101 lines
3.0 KiB
Plaintext
101 lines
3.0 KiB
Plaintext
|
;; PARC's modular printer domain
|
||
|
|
;; compiled into PDDL by Rong Zhou
|
||
|
|
;; To report a problem, send email to rzhou@parc.com
|
||
|
|
;; Papers:
|
||
|
|
;; 1. Planning for Modular Printers: Beyond Productivity
|
||
|
|
;; Minh B. Do, Wheeler Ruml, and Rong Zhou. ICAPS'08
|
||
|
|
;; 2. On-line Planning and Scheduling: An Application to Controlling Modular Printers
|
||
|
|
;; Minh B. Do, Wheeler Ruml, and Rong Zhou. AAAI'08
|
||
|
|
;; 3. On-line Planning and Scheduling for High-speed Manufacturing
|
||
|
|
;; Wheeler Ruml, Minh B. Do, and Markus P.J. Fromherz. ICAPS'05
|
||
|
|
(define (domain upp)
|
||
|
|
(:requirements :typing :durative-actions)
|
||
|
|
(:types size_t location_t side_t color_t image_t timepoint_t resource_t action_t sheet_t)
|
||
|
|
(:constants
|
||
|
|
Letter - size_t
|
||
|
|
|
||
|
|
Black
|
||
|
|
Color - color_t
|
||
|
|
|
||
|
|
Front
|
||
|
|
Back - side_t
|
||
|
|
|
||
|
|
Some_Feeder_Tray
|
||
|
|
Some_Finisher_Tray
|
||
|
|
EndCap_Entry-BlackContainer_Exit
|
||
|
|
HtmOverBlack_Entry-EndCap_Exit
|
||
|
|
HtmOverBlack_Exit-Down_TopEntry
|
||
|
|
ColorContainer_Entry-Down_BottomExit
|
||
|
|
ColorContainer_ExitToIME-ColorPrinter_Entry
|
||
|
|
ColorPrinter_Exit-ColorContainer_EntryFromIME
|
||
|
|
ColorContainer_Exit-Up_BottomEntry
|
||
|
|
Down_BottomEntry-ColorFeeder_Exit
|
||
|
|
BlackContainer_Entry-BlackFeeder_Exit
|
||
|
|
Down_TopExit-HtmOverColor_Entry
|
||
|
|
HtmOverColor_Exit-Up_TopEntry
|
||
|
|
BlackContainer_ExitToIME-BlackPrinter_Entry
|
||
|
|
BlackPrinter_Exit-BlackContainer_EntryFromIME
|
||
|
|
Finisher1_Entry-Up_TopExit
|
||
|
|
Finisher2_Entry-Finisher1_Exit
|
||
|
|
Finisher1_Tray
|
||
|
|
Finisher2_Exit
|
||
|
|
Finisher2_Tray - location_t
|
||
|
|
|
||
|
|
ColorContainer-ToIME-Letter-T0
|
||
|
|
ColorPrinter-Simplex-Letter-T0
|
||
|
|
ColorPrinter-SimplexMono-Letter-T0
|
||
|
|
ColorFeeder-Feed-Letter-T0
|
||
|
|
BlackFeeder-Feed-Letter-T0
|
||
|
|
Down-MoveBottom-Letter-T1
|
||
|
|
Down-MoveDown-Letter-T1
|
||
|
|
BlackPrinter-Simplex-Letter-T0
|
||
|
|
BlackPrinter-SimplexAndInvert-Letter-T0
|
||
|
|
Up-MoveTop-Letter-T1
|
||
|
|
Up-MoveUp-Letter-T1
|
||
|
|
Finisher1-Stack-Letter-T0
|
||
|
|
Finisher2-Stack-Letter-T0 - timepoint_t
|
||
|
|
|
||
|
|
ColorContainer_Roller-RSRC
|
||
|
|
ColorPrinter_Drum-RSRC
|
||
|
|
ColorFeeder_ExitNip-RSRC
|
||
|
|
BlackFeeder_ExitNip-RSRC
|
||
|
|
Down_BottomExitNip-RSRC
|
||
|
|
BlackPrinter_Drum-RSRC
|
||
|
|
Up_TopExitNip-RSRC
|
||
|
|
Finisher1_EntryNip-RSRC
|
||
|
|
Finisher2_EntryNip-RSRC - resource_t
|
||
|
|
|
||
|
|
ColorContainer-ToIME-Letter
|
||
|
|
ColorPrinter-Simplex-Letter
|
||
|
|
ColorPrinter-SimplexMono-Letter
|
||
|
|
ColorFeeder-Feed-Letter
|
||
|
|
BlackFeeder-Feed-Letter
|
||
|
|
Down-MoveBottom-Letter
|
||
|
|
Down-MoveDown-Letter
|
||
|
|
BlackPrinter-Simplex-Letter
|
||
|
|
BlackPrinter-SimplexAndInvert-Letter
|
||
|
|
Up-MoveTop-Letter
|
||
|
|
Up-MoveUp-Letter
|
||
|
|
Finisher1-Stack-Letter
|
||
|
|
Finisher2-Stack-Letter - action_t
|
||
|
|
)
|
||
|
|
(:predicates
|
||
|
|
(Sheetsize ?sheet - sheet_t ?size - size_t)
|
||
|
|
(Location ?sheet - sheet_t ?location - location_t)
|
||
|
|
(Hasimage ?sheet - sheet_t ?side - side_t ?image - image_t)
|
||
|
|
(Sideup ?sheet - sheet_t ?side - side_t)
|
||
|
|
(Stackedin ?sheet - sheet_t ?location - location_t)
|
||
|
|
(Imagecolor ?image - image_t ?color - color_t)
|
||
|
|
(Notprintedwith ?sheet - sheet_t ?side - side_t ?color - color_t)
|
||
|
|
(Oppositeside ?side1 - side_t ?side2 - side_t)
|
||
|
|
(Timepoint ?sheet - sheet_t ?timepoint - timepoint_t)
|
||
|
|
(Hasallrsrcs ?sheet - sheet_t ?action - action_t)
|
||
|
|
(Available ?resource - resource_t)
|
||
|
|
(Prevsheet ?sheet1 - sheet_t ?sheet2 - sheet_t)
|
||
|
|
(Uninitialized)
|
||
|
|
|
||
|
|
)
|
||
|
|
)
|
||
|
|
|
||
|
|
|