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; Taken from http://picat-lang.org/aips02/driverlog.pddl | ||
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(define (domain driverlog) | ||
(:requirements :typing) | ||
(:types location locatable - object | ||
driver truck obj - locatable | ||
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) | ||
(:predicates | ||
(at ?obj - locatable ?loc - location) | ||
(in ?obj1 - obj ?obj - truck) | ||
(driving ?d - driver ?v - truck) | ||
(link ?x ?y - location) (path ?x ?y - location) | ||
(empty ?v - truck) | ||
) | ||
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(:action LOAD-TRUCK | ||
:parameters | ||
(?obj - obj | ||
?truck - truck | ||
?loc - location) | ||
:precondition | ||
(and (at ?truck ?loc) (at ?obj ?loc)) | ||
:effect | ||
(and (not (at ?obj ?loc)) (in ?obj ?truck))) | ||
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(:action UNLOAD-TRUCK | ||
:parameters | ||
(?obj - obj | ||
?truck - truck | ||
?loc - location) | ||
:precondition | ||
(and (at ?truck ?loc) (in ?obj ?truck)) | ||
:effect | ||
(and (not (in ?obj ?truck)) (at ?obj ?loc))) | ||
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(:action BOARD-TRUCK | ||
:parameters | ||
(?driver - driver | ||
?truck - truck | ||
?loc - location) | ||
:precondition | ||
(and (at ?truck ?loc) (at ?driver ?loc) (empty ?truck)) | ||
:effect | ||
(and (not (at ?driver ?loc)) (driving ?driver ?truck) (not (empty ?truck)))) | ||
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(:action DISEMBARK-TRUCK | ||
:parameters | ||
(?driver - driver | ||
?truck - truck | ||
?loc - location) | ||
:precondition | ||
(and (at ?truck ?loc) (driving ?driver ?truck)) | ||
:effect | ||
(and (not (driving ?driver ?truck)) (at ?driver ?loc) (empty ?truck))) | ||
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(:action DRIVE-TRUCK | ||
:parameters | ||
(?truck - truck | ||
?loc-from - location | ||
?loc-to - location | ||
?driver - driver) | ||
:precondition | ||
(and (at ?truck ?loc-from) | ||
(driving ?driver ?truck) (link ?loc-from ?loc-to)) | ||
:effect | ||
(and (not (at ?truck ?loc-from)) (at ?truck ?loc-to))) | ||
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(:action WALK | ||
:parameters | ||
(?driver - driver | ||
?loc-from - location | ||
?loc-to - location) | ||
:precondition | ||
(and (at ?driver ?loc-from) (path ?loc-from ?loc-to)) | ||
:effect | ||
(and (not (at ?driver ?loc-from)) (at ?driver ?loc-to))) | ||
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) |
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(define (problem DLOG-2-2-2) | ||
(:domain driverlog) | ||
(:objects | ||
driver1 - driver | ||
driver2 - driver | ||
truck1 - truck | ||
truck2 - truck | ||
package1 - obj | ||
package2 - obj | ||
s0 - location | ||
s1 - location | ||
s2 - location | ||
p1-0 - location | ||
p1-2 - location | ||
) | ||
(:init | ||
(at driver1 s2) | ||
(at driver2 s2) | ||
(at truck1 s0) | ||
(empty truck1) | ||
(at truck2 s0) | ||
(empty truck2) | ||
(at package1 s0) | ||
(at package2 s0) | ||
(path s1 p1-0) | ||
(path p1-0 s1) | ||
(path s0 p1-0) | ||
(path p1-0 s0) | ||
(path s1 p1-2) | ||
(path p1-2 s1) | ||
(path s2 p1-2) | ||
(path p1-2 s2) | ||
(link s0 s1) | ||
(link s1 s0) | ||
(link s0 s2) | ||
(link s2 s0) | ||
(link s2 s1) | ||
(link s1 s2) | ||
) | ||
(:goal (and | ||
(at driver1 s1) | ||
(at truck1 s1) | ||
(at package1 s0) | ||
(at package2 s0) | ||
)) | ||
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) |
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(define (problem DLOG-2-2-3) | ||
(:domain driverlog) | ||
(:objects | ||
driver1 - driver | ||
driver2 - driver | ||
truck1 - truck | ||
truck2 - truck | ||
package1 - obj | ||
package2 - obj | ||
package3 - obj | ||
s0 - location | ||
s1 - location | ||
s2 - location | ||
p0-1 - location | ||
p0-2 - location | ||
p1-0 - location | ||
p2-1 - location | ||
) | ||
(:init | ||
(at driver1 s0) | ||
(at driver2 s0) | ||
