domain and problem updated

launchFile.launch

@@ -98,7 +98,7 @@
 		<param name="action_feedback_topic" value="/rosplan_plan_explainer/action_feedback"/>
 	</node>
 
-	<node name="rosplan_interface_getoffcar" pkg="rosplan_planning_system" type="simulatedAction" respawn="false" output="screen">
+<node name="rosplan_interface_getoffcar" pkg="rosplan_planning_system" type="simulatedAction" respawn="false" output="screen">
 		<param name="knowledge_base" value="rosplan_knowledge_base"/>
 		<param name="pddl_action_name" value="getoffcar"/>
 		<param name="action_duration" value="0.0"/>
@@ -108,4 +108,6 @@
 	</node>
 
 
+
+
 </launch>

supermarket-domain.pddl

@@ -41,7 +41,7 @@
 (at start(on ?i ?a) )
 )
 :effect(and
-(at start(decrease (numberofcarrings) 1)  )
+(at start(decrease (numberofcarrings ?a) 1)  )
 (at start(not (on ?i ?a)) )
 (at end(at ?i ?l))
 )
@@ -76,7 +76,20 @@
 (at end(hasagent ?c))
 (at end(not(hasnotagent ?c)))
 )
+)
 
+(:durative-action getoffcar
+:parameters (?a - agent ?c - car ?l - location)
+:duration(= ?duration 5)
+:condition(and
+(at start(hasagent ?c))
+(over all(at ?c ?l))
+)
+:effect(and
+(at end(at ?a ?l) )
+(at end(hasnotagent ?c))
+(at end(not(hasagent ?c)))
+)
 )
 
 

supermarket-problem.pddl

@@ -1,50 +1,34 @@
 (define (problem simpleProblem)
 (:domain simple-supermarket)
 (:objects
-x1 x2 x3 x0 - location
+x0 x1 x2 x3  - location
 a1  - agent
-i1 i2 i3 i4 i5 i6 i7 i8 i9 - item
+i1 - item
+c1 - car
 
 )
 (:init
 
 (at a1 x0)
-
+(at c1 x0)
 (at i1 x1)
-(at i2 x1)
-(at i3 x1)
-(at i4 x2)
-(at i5 x2)
-(at i6 x2)
-(at i7 x3)
-(at i8 x3)
-(at i9 x3)
+
 
 (haspath x0 x1)
 (haspath x1 x0)
-(haspath x0 x2)
-(haspath x2 x0)
-(haspath x0 x3)
-(haspath x3 x0)
-(haspath x1 x2)
-(haspath x2 x3)
-(haspath x2 x1)
-(haspath x3 x2)
+
+(= (numberofcarrings a1) 0)
+(= (capacity a1) 3)
 
 )
+
 (:goal
 (and
 (at i1 x0)
-(at i2 x0)
-(at i3 x0)
-(at i4 x0)
-(at i5 x0)
-(at i6 x0)
-(at i7 x0)
-(at i8 x0)
-(at i9 x0)
-
-
 )
 )
+
+
+
+
 )