216 lines
8.1 KiB
Plaintext
216 lines
8.1 KiB
Plaintext
(define (domain woodworking)
|
|
(:requirements :typing :durative-actions :numeric-fluents)
|
|
(:types
|
|
acolour awood woodobj machine
|
|
surface treatmentstatus - object
|
|
highspeed-saw glazer grinder immersion-varnisher
|
|
planer saw spray-varnisher - machine
|
|
board part - woodobj)
|
|
|
|
(:constants
|
|
verysmooth smooth rough - surface
|
|
varnished glazed untreated colourfragments - treatmentstatus
|
|
natural - acolour)
|
|
|
|
(:predicates
|
|
(idle ?machine - machine)
|
|
(unused ?obj - part)
|
|
(available ?obj - woodobj)
|
|
|
|
(surface-condition ?obj - woodobj ?surface - surface)
|
|
(treatment ?obj - part ?treatment - treatmentstatus)
|
|
(colour ?obj - part ?colour - acolour)
|
|
(wood ?obj - woodobj ?wood - awood)
|
|
|
|
(in-highspeed-saw ?b - board ?m - highspeed-saw)
|
|
(empty ?m - highspeed-saw)
|
|
(has-colour ?machine - machine ?colour - acolour)
|
|
(grind-treatment-change ?old ?new - treatmentstatus)
|
|
(is-smooth ?surface - surface))
|
|
|
|
(:functions
|
|
(board-size ?board - board)
|
|
(goal-size ?obj - part))
|
|
|
|
(:durative-action do-immersion-varnish
|
|
:parameters (?x - part ?m - immersion-varnisher
|
|
?newcolour - acolour ?surface - surface)
|
|
:duration (= ?duration 10)
|
|
:condition (and
|
|
(at start (idle ?m))
|
|
(at start (available ?x))
|
|
(at start (surface-condition ?x ?surface))
|
|
(at start (is-smooth ?surface))
|
|
(at start (has-colour ?m ?newcolour))
|
|
(at start (treatment ?x untreated)))
|
|
:effect (and
|
|
(at start (not (idle ?m)))
|
|
(at start (not (available ?x)))
|
|
(at start (not (treatment ?x untreated)))
|
|
(at start (not (colour ?x natural)))
|
|
(at end (idle ?m))
|
|
(at end (available ?x))
|
|
(at end (treatment ?x varnished))
|
|
(at end (colour ?x ?newcolour))))
|
|
|
|
(:durative-action do-spray-varnish
|
|
:parameters (?x - part ?m - spray-varnisher
|
|
?newcolour - acolour ?surface - surface)
|
|
:duration (= ?duration (goal-size ?x))
|
|
:condition (and
|
|
(at start (idle ?m))
|
|
(at start (available ?x))
|
|
(at start (surface-condition ?x ?surface))
|
|
(at start (is-smooth ?surface))
|
|
(at start (has-colour ?m ?newcolour))
|
|
(at start (treatment ?x untreated)))
|
|
:effect (and
|
|
(at start (not (idle ?m)))
|
|
(at start (not (available ?x)))
|
|
(at start (not (treatment ?x untreated)))
|
|
(at start (not (colour ?x natural)))
|
|
(at end (idle ?m))
|
|
(at end (available ?x))
|
|
(at end (treatment ?x varnished))
|
|
(at end (colour ?x ?newcolour))))
|
|
|
|
(:durative-action do-glaze
|
|
:parameters (?x - part ?m - glazer
|
|
?newcolour - acolour)
|
|
:duration (= ?duration (+ (goal-size ?x) 5))
|
|
:condition (and
|
|
(at start (idle ?m))
|
|
(at start (available ?x))
|
|
(at start (has-colour ?m ?newcolour))
|
|
(at start (treatment ?x untreated)))
|
|
:effect (and
|
|
(at start (not (idle ?m)))
|
|
(at start (not (available ?x)))
|
|
(at start (not (treatment ?x untreated)))
|
|
(at start (not (colour ?x natural)))
|
|
(at end (idle ?m))
|
|
(at end (available ?x))
|
|
(at end (treatment ?x glazed))
|
|
(at end (colour ?x ?newcolour))))
|
|
|
|
(:durative-action do-grind
|
|
:parameters (?x - part ?m - grinder ?oldsurface - surface
|
|
?oldcolour - acolour
|
|
?oldtreatment ?newtreatment - treatmentstatus)
|
|
:duration (= ?duration (* 3 (goal-size ?x)))
|
|
:condition (and
|
|
(at start (idle ?m))
|
|
(at start (available ?x))
|
|
(at start (surface-condition ?x ?oldsurface))
|
|
(at start (is-smooth ?oldsurface))
|
|
(at start (colour ?x ?oldcolour))
|
|