(at truck1 s0) | ||
(empty truck1) | ||
(at truck2 s1) | ||
(empty truck2) | ||
(at package1 s2) | ||
(at package2 s1) | ||
(at package3 s1) | ||
(path s0 p0-1) | ||
(path p0-1 s0) | ||
(path s1 p0-1) | ||
(path p0-1 s1) | ||
(path s0 p0-2) | ||
(path p0-2 s0) | ||
(path s2 p0-2) | ||
(path p0-2 s2) | ||
(path s2 p2-1) | ||
(path p2-1 s2) | ||
(path s1 p2-1) | ||
(path p2-1 s1) | ||
(link s0 s2) | ||
(link s2 s0) | ||
(link s1 s0) | ||
(link s0 s1) | ||
(link s1 s2) | ||
(link s2 s1) | ||
) | ||
(:goal (and | ||
(at driver1 s1) | ||
(at driver2 s1) | ||
(at truck1 s2) | ||
(at truck2 s0) | ||
(at package1 s0) | ||
(at package2 s2) | ||
(at package3 s0) | ||
)) | ||
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) |
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(define (problem DLOG-2-2-4) | ||
(:domain driverlog) | ||
(:objects | ||
driver1 - driver | ||
driver2 - driver | ||
truck1 - truck | ||
truck2 - truck | ||
package1 - obj | ||
package2 - obj | ||
package3 - obj | ||
package4 - obj | ||
s0 - location | ||
s1 - location | ||
s2 - location | ||
p0-1 - location | ||
p2-0 - location | ||
p2-1 - location | ||
) | ||
(:init | ||
(at driver1 s1) | ||
(at driver2 s0) | ||
(at truck1 s1) | ||
(empty truck1) | ||
(at truck2 s2) | ||
(empty truck2) | ||
(at package1 s0) | ||
(at package2 s0) | ||
(at package3 s1) | ||
(at package4 s1) | ||
(path s0 p0-1) | ||
(path p0-1 s0) | ||
(path s1 p0-1) | ||
(path p0-1 s1) | ||
(path s2 p2-0) | ||
(path p2-0 s2) | ||
(path s0 p2-0) | ||
(path p2-0 s0) | ||
(path s2 p2-1) | ||
(path p2-1 s2) | ||
(path s1 p2-1) | ||
(path p2-1 s1) | ||
(link s1 s0) | ||
(link s0 s1) | ||
(link s1 s2) | ||
(link s2 s1) | ||
(link s2 s0) | ||
(link s0 s2) | ||
) | ||
(:goal (and | ||
(at driver2 s2) | ||
(at truck1 s1) | ||
(at truck2 s2) | ||
(at package1 s1) | ||
(at package2 s1) | ||
(at package3 s2) | ||
)) | ||
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) |
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(define (domain letseat) | ||
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(:requirements :typing) | ||
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(:types | ||
location locatable - object | ||
bot cupcake - locatable | ||
robot - bot | ||
) | ||
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(:predicates | ||
(on ?obj - locatable ?loc - location) | ||
(holding ?arm - locatable ?cupcake - locatable) | ||
(arm-empty) | ||
(path ?location1 - location ?location2 - location) | ||
) | ||
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(:action pick-up | ||
:parameters | ||
(?arm - bot | ||
?cupcake - locatable | ||
?loc - location) | ||
:precondition | ||
(and | ||
(on ?arm ?loc) | ||
(on ?cupcake ?loc) | ||
(arm-empty) | ||
) | ||
:effect | ||
(and | ||
(not (on ?cupcake ?loc)) | ||
(holding ?arm ?cupcake) | ||
(not (arm-empty)) | ||
) | ||
) | ||
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(:action drop | ||
:parameters | ||
(?arm - bot | ||
?cupcake - locatable | ||
?loc - location) | ||
:precondition | ||
(and | ||
(on ?arm ?loc) | ||
(holding ?arm ?cupcake) | ||
) | ||
:effect | ||
(and | ||
(on ?cupcake ?loc) | ||
(arm-empty) | ||
(not (holding ?arm ?cupcake)) | ||
) | ||
) | ||
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(:action move | ||
:parameters | ||
(?arm - bot | ||
?from - location | ||
?to - location) | ||
:precondition | ||
(and | ||
(on ?arm ?from) | ||
(path ?from ?to) | ||
) | ||
:effect | ||
(and | ||
(not (on ?arm ?from)) | ||
(on ?arm ?to) | ||
) | ||
) | ||
) |
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(define (problem letseat-simple) | ||
(:domain letseat) | ||
(:objects | ||
arm - robot | ||
cupcake - cupcake | ||
table - location | ||
plate - location | ||
) | ||
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(:init | ||
(on arm table) | ||
(on cupcake table) | ||
(arm-empty) | ||
(path table plate) | ||
) | ||
(:goal | ||
(on cupcake plate) | ||
) | ||
) |
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