43 lines
1.5 KiB
Plaintext
43 lines
1.5 KiB
Plaintext
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(define (domain Depot)
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(:requirements :typing)
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(:types place locatable - object
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depot distributor - place
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truck hoist surface - locatable
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pallet crate - surface)
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(:predicates (at ?x - locatable ?y - place)
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(on ?x - crate ?y - surface)
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(in ?x - crate ?y - truck)
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(lifting ?x - hoist ?y - crate)
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(available ?x - hoist)
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(clear ?x - surface))
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(:action Drive
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:parameters (?x - truck ?y - place ?z - place)
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:precondition (and (at ?x ?y))
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:effect (and (not (at ?x ?y)) (at ?x ?z)))
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(:action Lift
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:parameters (?x - hoist ?y - crate ?z - surface ?p - place)
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:precondition (and (at ?x ?p) (available ?x) (at ?y ?p) (on ?y ?z) (clear ?y))
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:effect (and (not (at ?y ?p)) (lifting ?x ?y) (not (clear ?y)) (not (available ?x))
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(clear ?z) (not (on ?y ?z))))
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(:action Drop
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:parameters (?x - hoist ?y - crate ?z - surface ?p - place)
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:precondition (and (at ?x ?p) (at ?z ?p) (clear ?z) (lifting ?x ?y))
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:effect (and (available ?x) (not (lifting ?x ?y)) (at ?y ?p) (not (clear ?z)) (clear ?y)
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(on ?y ?z)))
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(:action Load
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:parameters (?x - hoist ?y - crate ?z - truck ?p - place)
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:precondition (and (at ?x ?p) (at ?z ?p) (lifting ?x ?y))
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:effect (and (not (lifting ?x ?y)) (in ?y ?z) (available ?x)))
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(:action Unload
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:parameters (?x - hoist ?y - crate ?z - truck ?p - place)
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:precondition (and (at ?x ?p) (at ?z ?p) (available ?x) (in ?y ?z))
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:effect (and (not (in ?y ?z)) (not (available ?x)) (lifting ?x ?y)))
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)
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