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name: skill-111 description: "Utility for generating trajectories in PDDL domains through a set of actions and state transitions, focusing on robot navigation and control in dynamic environments." license: Proprietary. LICENSE.txt has complete terms

Requirements for Outputs

General Guidelines

PDDL Files

• Domain files must define actions that manipulate spatial states.
• Problem files should specify start and goal states clearly.
• Trajectories must adhere to sequential action constraints.

Planner Behavior

• Trajectory generation must complete within specified time.
• If no trajectory exists, return an empty trajectory or failure flag.

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PDDL Trajectory Planner

1. Load Domain and Problem

load-trajectory-problem(domain_path, problem_path)

Description:
Loads a PDDL domain and problem file specific to trajectory planning, creating a planning problem instance.

Parameters:

• domain_path (str): Path to the PDDL domain file.
• problem_path (str): Path to the PDDL problem file.

Returns:

• trajectory_problem: A trajectory planning problem object.

Example:

trajectory_problem = load_trajectory_problem("domain.pddl", "navigation_task.pddl")

Notes:

• Uses unified_planning.io.PDDLReader.
• Throws an error if parsing is unsuccessful.

2. Generate Trajectory

generate-trajectory(trajectory_problem)

Description: Generates a series of actions (trajectory) for the specified planning problem.

Parameters:

• trajectory_problem: A trajectory planning problem instance.

Returns:

• trajectory: A list of sequential actions representing the trajectory.

Example:

trajectory = generate_trajectory(trajectory_problem)

Notes:

• Utilizes unified_planning.shortcuts.TrajectoryPlanner.
• If no trajectory can be formed, it returns None.

3. Save Trajectory

save-trajectory(trajectory, output_path)

Description: Writes a trajectory to a file in a defined format suitable for future use.

Parameters:

• trajectory: A list of actions representing the trajectory.
• output_path (str): Path where the trajectory will be saved.

Example:

save_trajectory(trajectory, "navigation_solution.trajectory")

Notes:

• Utilizes a custom file writer for trajectory formats.
• Output is a structured text file.

4. Validate Trajectory

validate-trajectory(trajectory_problem, trajectory)

Description: Validates that the generated trajectory meets the constraints and goals defined in the given problem.

Parameters:

• trajectory_problem: The trajectory planning problem.
• trajectory: The generated trajectory.

Returns:

• bool: True if trajectory is valid, False otherwise.

Example:

is_valid = validate_trajectory(trajectory_problem, trajectory)

Notes:

• Uses unified_planning.shortcuts.TrajectoryValidator.
• Checks action feasibility and goal reachability.

Example Workflow

# Load the problem
trajectory_problem = load_trajectory_problem("domain.pddl", "navigation_task.pddl")

# Generate trajectory
trajectory = generate_trajectory(trajectory_problem)

# Validate trajectory
if not validate_trajectory(trajectory_problem, trajectory):
    raise ValueError("Generated trajectory is invalid")

# Save trajectory
save_trajectory(trajectory, "navigation_solution.trajectory")

Notes

• This skill set is designed for effective trajectory planning in dynamic environments.
• Suitable for research in robot navigation and path optimization.