example_def.yaml

atomic_actions:
  approach:
    predicate: "(g: Gripper, o: TargetObject)"  # declaration of function "signature" with 'param_name: param_type' argument definitions
    evaluation: euclidean_distance(g, o)  # function to evaluate progress (reward)
    init: "!near(g, o)" # 'not near' - initial condition (precondition)
    # if a variable is used, it is expected to exist; e.g., 'near(g, o)' implies also 'exists(o) & exists(g)'
    goal: near(g, o) # 'g' is close to (dist under some threshold) 'o'
  grasp:
    predicate: "(g: Gripper, o: TargetObject)"
    evaluation: euclidean_distance(g, o)
    init: "!holding(g, o)" # not holding
    goal: holding(g, o) # 'g' is holding 'o'
  drop:
    predicate: "(g: Gripper, o: TargetObject)"
    evaluation: euclidean_distance(g, o)
    init: holding(g, o)
    goal: "!holding(g, o)"
  move:
    predicate: "(o: TargetObject, t: TargetLocation)"
    evaluation: euclidean_distance(o, t)
    init: "!at(o, t)" # not at
    goal: at(o, t) # 'o' is at location 't'
tasks:
  point:
    formula: reach(g, o1) -> leave(g, o1)
  lift:
    formula: reach(g, o1) -> [grasp(g, o1) & move(o1, t)]
    comment: "A -> B == execute B after A (or execute A then B)"
  push:
    formula: reach(g, o1) & move(o1, t)
    comment: "& == logical and; uses 'lazy' evaluation => reach must be satisfied first, then move is performed"
  pick_n_place:
    formula: reach(g, o1) -> [grasp(g, o1) & move(o1, t)] -> release(g, o1)
  pick_n_rotate:
    formula: reach(g, o1) -> [grasp(g, o1) & rotate(o1, t)] -> release(g, o1)
  poke:
    comment:
      - what does "reach + reach mean?" How to reach more? Maybe "touch" is missing from the elementary actions?
      - or how to deal with "short move"