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plan.txt
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plan.txt
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horizon = 1000
plan {
timelines {
RobotMotionController {
token 0 { Still-home [1,1000] [1, 1000] }
token 1 { NavigateTo-farmacy-technical-average [2,984] [1, 984] }
token 2 { Enter-farmacy_hri-interaction-average [4,986] [1, 983] }
token 3 { Approach-farmacy_user-interaction-reliable [6,988] [1, 983] }
token 4 { Leave-farmacy-interaction-average [8,990] [1, 983] }
token 5 { NavigateTo-room2-technical-average [10,992] [1, 983] }
token 6 { Enter-room2_hri-social-average [12,994] [1, 983] }
token 7 { Deliver-room2_user-interaction-fragile [14,996] [1, 983] }
token 8 { Leave-room2-social-average [16,998] [1, 983] }
token 9 { NavigateTo-home-technical-average [18,1000] [1, 983] }
}
RobotBase {
token 10 { At-home [1,983] [1, 983] }
token 11 uncontrollable { _MoveTo-farmacy-technical-average-free [2,984] [1, 30] }
token 12 { At-farmacy [3,985] [1, 983] }
token 13 uncontrollable { _MoveTo-farmacy_hri-interaction-average-in [4,986] [1, 30] }
token 14 { At-farmacy_hri [5,987] [1, 983] }
token 15 uncontrollable { _MoveTo-farmacy_user-interaction-reliable-free [6,988] [1, 30] }
token 16 { At-farmacy_user [7,989] [1, 983] }
token 17 uncontrollable { _MoveTo-farmacy-interaction-average-out [8,990] [1, 30] }
token 18 { At-farmacy [9,991] [1, 983] }
token 19 uncontrollable { _MoveTo-room2-technical-average-free [10,992] [1, 30] }
token 20 { At-room2 [11,993] [1, 983] }
token 21 uncontrollable { _MoveTo-room2_hri-social-average-in [12,994] [1, 30] }
token 22 { At-room2_hri [13,995] [1, 983] }
token 23 uncontrollable { _MoveTo-room2_user-interaction-fragile-free [14,996] [1, 30] }
token 24 { At-room2_user [15,997] [1, 983] }
token 25 uncontrollable { _MoveTo-room2-social-average-out [16,998] [1, 30] }
token 26 { At-room2 [17,999] [1, 983] }
token 27 uncontrollable { _MoveTo-home-technical-average-free [18,1000] [1, 30] }
}
RobotService {
token 28 { Idle [1,1000] [1, 1000] }
token 29 { DeliverDrug-room2-room2_hri-room2_user [18,1000] [17, 1000] }
}
RobotSkill {
token 30 { Idle [1,1000] [1, 1000] }
token 31 { PickDrug-farmacy-farmacy_hri-farmacy_user [8,990] [7, 990] }
token 32 { DeliverDrug-room2-room2_hri-room2_user [16,998] [7, 989] }
token 33 { GoHome [18,1000] [1, 983] }
}
}
relations {
RobotBase 17 meets RobotBase 18
RobotBase 18 meets RobotBase 19
RobotMotionController 5 contains [0,1000] [0,1000] RobotBase 19
RobotBase 19 meets RobotBase 20
RobotSkill 31 before [1,1000] RobotSkill 32
RobotSkill 32 before [1,1000] RobotSkill 33
RobotBase 20 meets RobotBase 21
RobotService 29 contains [0,1000] [0,1000] RobotSkill 31
RobotMotionController 2 contains [0,1000] [0,1000] RobotBase 13
RobotService 29 contains [0,1000] [0,1000] RobotSkill 32
RobotService 29 contains [0,1000] [0,1000] RobotSkill 33
RobotSkill 33 contains [0,1000] [0,1000] RobotMotionController 9
RobotBase 21 meets RobotBase 22
RobotBase 22 meets RobotBase 23
RobotMotionController 3 contains [0,1000] [0,1000] RobotBase 15
RobotBase 23 meets RobotBase 24
RobotBase 24 meets RobotBase 25
RobotBase 25 meets RobotBase 26
RobotMotionController 4 contains [0,1000] [0,1000] RobotBase 17
RobotBase 26 meets RobotBase 27
RobotBase 10 meets RobotBase 11
RobotMotionController 1 contains [0,1000] [0,1000] RobotBase 11
RobotSkill 32 contains [0,1000] [0,1000] RobotMotionController 5
RobotSkill 32 contains [0,1000] [0,1000] RobotMotionController 6
RobotSkill 32 contains [0,1000] [0,1000] RobotMotionController 7
RobotMotionController 9 contains [0,1000] [0,1000] RobotBase 27
RobotSkill 32 contains [0,1000] [0,1000] RobotMotionController 8
RobotMotionController 5 before [1,1000] RobotMotionController 6
RobotBase 10 before [0,1000] RobotBase 15
RobotBase 10 before [0,1000] RobotBase 13
RobotBase 10 before [0,1000] RobotBase 11
RobotMotionController 6 before [1,1000] RobotMotionController 7
RobotMotionController 7 before [1,1000] RobotMotionController 8
RobotSkill 31 contains [0,1000] [0,1000] RobotMotionController 1
RobotSkill 31 contains [0,1000] [0,1000] RobotMotionController 2
RobotSkill 31 contains [0,1000] [0,1000] RobotMotionController 3
RobotSkill 31 contains [0,1000] [0,1000] RobotMotionController 4
RobotMotionController 1 before [1,1000] RobotMotionController 2
RobotMotionController 2 before [1,1000] RobotMotionController 3
RobotMotionController 3 before [1,1000] RobotMotionController 4
RobotBase 11 meets RobotBase 12
RobotBase 12 meets RobotBase 13
RobotMotionController 7 contains [0,1000] [0,1000] RobotBase 23
RobotBase 13 meets RobotBase 14
RobotBase 14 meets RobotBase 15
RobotMotionController 8 contains [0,1000] [0,1000] RobotBase 25
RobotBase 15 meets RobotBase 16
RobotBase 16 meets RobotBase 17
RobotMotionController 6 contains [0,1000] [0,1000] RobotBase 21
}
}