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plasp/instances/ipc-2006-tpp-propositional/domain.pddl

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2016-08-18 15:43:14 +02:00
; IPC5 Domain: TPP Propositional
; Authors: Alfonso Gerevini and Alessandro Saetti
(define (domain TPP-Propositional)
(:requirements :strips :typing)
(:types place locatable level - object
depot market - place
truck goods - locatable)
(:predicates (loaded ?g - goods ?t - truck ?l - level)
(ready-to-load ?g - goods ?m - market ?l - level)
(stored ?g - goods ?l - level)
(on-sale ?g - goods ?m - market ?l - level)
(next ?l1 ?l2 - level)
(at ?t - truck ?p - place)
(connected ?p1 ?p2 - place))
(:action drive
:parameters (?t - truck ?from ?to - place)
:precondition (and (at ?t ?from) (connected ?from ?to))
:effect (and (not (at ?t ?from)) (at ?t ?to)))
; ### LOAD ###
; ?l1 is the level of ?g ready to be loaded at ?m before loading
; ?l2 is the level of ?g ready to be loaded at ?m after loading
; ?l3 is the level of ?g in ?t before loading
; ?l4 is the level of ?g in ?t after loading
(:action load
:parameters (?g - goods ?t - truck ?m - market ?l1 ?l2 ?l3 ?l4 - level)
:precondition (and (at ?t ?m) (loaded ?g ?t ?l3)
(ready-to-load ?g ?m ?l2) (next ?l2 ?l1) (next ?l4 ?l3))
:effect (and (loaded ?g ?t ?l4) (not (loaded ?g ?t ?l3))
(ready-to-load ?g ?m ?l1) (not (ready-to-load ?g ?m ?l2))))
; ### UNLOAD ###
; ?l1 is the level of ?g in ?t before unloading
; ?l2 is the level of ?g in ?t after unloading
; ?l3 is the level of ?g in ?d before unloading
; ?l4 is the level of ?g in ?d after unloading
(:action unload
:parameters (?g - goods ?t - truck ?d - depot ?l1 ?l2 ?l3 ?l4 - level)
:precondition (and (at ?t ?d) (loaded ?g ?t ?l2)
(stored ?g ?l3) (next ?l2 ?l1) (next ?l4 ?l3))
:effect (and (loaded ?g ?t ?l1) (not (loaded ?g ?t ?l2))
(stored ?g ?l4) (not (stored ?g ?l3))))
; ### BUY ###
; ?l1 is the level of ?g on sale at ?m before buying
; ?l2 is the level of ?g on sale at ?m after buying
; ?l3 is the level of ?g ready to be loaded at ?m before buying
; ?l4 is the level of ?g ready to be loaded at ?m after buying
(:action buy
:parameters (?t - truck ?g - goods ?m - market ?l1 ?l2 ?l3 ?l4 - level)
:precondition (and (at ?t ?m) (on-sale ?g ?m ?l2) (ready-to-load ?g ?m ?l3)
(next ?l2 ?l1) (next ?l4 ?l3))
:effect (and (on-sale ?g ?m ?l1) (not (on-sale ?g ?m ?l2))
(ready-to-load ?g ?m ?l4) (not (ready-to-load ?g ?m ?l3))))
)