67 lines
1.5 KiB
Plaintext
67 lines
1.5 KiB
Plaintext
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(define (domain miconic)
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(:requirements :strips)
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(:types passenger - object
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floor - object
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)
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(:predicates
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(origin ?person - passenger ?floor - floor)
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;; entry of ?person is ?floor
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;; inertia
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(destin ?person - passenger ?floor - floor)
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;; exit of ?person is ?floor
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;; inertia
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(above ?floor1 - floor ?floor2 - floor)
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;; ?floor2 is located above of ?floor1
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(boarded ?person - passenger)
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;; true if ?person has boarded the lift
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(not-boarded ?person - passenger)
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;; true if ?person has not boarded the lift
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(served ?person - passenger)
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;; true if ?person has alighted as her destination
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(not-served ?person - passenger)
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;; true if ?person is not at their destination
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(lift-at ?floor - floor)
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;; current position of the lift is at ?floor
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)
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;;stop and allow boarding
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(:action board
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:parameters (?f - floor ?p - passenger)
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:precondition (and (lift-at ?f) (origin ?p ?f))
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:effect (boarded ?p))
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(:action depart
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:parameters (?f - floor ?p - passenger)
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:precondition (and (lift-at ?f) (destin ?p ?f)
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(boarded ?p))
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:effect (and (not (boarded ?p))
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(served ?p)))
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;;drive up
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(:action up
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:parameters (?f1 - floor ?f2 - floor)
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:precondition (and (lift-at ?f1) (above ?f1 ?f2))
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:effect (and (lift-at ?f2) (not (lift-at ?f1))))
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;;drive down
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(:action down
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:parameters (?f1 - floor ?f2 - floor)
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:precondition (and (lift-at ?f1) (above ?f2 ?f1))
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:effect (and (lift-at ?f2) (not (lift-at ?f1))))
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)
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