47 lines
1.7 KiB
Plaintext
47 lines
1.7 KiB
Plaintext
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(define (domain Storage-Propositional)
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(:requirements :typing)
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(:types hoist surface place area - object
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container depot - place
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storearea transitarea - area
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area crate - surface)
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(:predicates (clear ?s - storearea)
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(in ?x - (either storearea crate) ?p - place)
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(available ?h - hoist)
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(lifting ?h - hoist ?c - crate)
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(at ?h - hoist ?a - area)
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(on ?c - crate ?s - storearea)
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(connected ?a1 ?a2 - area)
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(compatible ?c1 ?c2 - crate))
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(:action lift
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:parameters (?h - hoist ?c - crate ?a1 - storearea ?a2 - area ?p - place)
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:precondition (and (connected ?a1 ?a2) (at ?h ?a2) (available ?h)
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(on ?c ?a1) (in ?a1 ?p))
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:effect (and (not (on ?c ?a1)) (clear ?a1)
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(not (available ?h)) (lifting ?h ?c) (not (in ?c ?p))))
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(:action drop
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:parameters (?h - hoist ?c - crate ?a1 - storearea ?a2 - area ?p - place)
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:precondition (and (connected ?a1 ?a2) (at ?h ?a2) (lifting ?h ?c)
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(clear ?a1) (in ?a1 ?p))
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:effect (and (not (lifting ?h ?c)) (available ?h)
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(not (clear ?a1)) (on ?c ?a1) (in ?c ?p)))
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(:action move
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:parameters (?h - hoist ?from ?to - storearea)
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:precondition (and (at ?h ?from) (clear ?to) (connected ?from ?to))
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:effect (and (not (at ?h ?from)) (at ?h ?to) (not (clear ?to)) (clear ?from)))
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(:action go-out
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:parameters (?h - hoist ?from - storearea ?to - transitarea)
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:precondition (and (at ?h ?from) (connected ?from ?to))
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:effect (and (not (at ?h ?from)) (at ?h ?to) (clear ?from)))
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(:action go-in
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:parameters (?h - hoist ?from - transitarea ?to - storearea)
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:precondition (and (at ?h ?from) (connected ?from ?to) (clear ?to))
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:effect (and (not (at ?h ?from)) (at ?h ?to) (not (clear ?to))))
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)
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