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warehouse_domain.ttl
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warehouse_domain.ttl
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#
# Copyright 2017-2018 Ericsson AB
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix oslc: <http://open-services.net/ns/core#> .
@prefix sh: <http://www.w3.org/ns/shacl#> .
@prefix pddl: <http://ontology.cf.ericsson.net/pddl/> .
@prefix : <http://ontology.cf.ericsson.net/warehouse/> .
:warehouse-domain
a pddl:Domain ;
oslc:instanceShape pddl:DomainShape ;
rdfs:label "warehouse-domain" ;
pddl:type :Robot ,
:Place ,
:Waypoint ,
:Object ,
:ObjType ,
:Charge ;
pddl:predicate :is-at ,
:situated-at ,
:is-on ,
:is-origin-on ,
:is-type ,
:carrying ,
:can-move ,
:is-recharging ,
:is-charging-station ;
pddl:function :capacity ,
:charge-level ,
:max-charge ,
:low-charge ,
:high-charge ;
pddl:action :moveToWaypoint ,
:pickupAtPlace ,
:dropAtPlace ,
:startRecharge ,
:stopRecharge .
:Robot
a rdfs:Class ;
rdfs:subClassOf pddl:PrimitiveType ;
oslc:instanceShape pddl:PrimitiveTypeShape ;
rdfs:label "Robot" .
:Place
a rdfs:Class ;
rdfs:subClassOf pddl:PrimitiveType ;
oslc:instanceShape pddl:PrimitiveTypeShape ;
rdfs:label "Place" .
:Waypoint
a rdfs:Class ;
rdfs:subClassOf pddl:PrimitiveType ;
oslc:instanceShape pddl:PrimitiveTypeShape ;
rdfs:label "Waypoint" .
:Object
a rdfs:Class ;
rdfs:subClassOf pddl:PrimitiveType ;
oslc:instanceShape pddl:PrimitiveTypeShape ;
rdfs:label "Object" .
:ObjType
a rdfs:Class ;
rdfs:subClassOf pddl:PrimitiveType ;
oslc:instanceShape pddl:PrimitiveTypeShape ;
rdfs:label "ObjType" .
:Charge
a rdfs:Class ;
rdfs:subClassOf pddl:PrimitiveType ;
oslc:instanceShape pddl:PrimitiveTypeShape ;
rdfs:label "Charge" .
:is-at
a rdfs:Class ;
rdfs:subClassOf pddl:Predicate ;
oslc:instanceShape pddl:PredicateShape ;
rdfs:label "is-at" ;
pddl:parameter :is-at-x ,
:is-at-y .
:is-at-x
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "x" ;
pddl:type :Robot ;
sh:order 1 .
:is-at-y
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "y" ;
pddl:type :Waypoint ;
sh:order 2 .
:situated-at
a rdfs:Class ;
rdfs:subClassOf pddl:Predicate ;
oslc:instanceShape pddl:PredicateShape ;
rdfs:label "situated-at" ;
pddl:parameter :situated-at-x ,
:situated-at-y .
:situated-at-x
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "x" ;
pddl:type :Place ;
sh:order 1 .
:situated-at-y
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "y" ;
pddl:type :Waypoint ;
sh:order 2 .
:is-on
a rdfs:Class ;
rdfs:subClassOf pddl:Predicate ;
oslc:instanceShape pddl:PredicateShape ;
rdfs:label "is-on" ;
pddl:parameter :is-on-x ,
:is-on-y .
:is-on-x
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "x" ;
pddl:type :Object ;
sh:order 1 .
:is-on-y
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "y" ;
pddl:type :Place ;
sh:order 2 .
:is-origin-on
a rdfs:Class ;
rdfs:subClassOf pddl:Predicate ;
oslc:instanceShape pddl:PredicateShape ;
rdfs:label "is-origin-on" ;
pddl:parameter :is-origin-on-x ,
:is-origin-on-y .
:is-origin-on-x
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "x" ;
pddl:type :Object ;
sh:order 1 .
:is-origin-on-y
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "y" ;
pddl:type :Place ;
sh:order 2 .
