I am both using durative actions and trying to be able to clear a predicate over all elements of a certain type. See below. Is this possible? If so, does anyone know the correct syntax? Thanks!
(:durative-action init
:parameters (?r - robot)
:duration ( = ?duration 1)
:condition (and
(at start (robot_uninitialized ?r))
(at start (robot_free ?r))
)
:effect (and
(at start(not(robot_free ?r)))
(at end (assign (robot_on_fastener_number_in_sequence) 1))
(at end (not(robot_uninitialized ?r)))
(at end (robot_free ?r))
(at end (forall (?f - fastener) (not(fastener_selected ?f))))
)
)
I am running the popf planner and the error provided is: Syntax error in timed effect.
The VAL parser indeed shows the Syntax error in timed effect error. I tried to invert the order of at end and forall and it stopped complaining. As popf is using the same parser, it should be happy with that syntax too.
:effect (and
(forall (?f - fastener)
(at end (not (fastener_selected ?f)))
)
)
But in the condition, VAL accepts the syntax in the opposite order:
:condition (and
(at end (forall (?f - fastener)
(fastener_selected ?f))
)
)
Full example: http://editor.planning.domains/#read_session=BCBDpV4YQE