doc(tamp): fix title levels that were missing with displayed document…

…ation
aiplan4eu · Dec 15, 2023 · 23b7cf5 · 23b7cf5
1 parent c8e03af
commit 23b7cf5
Showing 1 changed file with 13 additions and 13 deletions.
diff --git a/docs/notebooks/14-task-and-motion-planning.ipynb b/docs/notebooks/14-task-and-motion-planning.ipynb
@@ -54,7 +54,7 @@
     "id": "JskjdsH-UFGf"
    },
    "source": [
-    "# Creating Movable Robot\n",
+    "## Creating Movable Robot\n",
     "\n",
     "We declare a type for robots using the `MovableType`."
    ]
@@ -76,7 +76,7 @@
     "id": "x7IxmDuPUggo"
    },
    "source": [
-    "# Using a Map\n",
+    "## Using a Map\n",
     "\n",
     "Next we add an occupancy map by using a reference to a YAML file in the format used by the Robot Operating System (ROS). See http://wiki.ros.org/map_server.\n"
    ]
@@ -98,7 +98,7 @@
     "id": "NGTBaSbNU9df"
    },
    "source": [
-    "# Adding Configration Types\n",
+    "## Adding Configuration Types\n",
     "\n",
     "A configuration specifies a location and orientation in our map. The last value is the number of dimensions of a configuration (here we have three for X, Y coordnates and angle)."
    ]
@@ -120,7 +120,7 @@
     "id": "WzKtAX8ZVVSh"
    },
    "source": [
-    "# Adding Fluents\n",
+    "## Adding Fluents\n",
     "\n",
     "Fluents are added as ususal, but we use our previously added `ConfigurationType` in place of a regular location."
    ]
@@ -146,7 +146,7 @@
     "id": "w2Ir9L0XVtQz"
    },
    "source": [
-    "# Creating Configuration Objects\n",
+    "## Creating Configuration Objects\n",
     "\n",
     "Configuration objects combine a symbolic name like `parkin-1` with a pose. Each pose is a tuple with the number of elements specified by the configuration type (so three in this case)."
    ]
@@ -178,7 +178,7 @@
     "id": "fcJPXKbGWZor"
    },
    "source": [
-    "# Adding Movable Objects\n",
+    "## Adding Movable Objects\n",
     "\n",
     "Motion planning requires objects that can move in our map. For this purpose we add two MovableObject instances for our robots names `r1` and `r2`.\n",
     "\n",
@@ -216,7 +216,7 @@
     "id": "raMc5ephX6Sl"
    },
    "source": [
-    "# Some Additional Objects\n",
+    "## Some Additional Objects\n",
     "\n",
     "Creating some parcels in the regular Unified Planning style."
    ]
@@ -240,11 +240,11 @@
     "id": "eQCtIejKYUd1"
    },
    "source": [
-    "# Operators\n",
+    "## Operators\n",
     "\n",
     "Now we can create operators that can use motion constraints.\n",
     "\n",
-    "## Move\n",
+    "### Move\n",
     "\n",
     "The move operators has a motion constraint that requires the robot to move from its current configuration to the goal configuration. Apart from the last line that adds this constraints and the type `InstantaneousMotionAction`, this looks just like classical planning operators defined in Unified Planning."
    ]
@@ -275,7 +275,7 @@
     "id": "o7OJ7t5zZBDT"
    },
    "source": [
-    "## Pick\n",
+    "### Pick\n",
     "\n",
     "Robots can pick parcels at their current location if they carry nothing. This operator does not use a motion planning constraint."
    ]
@@ -309,7 +309,7 @@
     "id": "_gfOmdfnZTkI"
    },
    "source": [
-    "## Place\n",
+    "### Place\n",
     "\n",
     "Robots can place objects they carry at their current location. Again, no special motion planning constraint is used."
    ]
@@ -403,7 +403,7 @@
     "id": "gYQm4A8RZ-n6"
    },
    "source": [
-    "# Solve the Problem and Show the Result\n",
+    "## Solve the Problem and Show the Result\n",
     "\n",
     "Now we can solve the problem and print the result. If a path exists, we plot it.\n",
     "\n",
@@ -488,7 +488,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "# Plotting the Solution\n",
+    "## Plotting the Solution\n",
     "\n",
     "Assuming there is a solution, we can use the `plot_path` function to inspect it:"
    ]