PDDL无法编译

Question

试图解决让机器人清洁瓷砖的PDDL问题，但据我所知，我被困在我所做的错误的事情上，我只有向上和向下的移动动作和清理动作，但它仍然不能编译。它只是给我一个错误，告诉我无法解析域文件。

这是域名：

(define (domain floor-tile)

    (:requirements :typing)

    ;; We have two types: robots and the tiles, both are objects
    (:types robot tile - object)

    ;; define all the predicates as they are used in the probem files
    (:predicates  

    ;; described what tile a robot is at
    (robot-at ?r - robot ?x - tile)

    ;; indicates that tile ?x is above tile ?y
    (up ?x - tile ?y - tile)

    ;; indicates that tile ?x is below tile ?y
    (down ?x - tile ?y - tile)

    ;; indicates that tile ?x is right of tile ?y
    (right ?x - tile ?y - tile)

    ;; indicates that tile ?x is left of tile ?y
    (left ?x - tile ?y - tile)

    ;; indicates that a tile is clear (robot can move there)
    (clear ?x - tile)

    ;; indicates that a tile is cleaned
    (cleaned ?x - tile)
    )




(:action clean-up

  :parameters (?r - robot ?x - tile ?y - tile )
  :precondition (and (up ?y ?x) (robot-at ?r ?x) (clear ?y))
  :effect (and (not (clear ?y))  (cleaned ?y) 
                 
)


 (:action clean-down

  :parameters (?r - robot?x - tile ?y - tile)
  :precondition (and (down ?y ?x) (robot-at ?r ?x) (clear ?y))
  :effect (and (not (clear ?y))  (cleaned ?y) 
                
)


 
(:action up 
    :parameters (?r - robot?x - tile ?y - tile)
    :precondition (and (up ?y ?x) (robot-at ?r ?x) (clear ?y))
    :effect (and (robot-at ?r ?y) (not(robot-at ?r ?x))) 
)


(:action down 
     :parameters (?r - robot?x - tile ?y - tile)
     :precondition (and (down ?y ?x) (robot-at ?r ?x)(clear ?y))
     :effect (and (robot-at ?r ?y) 
            (not(robot-at ?r ?x))) 
)

(:action right 
     :parameters (?r - robot?x - tile ?y - tile)
     :precondition (and (right ?y ?x) (robot-at ?r ?x) (clear ?y))
     :effect (and (robot-at ?r ?y) 
            (not(robot-at ?r ?x)))    
)

(:action left 
     :parameters (?r - robot?x - tile ?y - tile)
     :precondition (and (left ?y ?x) (robot-at ?r ?x) (clear ?y))
     :effect (and (robot-at ?r ?y ) 
            (not(robot-at ?r ?x)))
)
)

以下是问题所在：

(define (problem prob001)
 (:domain floor-tile)
 (:objects tile_0-1 tile_0-2  
           tile_1-1 tile_1-2  
           tile_2-1 tile_2-2  - tile
           robot1 - robot
)
 (:init 
   (robot-at robot1 tile_1-1)
   (clear tile_0-1)
   (clear tile_0-2)
   (clear tile_1-2)
   (clear tile_2-1)
   (clear tile_2-2)
   (up tile_1-1 tile_0-1)
   (up tile_1-2 tile_0-2)
   (up tile_2-1 tile_1-1)
   (up tile_2-2 tile_1-2)
   (down tile_0-1 tile_1-1)
   (down tile_0-2 tile_1-2)
   (down tile_1-1 tile_2-1)
   (down tile_1-2 tile_2-2)
   (right tile_0-2 tile_0-1)
   (right tile_1-2 tile_1-1)
   (right tile_2-2 tile_2-1)
   (left tile_0-1 tile_0-2)
   (left tile_1-1 tile_1-2)
   (left tile_2-1 tile_2-2)
)
 (:goal (and
    (cleaned tile_0-1)
    (cleaned tile_0-2)
    (cleaned tile_1-1)
    (cleaned tile_2-2)
))

)

Answer 1

clean-up和clean-down的:effect上都缺少括号。在添加了这些括号之后，online editor的求解器表明虽然不能达到目标，但至少可以进行解析。