[Q&A] Could 'forall' be used in goals?

[dgerod]

I would like to define a goal using 'forall', see below. I have created domain and problem PDDL files to be used with Contingent-FF planner, and it solves the problem correctly when I call it from the terminal.

(:goal (forall (?o - object)
            (and (object-at ?o box1))
))

So, my question is how I have to pass this type of goal to the knowledge base?

Thanks in advance.

[m312z]

Currently the Knowledge Base interface does not support forall goals. It is possible to send this goal as a conjunction; e.g.

(:goal (and
  (obbject-at obj1 box1)
  (obbject-at obj2 box2)

By first fetching the object instances and then using a single KnowledgeUpdateServiceArray.

A more elegant solution goes onto the development list...

[dgerod]

OK, thanks for your answer.

[dr-steveb]

Any future plans to implement forall or when?