToPUMC2 + <> Robot1ReachesToPUMC2 + class EquipmentReachTo + <> EquipmentReachTo + Robot1ReachesToTable1 --> EquipmentReachTo : derived from + Robot1ReachesToPUMC1 --> EquipmentReachTo : derived from + Robot1ReachesToPUMC2 --> EquipmentReachTo : derived from +``` + +to + +```pddl +(:init + (ReachesTo E_Robot-1 E_Table-1) + (ReachesTo E_Robot-1 E_PositioningUnit-MachiningCenter-1) + (ReachesTo E_Robot-1 E_PositioningUnit-MachiningCenter-2) +) +``` + +## Intralogistic Routing Topology +`Resource Network Connection` instances of type `Transport-System-Track-Connection` and `Transport-System-Positioning-Unit-Connection` are converted in a very specific way. The former raw connections represent the physical connections of all track curves, lines, and switches. The latter represent the physical location where a positioning unit has been attached to a track. This information is read in, and a directed graph structure is generated. Here, we already show a simplified graph where only topologically important elements are kept (curves and straight lines without positioning units attached are removed). Elements starting with a `J` are `Joins`, `D` depicts `Divides`, and `A` represents a special item, an `Arena` (two inputs, two outputs). Stadium-shaped nodes depict positioning units. + +```mermaid +graph LR + J5 --> A1 + D4 --> J4 + D3 --> P1([PU-MC-1]) --> J3 + D2 --> P2([PU-MC-2]) --> J3 --> J2 + D1 --> P3([PU-MC-3]) --> J2 --> J1 + A1 --> J1 --> D1 --> D2 --> D3 --> D4 --> P10([PU-IO-2]) --> J4 --> D5 --> J5 + A1 --> P100([PU-IO-1]) --> A1 + D5 --> P50([PU-Buffer]) --> J5 +``` + +In order to reduce computational complexity for the PDDL solver, an even more simplified topology is computed that only contains the positioning units and leaves out all intermediate elements. The edge weight of the graph corresponds to the physical track length between the positioning units and is converted into seconds based on an assumed average speed of 0.56 m/s. + +```mermaid +graph LR + P1 & P2 & P3 & P10 & P50 --> P100([PU-IO-1]) + P1 & P2 & P3 & P10 & P100 --> P50([PU-Buffer]) + P1 & P2 & P3 & P50 & P100 --> P10([PU-IO-2]) + P1 & P2 & P10 & P50 & P100 --> P3([PU-MC-3]) + P1 & P3 & P10 & P50 & P100 --> P2([PU-MC-2]) + P2 & P3 & P10 & P50 & P100 --> P1([PU-MC-1]) +``` + +For each "positioning unit connection" two init statements are created: one that states that these two positioning units are connected with each other (`TransportationNodeConnection`), and another one setting the function value for the function `shuttle-time`, representing the estimated traveling time in seconds between these two positioning units. The resulting PDDL init statements are listed below: + + +```pddl +(:init + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-MachiningCenter-2) + (= (shuttle-time E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-MachiningCenter-2) 25) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-MachiningCenter-1) + (= (shuttle-time E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-MachiningCenter-1) 30) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-Buffer) + (= (shuttle-time E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-Buffer) 54) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-IO-1) + (= (shuttle-time E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-IO-1) 78) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-IO-2) + (= (shuttle-time E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-IO-2) 37) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-MachiningCenter-3) + (= (shuttle-time E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-MachiningCenter-3) 25) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-MachiningCenter-1) + (= (shuttle-time E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-MachiningCenter-1) 35) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-Buffer) + (= (shuttle-time E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-Buffer) 59) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-IO-1) + (= (shuttle-time E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-IO-1) 83) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-IO-2) + (= (shuttle-time E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-IO-2) 42) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-MachiningCenter-3) + (= (shuttle-time E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-MachiningCenter-3) 28) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-MachiningCenter-2) + (= (shuttle-time E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-MachiningCenter-2) 33) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-Buffer) + (= (shuttle-time E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-Buffer) 62) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-IO-1) + (= (shuttle-time E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-IO-1) 86) + (TransportationNodeConnection E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-IO-2) + (= (shuttle-time E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-IO-2) 45) + (TransportationNodeConnection E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-3) + (= (shuttle-time E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-3) 30) + (TransportationNodeConnection E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-2) + (= (shuttle-time E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-2) 35) + (TransportationNodeConnection E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-1) + (= (shuttle-time E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-1) 40) + (TransportationNodeConnection E_PositioningUnit-Buffer E_PositioningUnit-IO-1) + (= (shuttle-time E_PositioningUnit-Buffer E_PositioningUnit-IO-1) 26) + (TransportationNodeConnection E_PositioningUnit-Buffer E_PositioningUnit-IO-2) + (= (shuttle-time E_PositioningUnit-Buffer E_PositioningUnit-IO-2) 47) + (TransportationNodeConnection E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-3) + (= (shuttle-time E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-3) 18) + (TransportationNodeConnection E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-2) + (= (shuttle-time E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-2) 23) + (TransportationNodeConnection E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-1) + (= (shuttle-time E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-1) 28) + (TransportationNodeConnection E_PositioningUnit-IO-1 E_PositioningUnit-Buffer) + (= (shuttle-time E_PositioningUnit-IO-1 E_PositioningUnit-Buffer) 52) + (TransportationNodeConnection E_PositioningUnit-IO-1 E_PositioningUnit-IO-2) + (= (shuttle-time E_PositioningUnit-IO-1 E_PositioningUnit-IO-2) 36) + (TransportationNodeConnection E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-3) + (= (shuttle-time E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-3) 51) + (TransportationNodeConnection E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-2) + (= (shuttle-time E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-2) 56) + (TransportationNodeConnection E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-1) + (= (shuttle-time E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-1) 61) + (TransportationNodeConnection E_PositioningUnit-IO-2 E_PositioningUnit-Buffer) + (= (shuttle-time E_PositioningUnit-IO-2 E_PositioningUnit-Buffer) 22) + (TransportationNodeConnection E_PositioningUnit-IO-2 E_PositioningUnit-IO-1) + (= (shuttle-time E_PositioningUnit-IO-2 E_PositioningUnit-IO-1) 47) +) +``` + +## Material Assembly Information +Information about what material can be assembled from what other material is captured from the `assembly` relation in the `MaterialClass` and `MaterialDefinition` instances. + +From + +```mermaid +classDiagram + class OpenTopBlackYellowBlue + <> OpenTopBlackYellowBlue + class ChassisBlack + <> ChassisBlack + class CabinYellow + <> CabinYellow + class BodyOpenTopBlue + <> BodyOpenTopBlue + OpenTopBlackYellowBlue --> BodyOpenTopBlue : assembled from + OpenTopBlackYellowBlue --> CabinYellow : assembled from + OpenTopBlackYellowBlue --> ChassisBlack : assembled from +``` + +to + +```pddl +(:init + (MaterialDefinitionAssembly MD_OpenTop-Black-Yellow-Blue MD_Chassis-Black) + (MaterialDefinitionAssembly MD_OpenTop-Black-Yellow-Blue MD_Cabin-Yellow) + (MaterialDefinitionAssembly MD_OpenTop-Black-Yellow-Blue MD_Body-OpenTop-Blue) +) +``` + +Information about the current assembly state are expressed through the assembly relation of the `MaterialLot` relation. This is not only used to express the current state, but also for the formulation of goal statements, es depicted below. The `from` IEC 62264 model is extracted from the [goal description model](../iec62264/CIIRC-Testbed-TASE-Goal-1.iec62264). + +From + +```mermaid +classDiagram + class OpenTopBlackYellowBlue1 + <> OpenTopBlackYellowBlue1 + class ChassisBlack1 + <> ChassisBlack1 + class CabinYellow1 + <> CabinYellow1 + class BodyOpenTopBlue1 + <> BodyOpenTopBlue1 + OpenTopBlackYellowBlue1 --> BodyOpenTopBlue1 : assembled from + OpenTopBlackYellowBlue1 --> CabinYellow1 : assembled from + OpenTopBlackYellowBlue1 --> ChassisBlack1 : assembled from +``` + +to + +```pddl +(:goal + (and + (MaterialLotAssembly ML_OpenTop-Black-Yellow-Blue-1 ML_Body-OpenTop-Blue-1) + (MaterialLotAssembly ML_OpenTop-Black-Yellow-Blue-1 ML_Cabin-Yellow-1) + (MaterialLotAssembly ML_OpenTop-Black-Yellow-Blue-1 ML_Chassis-Black-1) + ) +) +```