:is-type
a rdfs:Class ;
rdfs:subClassOf pddl:Predicate ;
oslc:instanceShape pddl:PredicateShape ;
rdfs:label "is-type" ;
pddl:parameter :is-type-x ,
:is-type-y .
:is-type-x
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "x" ;
pddl:type :Object ;
sh:order 1 .
:is-type-y
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "y" ;
pddl:type :ObjType ;
sh:order 2 .
:carrying
a rdfs:Class ;
rdfs:subClassOf pddl:Predicate ;
oslc:instanceShape pddl:PredicateShape ;
rdfs:label "carrying" ;
pddl:parameter :carrying-x ,
:carrying-y .
:carrying-x
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "x" ;
pddl:type :Robot ;
sh:order 1 .
:carrying-y
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "y" ;
pddl:type :Object ;
sh:order 2 .
:can-move
a rdfs:Class ;
rdfs:subClassOf pddl:Predicate ;
oslc:instanceShape pddl:PredicateShape ;
rdfs:label "can-move" ;
pddl:parameter :can-move-x ,
:can-move-y .
:can-move-x
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "x" ;
pddl:type :Waypoint ;
sh:order 1 .
:can-move-y
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "y" ;
pddl:type :Waypoint ;
sh:order 2 .
:is-recharging
a rdfs:Class ;
rdfs:subClassOf pddl:Predicate ;
oslc:instanceShape pddl:PredicateShape ;
rdfs:label "is-recharging" ;
pddl:parameter :is-recharging-x .
:is-recharging-x
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "x" ;
pddl:type :Robot ;
sh:order 1 .
:is-charging-station
a rdfs:Class ;
rdfs:subClassOf pddl:Predicate ;
oslc:instanceShape pddl:PredicateShape ;
rdfs:label "is-charging-station" ;
pddl:parameter :is-charging-station-x .
:is-charging-station-x
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "x" ;
pddl:type :Place ;
sh:order 1 .
:capacity
a rdfs:Class ;
rdfs:subClassOf pddl:Function ;
oslc:instanceShape pddl:FunctionShape ;
rdfs:label "capacity" ;
pddl:parameter :capacity-x .
:capacity-x
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "x" ;
pddl:type :Robot ;
sh:order 1 .
:charge-level
a rdfs:Class ;
rdfs:subClassOf pddl:Function ;
oslc:instanceShape pddl:FunctionShape ;
rdfs:label "charge-level" ;
pddl:parameter :charge-level-x .
:charge-level-x
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "x" ;
pddl:type :Robot ;
sh:order 1 .
:max-charge
a rdfs:Class ;
rdfs:subClassOf pddl:Function ;
oslc:instanceShape pddl:FunctionShape ;
rdfs:label "max-charge" ;
pddl:parameter :max-charge-x .
:max-charge-x
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "x" ;
pddl:type :Robot ;
sh:order 1 .
:low-charge
a rdfs:Class ;
rdfs:subClassOf pddl:Function ;
oslc:instanceShape pddl:FunctionShape ;
rdfs:label "low-charge" ;
pddl:parameter :low-charge-x .
:low-charge-x
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "x" ;
pddl:type :Robot ;
sh:order 1 .
:high-charge
a rdfs:Class ;
rdfs:subClassOf pddl:Function ;
oslc:instanceShape pddl:FunctionShape ;
rdfs:label "high-charge" ;
pddl:parameter :high-charge-x .
:high-charge-x
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "x" ;
pddl:type :Robot ;
sh:order 1 .