(at start (treatment ?x ?oldtreatment))
|
|
(at start (grind-treatment-change ?oldtreatment ?newtreatment)))
|
|
:effect (and
|
|
(at start (not (idle ?m)))
|
|
(at start (not (available ?x)))
|
|
(at start (not (surface-condition ?x ?oldsurface)))
|
|
(at start (not (treatment ?x ?oldtreatment)))
|
|
(at start (not (colour ?x ?oldcolour)))
|
|
(at end (idle ?m))
|
|
(at end (available ?x))
|
|
(at end (surface-condition ?x verysmooth))
|
|
(at end (treatment ?x ?newtreatment))
|
|
(at end (colour ?x natural))))
|
|
|
|
(:durative-action do-plane
|
|
:parameters (?x - part ?m - planer ?oldsurface - surface
|
|
?oldcolour - acolour ?oldtreatment - treatmentstatus)
|
|
:duration (= ?duration (* 2 (goal-size ?x)))
|
|
:condition (and
|
|
(at start (idle ?m))
|
|
(at start (available ?x))
|
|
(at start (surface-condition ?x ?oldsurface))
|
|
(at start (treatment ?x ?oldtreatment))
|
|
(at start (colour ?x ?oldcolour)))
|
|
:effect (and
|
|
(at start (not (idle ?m)))
|
|
(at start (not (available ?x)))
|
|
(at start (not (surface-condition ?x ?oldsurface)))
|
|
(at start (not (treatment ?x ?oldtreatment)))
|
|
(at start (not (colour ?x ?oldcolour)))
|
|
(at end (idle ?m))
|
|
(at end (available ?x))
|
|
(at end (surface-condition ?x smooth))
|
|
(at end (treatment ?x untreated))
|
|
(at end (colour ?x natural))))
|
|
|
|
(:durative-action load-highspeed-saw
|
|
:parameters (?b - board ?m - highspeed-saw)
|
|
:duration (= ?duration 30)
|
|
:condition (and
|
|
(at start (idle ?m))
|
|
(at start (empty ?m))
|
|
(at start (available ?b)))
|
|
:effect (and
|
|
(at start (not (idle ?m)))
|
|
(at start (not (available ?b)))
|
|
(at start (not (empty ?m)))
|
|
(at end (idle ?m))
|
|
(at end (in-highspeed-saw ?b ?m))))
|
|
|
|
(:durative-action unload-highspeed-saw
|
|
:parameters (?b - board ?m - highspeed-saw)
|
|
:duration (= ?duration 10)
|
|
:condition (and
|
|
(at start (idle ?m))
|
|
(at start (in-highspeed-saw ?b ?m)))
|
|
:effect (and
|
|
(at start (not (idle ?m)))
|
|
(at end (available ?b))
|
|
(at end (not (in-highspeed-saw ?b ?m)))
|
|
(at end (empty ?m))
|
|
(at end (idle ?m))))
|
|
|
|
(:durative-action cut-board
|
|
:parameters (?b - board ?p - part ?m - highspeed-saw ?w - awood
|
|
?surface - surface)
|
|
:duration (= ?duration 10)
|
|
:condition (and
|
|
(at start (idle ?m))
|
|
(at start (unused ?p))
|
|
(at start (in-highspeed-saw ?b ?m))
|
|
(at start (wood ?b ?w))
|
|
(at start (surface-condition ?b ?surface))
|
|
(at start (>= (board-size ?b) (goal-size ?p))))
|
|
:effect (and
|
|
(at start (not (idle ?m)))
|
|
(at start (not (unused ?p)))
|
|
(at start (decrease (board-size ?b) (goal-size ?p)))
|
|
(at end (idle ?m))
|
|
(at end (available ?p))
|
|
(at end (wood ?p ?w))
|
|
(at end (surface-condition ?p ?surface))
|
|
(at end (colour ?p natural))
|
|
(at end (treatment ?p untreated))))
|
|
|
|
(:durative-action do-saw
|
|
:parameters (?b - board ?p - part ?m - saw ?w - awood
|
|
?surface - surface)
|
|
:duration (= ?duration 30)
|
|
:condition (and
|
|
(at start (idle ?m))
|
|
(at start (unused ?p))
|
|
(at start (available ?b))
|
|
(at start (wood ?b ?w))
|
|
(at start (surface-condition ?b ?surface))
|
|
(at start (>= (board-size ?b) (goal-size ?p))))
|
|
:effect (and
|
|
(at start (not (idle ?m)))
|
|
(at start (not (unused ?p)))
|
|
(at start (not (available ?b)))
|
|
(at end (decrease (board-size ?b) (goal-size ?p)))
|
|
(at end (idle ?m))
|
|
(at end (available ?p))
|
|
(at end (available ?b))
|
|
(at end (wood ?p ?w))
|
|
(at end (surface-condition ?p ?surface))
|
|
(at end (colour ?p natural))
|
|
(at end (treatment ?p untreated))))
|
|
)
|