46 lines
1.2 KiB
Plaintext
46 lines
1.2 KiB
Plaintext
(define (domain BLOCKS)
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(:requirements :strips :typing)
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(:types block)
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(:predicates (on ?x - block ?y - block)
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(ontable ?x - block)
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(clear ?x - block)
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(handempty)
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(holding ?x - block)
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)
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(:action pick-up
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:parameters (?x - block)
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:preconditionX (and (clear ?x) (ontable ?x) (handempty))
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:effect
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(and (not (ontable ?x))
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(not (clear ?x))
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(not (handempty))
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(holding ?x)))
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(:action put-down
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:parameters (?x - block)
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:precondition (holding ?x)
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:effect
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(and (not (holding ?x))
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(clear ?x)
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(handempty)
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(ontable ?x)))
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(:action stack
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:parameters (?x - block ?y - block)
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:precondition (and (holding ?x) (clear ?y))
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:effect
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(and (not (holding ?x))
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(not (clear ?y))
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(clear ?x)
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(handempty)
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(on ?x ?y)))
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(:action unstack
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:parameters (?x - block ?y - block)
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:precondition (and (on ?x ?y) (clear ?x) (handempty))
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:effect
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(and (holding ?x)
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(clear ?y)
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(not (clear ?x))
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(not (handempty))
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(not (on ?x ?y)))))
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