plansys2_support_py.DomainExpertClient module

PlanSys2 Domain Expert Client.

This module provides specific classes for interacting with PlanSys2 services.

class plansys2_support_py.DomainExpertClient.DomainExpertClient(*args: Any, **kwargs: Any)

Bases: Node

Domain Expert client for PlanSys2.

This class provides convenient methods to interact with all Domain Expert services in PlanSys2, wrapping the ROS2 service calls with proper error handling.

get_domain() → str | None

Get the PDDL domain as a string.

Returns

Optional[str]

The PDDL domain string or None if failed.

get_domain_action_details(action_name: str, parameters: List[str] | None = None) → plansys2_msgs.msg.Action | None

Get the details of a specific action.

Parameters

action_namestr

Name of the action.

parametersOptional[List[str]], optional

Optional list of parameters.

Returns

Optional[PlanSys2Action]

Action details or None if failed.

get_domain_actions() → List[str] | None

Get the available actions in the domain.

Returns

Optional[List[str]]

List of action names or None if failed.

get_domain_constants(type_name: str) → List[str] | None

Get the constants of a specific type.

Parameters

type_namestr

The type name to get constants for.

Returns

Optional[List[str]]

List of constants or None if failed.

get_domain_derived_predicate_details(predicate_name: str) → List[plansys2_msgs.msg.Derived] | None

Get the details of a specific derived predicate.

Parameters

predicate_namestr

Name of the derived predicate.

Returns

Optional[List[Derived]]

List of derived predicate details or None if failed.

get_domain_derived_predicates() → List[plansys2_msgs.msg.Node] | None

Get the derived predicates in the domain.

Returns

Optional[List[PlanSys2Node]]

List of derived predicate nodes or None if failed.

get_domain_durative_action_details(action_name: str, parameters: List[str] | None = None) → plansys2_msgs.msg.DurativeAction | None

Get the details of a specific durative action.

Parameters

action_namestr

Name of the durative action.

parametersOptional[List[str]], optional

Optional list of parameters.

Returns

Optional[PlanSys2DurativeAction]

Durative action details or None if failed.

get_domain_durative_actions() → List[str] | None

Get the durative actions in the domain.

Returns

Optional[List[str]]

List of durative action names or None if failed.

get_domain_function_details(function_name: str) → plansys2_msgs.msg.Node | None

Get the details of a specific function.

Parameters

function_namestr

Name of the function.

Returns

Optional[PlanSys2Node]

Function details or None if failed.

get_domain_functions() → List[plansys2_msgs.msg.Node] | None

Get the functions in the domain.

Returns

Optional[List[PlanSys2Node]]

List of function nodes or None if failed.

get_domain_name() → str | None

Get the name of the domain.

Returns

Optional[str]

The domain name or None if failed.

get_domain_predicate_details(predicate_name: str) → plansys2_msgs.msg.Node | None

Get the details of a specific predicate.

Parameters

predicate_namestr

Name of the predicate.

Returns

Optional[PlanSys2Node]

Predicate details or None if failed.

get_domain_predicates() → List[plansys2_msgs.msg.Node] | None

Get the predicates in the domain.

Returns

Optional[List[PlanSys2Node]]

List of predicate nodes or None if failed.

get_domain_types() → List[str] | None

Get the valid types in the domain.

Returns

Optional[List[str]]

List of domain types or None if failed.

print_domain_info() → None

Print comprehensive information about the domain.

Notes

Call multiple services to provide an overview of the domain.