:moveToWaypoint
a rdfs:Class ;
rdfs:subClassOf pddl:Action ;
oslc:instanceShape pddl:ActionShape ;
rdfs:label "moveToWaypoint" ;
pddl:parameter :moveToWaypoint-r ,
:moveToWaypoint-x ,
:moveToWaypoint-y ;
pddl:precondition [ a pddl:And ;
pddl:argument [ a :is-at ;
:is-at-x :moveToWaypoint-r ;
:is-at-y :moveToWaypoint-x
] ,
[ a :can-move ;
:can-move-x :moveToWaypoint-x ;
:can-move-y :moveToWaypoint-y
] ,
[ a pddl:Not ;
pddl:argument [ a :is-recharging ;
:is-recharging-x :moveToWaypoint-r
]
],
[ a pddl:GT ;
pddl:left [ a :charge-level ;
:charge-level-x :moveToWaypoint-r
];
pddl:right [ a :low-charge ;
:low-charge-x :moveToWaypoint-r
]
]
] ;
pddl:effect [ a pddl:And ;
pddl:argument [ a :is-at ;
:is-at-x :moveToWaypoint-r ;
:is-at-y :moveToWaypoint-y
] ,
[ a pddl:Not ;
pddl:argument [ a :is-at ;
:is-at-x :moveToWaypoint-r ;
:is-at-y :moveToWaypoint-x
]
] ,
[ a pddl:Decrease ;
pddl:parameter [ a :charge-level ;
:charge-level-x :moveToWaypoint-r
] ;
pddl:argument 2
]
] .
:moveToWaypoint-r
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "robot" ;
pddl:type :Robot ;
sh:order 1 .
:moveToWaypoint-x
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "from-waypoint" ;
pddl:type :Waypoint ;
sh:order 2 .
:moveToWaypoint-y
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "to-waypoint" ;
pddl:type :Waypoint ;
sh:order 3 .
:pickupAtPlace
a rdfs:Class ;
rdfs:subClassOf pddl:Action ;
oslc:instanceShape pddl:ActionShape ;
rdfs:label "pickupAtPlace" ;
pddl:parameter :pickupAtPlace-r ,
:pickupAtPlace-o ,
:pickupAtPlace-p ,
:pickupAtPlace-w ;
pddl:precondition [ a pddl:And ;
pddl:argument [ a :is-at ;
:is-at-x :pickupAtPlace-r ;
:is-at-y :pickupAtPlace-w
] ,
[ a :situated-at ;
:situated-at-x :pickupAtPlace-p ;
:situated-at-y :pickupAtPlace-w
] ,
[ a :is-on ;
:is-on-x :pickupAtPlace-o ;
:is-on-y :pickupAtPlace-p
] ,
[ a pddl:Not ;
pddl:argument [ a :is-recharging ;
:is-recharging-x :pickupAtPlace-r
]
] ,
[ a pddl:GT ;
pddl:left [ a :capacity ;
:capacity-x :pickupAtPlace-r
];
pddl:right 0
]
] ;
pddl:effect [ a pddl:And ;
pddl:argument [ a pddl:Not ;
pddl:argument [ a :is-on ;
:is-on-x :pickupAtPlace-o ;
:is-on-y :pickupAtPlace-p
]
] ,
[ a :carrying ;
:carrying-x :pickupAtPlace-r ;
:carrying-y :pickupAtPlace-o
] ,
[ a pddl:Decrease ;
pddl:parameter [ a :capacity ;
:capacity-x :pickupAtPlace-r
] ;
pddl:argument 1
] ,
[ a pddl:Decrease ;
pddl:parameter [ a :charge-level ;
:charge-level-x :pickupAtPlace-r
] ;
pddl:argument 1
]
] .
:pickupAtPlace-r
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "robot" ;
pddl:type :Robot ;
sh:order 1 .
:pickupAtPlace-o
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "object" ;
pddl:type :Object ;
sh:order 2 .
:pickupAtPlace-p
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "place" ;
pddl:type :Place ;
sh:order 3 .
:pickupAtPlace-w
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "waypoint" ;
pddl:type :Waypoint ;
sh:order 4 .
