towards #1

test/driverlog/domain.pddl

@@ -0,0 +1,81 @@
+; Taken from http://picat-lang.org/aips02/driverlog.pddl
+
+(define (domain driverlog)
+  (:requirements :typing) 
+  (:types         location locatable - object
+		driver truck obj - locatable
+
+  )
+  (: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)
+)
+
+
+(: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)))
+
+(: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)))
+
+(: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))))
+
+(: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)))
+
+(: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)))
+
+(: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)))
+
+
+)

test/driverlog/pfile01

@@ -0,0 +1,48 @@
+(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)
+	))
+
+
+)

test/driverlog/pfile02

@@ -0,0 +1,59 @@
+(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)
+	))
+
+
+)

test/driverlog/pfile03

@@ -0,0 +1,59 @@
+(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)
+	))
+
+
+)

test/letseat/domain.pddl

@@ -0,0 +1,72 @@
+(define (domain letseat)
+
+  (:requirements :typing) 
+
+  (:types         
+    location locatable - object
+		bot cupcake - locatable
+    robot - bot
+  )
+
+  (:predicates
+		(on ?obj - locatable ?loc - location)
+		(holding ?arm - locatable ?cupcake - locatable)
+    (arm-empty)
+    (path ?location1 - location ?location2 - location)
+  )
+
+
+  (: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))
+     )
+  )
+
+  (: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))
+     )
+  )
+
+  (: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)
+     )
+  )
+)

test/letseat/pfile.pddl

@@ -0,0 +1,19 @@
+(define (problem letseat-simple)
+	(:domain letseat)
+	(:objects
+	arm - robot
+	cupcake - cupcake
+	table - location
+	plate - location
+	)
+
+	(:init
+		(on arm table)
+		(on cupcake table)
+		(arm-empty)
+		(path table plate)
+	)
+	(:goal 
+		(on cupcake plate)
+	)
+)