80 lines
1.8 KiB
Plaintext
80 lines
1.8 KiB
Plaintext
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(define (domain driverlog)
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(:requirements :typing)
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(:types location locatable - object
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driver truck obj - locatable
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)
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(:predicates
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(at ?obj - locatable ?loc - location)
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(in ?obj1 - obj ?obj - truck)
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(driving ?d - driver ?v - truck)
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(link ?x ?y - location) (path ?x ?y - location)
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(empty ?v - truck)
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)
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(:action LOAD-TRUCK
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:parameters
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(?obj - obj
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?truck - truck
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?loc - location)
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:precondition
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(and (at ?truck ?loc) (at ?obj ?loc))
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:effect
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(and (not (at ?obj ?loc)) (in ?obj ?truck)))
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(:action UNLOAD-TRUCK
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:parameters
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(?obj - obj
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?truck - truck
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?loc - location)
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:precondition
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(and (at ?truck ?loc) (in ?obj ?truck))
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:effect
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(and (not (in ?obj ?truck)) (at ?obj ?loc)))
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(:action BOARD-TRUCK
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:parameters
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(?driver - driver
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?truck - truck
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?loc - location)
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:precondition
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(and (at ?truck ?loc) (at ?driver ?loc) (empty ?truck))
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:effect
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(and (not (at ?driver ?loc)) (driving ?driver ?truck) (not (empty ?truck))))
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(:action DISEMBARK-TRUCK
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:parameters
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(?driver - driver
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?truck - truck
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?loc - location)
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:precondition
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(and (at ?truck ?loc) (driving ?driver ?truck))
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:effect
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(and (not (driving ?driver ?truck)) (at ?driver ?loc) (empty ?truck)))
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(:action DRIVE-TRUCK
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:parameters
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(?truck - truck
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?loc-from - location
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?loc-to - location
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?driver - driver)
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:precondition
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(and (at ?truck ?loc-from)
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(driving ?driver ?truck) (link ?loc-from ?loc-to))
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:effect
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(and (not (at ?truck ?loc-from)) (at ?truck ?loc-to)))
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(:action WALK
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:parameters
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(?driver - driver
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?loc-from - location
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?loc-to - location)
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:precondition
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(and (at ?driver ?loc-from) (path ?loc-from ?loc-to))
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:effect
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(and (not (at ?driver ?loc-from)) (at ?driver ?loc-to)))
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)
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