:dropAtPlace
a rdfs:Class ;
rdfs:subClassOf pddl:Action ;
oslc:instanceShape pddl:ActionShape ;
rdfs:label "dropAtPlace" ;
pddl:parameter :dropAtPlace-r ,
:dropAtPlace-o ,
:dropAtPlace-p ,
:dropAtPlace-w ;
pddl:precondition [ a pddl:And ;
pddl:argument [ a :is-at ;
:is-at-x :dropAtPlace-r ;
:is-at-y :dropAtPlace-w
] ,
[ a :situated-at ;
:situated-at-x :dropAtPlace-p ;
:situated-at-y :dropAtPlace-w
] ,
[ a :carrying ;
:carrying-x :dropAtPlace-r ;
:carrying-y :dropAtPlace-o
] ,
[ a pddl:Not ;
pddl:argument [ a :is-recharging ;
:is-recharging-x :dropAtPlace-r
]
]
] ;
pddl:effect [ a pddl:And ;
pddl:argument [ a pddl:Not ;
pddl:argument [ a :carrying ;
:carrying-x :dropAtPlace-r ;
:carrying-y :dropAtPlace-o
]
] ,
[ a :is-on ;
:is-on-x :dropAtPlace-o ;
:is-on-y :dropAtPlace-p
] ,
[ a pddl:Increase ;
pddl:parameter [ a :capacity ;
:capacity-x :dropAtPlace-r
] ;
pddl:argument 1
] ,
[ a pddl:Decrease ;
pddl:parameter [ a :charge-level ;
:charge-level-x :dropAtPlace-r
] ;
pddl:argument 1
]
] .
:dropAtPlace-r
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "robot" ;
pddl:type :Robot ;
sh:order 1 .
:dropAtPlace-o
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "object" ;
pddl:type :Object ;
sh:order 2 .
:dropAtPlace-p
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "place" ;
pddl:type :Place ;
sh:order 3 .
:dropAtPlace-w
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "waypoint" ;
pddl:type :Waypoint ;
sh:order 4 .
:startRecharge
a rdfs:Class ;
rdfs:subClassOf pddl:Action ;
oslc:instanceShape pddl:ActionShape ;
rdfs:label "startRecharge" ;
pddl:parameter :startRecharge-r ,
:startRecharge-p ,
:startRecharge-w ;
pddl:precondition [ a pddl:And ;
pddl:argument [ a :is-at ;
:is-at-x :startRecharge-r ;
:is-at-y :startRecharge-w
] ,
[ a :situated-at ;
:situated-at-x :startRecharge-p ;
:situated-at-y :startRecharge-w
] ,
[ a :is-charging-station ;
:is-charging-station-x :startRecharge-p
] ,
[ a pddl:LT ;
pddl:left [ a :charge-level;
:charge-level-x :startRecharge-r
];
pddl:right [ a :max-charge;
:max-charge-x :startRecharge-r
]
]
] ;
pddl:effect [ a pddl:And ;
pddl:argument [ a :is-recharging ;
:is-recharging-x :startRecharge-r
] ,
[ a pddl:Increase ;
pddl:parameter [ a :charge-level ;
:charge-level-x :startRecharge-r
] ;
pddl:argument 1
]
] .
:startRecharge-r
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "robot" ;
pddl:type :Robot ;
sh:order 1 .
:startRecharge-p
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "place" ;
pddl:type :Place ;
sh:order 2 .
:startRecharge-w
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "waypoint" ;
pddl:type :Waypoint ;
sh:order 3 .
:stopRecharge
a rdfs:Class ;
rdfs:subClassOf pddl:Action ;
oslc:instanceShape pddl:ActionShape ;
rdfs:label "stopRecharge" ;
pddl:parameter :stopRecharge-r ,
:stopRecharge-p ,
:stopRecharge-w ;
pddl:precondition [ a pddl:And ;
pddl:argument [ a :is-at ;
:is-at-x :stopRecharge-r ;
:is-at-y :stopRecharge-w
] ,
[ a :situated-at ;
:situated-at-x :stopRecharge-p ;
:situated-at-y :stopRecharge-w
] ,
[ a :is-recharging ;
:is-recharging-x :stopRecharge-r
] ,
[ a pddl:GT ;
pddl:left [ a :charge-level ;
:charge-level-x :stopRecharge-r
];
pddl:right [ a :high-charge ;
:high-charge-x :stopRecharge-r
]
]
] ;
pddl:effect [ a pddl:Not ;
pddl:argument [ a :is-recharging ;
:is-recharging-x :stopRecharge-r
]
] .
:stopRecharge-r
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "robot" ;
pddl:type :Robot ;
sh:order 1 .
:stopRecharge-p
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "place" ;
pddl:type :Place ;
sh:order 2 .
:stopRecharge-w
a pddl:Parameter ;
oslc:instanceShape pddl:ParameterShape ;
rdfs:label "waypoint" ;
pddl:type :Waypoint ;
sh:order 3 .