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warehouse.pddl
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warehouse.pddl
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(define (domain warehouse)
; adding the requirements for numeric and temporal planning
(:requirements :strips :typing :negative-preconditions :durative-actions :numeric-fluents)
(:types
; defining types for objects to distinguish them
crate mover loader - objects
heavy light fragile - crate
mover1 mover2 - mover
loader - loader
)
(:predicates
; defining some predicates based on our objects
(carry-light-single ?m - mover ?c - light)
(carry-light-double ?m1 - mover1 ?m2 - mover2 ?c - light)
(carry-fragile ?m1 - mover1 ?m2 - mover2 ?c - fragile)
(carry-heavy ?m1 ?m2 - mover ?c - heavy)
(loader-free ?ld - loader)
(mover-empty ?m - mover)
(mover-at-loadingBay ?m - mover)
(mover-at-StationCharge ?m - mover)
(mover-near-crate ?m - mover ?c - crate)
(crate-at-warehouse ?c - crate)
(crate-at-loadingBay ?c - crate)
(crate-at-conveyorBelt ?c - crate)
)
(:functions
; adding numeric fluents for crates
(crate_distance ?c - crate)
(crate_weight ?c - crate)
(crate_fragile ?c - crate) ; must be set to 1 if IS NOT fragile and 1.5 if IS FRAGILE
(mover_power ?m - mover)
)
(:durative-action move-to-loadingBay-heavy
; mover1 and mover2 carry a heavy crate to the loadingBay together
:parameters (?m1 - mover1 ?m2 - mover2 ?c - heavy ?ld - loader)
:duration (= ?duration (/ (* (crate_distance ?c)(crate_weight ?c)) 100))
:condition (and (at start (not (mover-at-loadingBay ?m1)))
(at start (not (mover-at-loadingBay ?m2)))
(over all (carry-heavy ?m1 ?m2 ?c))
(at end (loader-free ?ld))
(at start (> (+(mover_power ?m1) 1)(/ (* (crate_distance ?c)(crate_weight ?c)) 100)) )
(at start (> (+(mover_power ?m2) 1)(/ (* (crate_distance ?c)(crate_weight ?c)) 100)) ))
:effect (and (at end (mover-at-loadingBay ?m1))
(at end (mover-at-loadingBay ?m2))
(at end (not (mover-at-StationCharge ?m1)))
(at end (not (mover-at-StationCharge ?m2)))
(at end (Decrease (mover_power ?m1)(/ (* (crate_distance ?c)(crate_weight ?c)) 100)) )
(at end (Decrease (mover_power ?m2)(/ (* (crate_distance ?c)(crate_weight ?c)) 100)) ))
)
(:durative-action move-to-loadingBay-light-single
; moverx carry a light crate to the loadingBay
:parameters (?m - mover ?c - light ?ld - loader)
:duration (= ?duration (/ (* (crate_distance ?c)(crate_weight ?c)) 100))
:condition (and (at start (not (mover-at-loadingBay ?m)))
(over all (carry-light-single ?m ?c))
(at end (loader-free ?ld))
(at start (> (+(mover_power ?m) 1)(/ (* (crate_distance ?c)(crate_weight ?c)) 100)) ))
:effect (and (at end (mover-at-loadingBay ?m))
(at end (not (mover-at-StationCharge ?m)))
(at end (Decrease (mover_power ?m)(/ (* (crate_distance ?c)(crate_weight ?c)) 100)) ))
)
(:durative-action move-to-loadingBay-light-double
; mover1 and mover2 carry a light crate to the loadingBay together
:parameters (?m1 - mover1 ?m2 - mover2 ?c - light ?ld - loader)
:duration (= ?duration (/ (* (crate_distance ?c)(crate_weight ?c)) 150))
:condition (and (at start (not (mover-at-loadingBay ?m1)))
(at start (not (mover-at-loadingBay ?m2)))
(over all (carry-light-double ?m1 ?m2 ?c))
(at end (loader-free ?ld))
(at start (> (+(mover_power ?m1) 1)(/ (* (crate_distance ?c)(crate_weight ?c)) 150)) )
(at start (> (+(mover_power ?m2) 1)(/ (* (crate_distance ?c)(crate_weight ?c)) 150)) ))
:effect (and (at end (mover-at-loadingBay ?m1))
(at end (mover-at-loadingBay ?m2))
(at end (not (mover-at-StationCharge ?m1)))
(at end (not (mover-at-StationCharge ?m2)))
(at end (Decrease (mover_power ?m1) (/ (* (crate_distance ?c)(crate_weight ?c)) 150)) )
(at end (Decrease (mover_power ?m2) (/ (* (crate_distance ?c)(crate_weight ?c)) 150)) ))
)
(:durative-action move-to-loadingBay-fragile
; mover1 and mover2 carry a fragile crate to the loadingBay together
:parameters (?m1 - mover1 ?m2 - mover2 ?c - fragile ?ld - loader)
:duration (= ?duration (/ (* (crate_distance ?c)(crate_weight ?c)) 100))
:condition (and (at start (not (mover-at-loadingBay ?m1)))
(at start (not (mover-at-loadingBay ?m2)))
(over all (carry-fragile ?m1 ?m2 ?c))
(at end (loader-free ?ld))
(at start (> (+(mover_power ?m1) 1)(/ (* (crate_distance ?c)(crate_weight ?c)) 100)) )
(at start (> (+(mover_power ?m2) 1)(/ (* (crate_distance ?c)(crate_weight ?c)) 100)) ))
:effect (and (at end (mover-at-loadingBay ?m1))
(at end (mover-at-loadingBay ?m2))
(at end (not (mover-at-StationCharge ?m1)))
(at end (not (mover-at-StationCharge ?m2)))
(at end (Decrease (mover_power ?m1) (/ (* (crate_distance ?c)(crate_weight ?c)) 100)) )
(at end (Decrease (mover_power ?m2) (/ (* (crate_distance ?c)(crate_weight ?c)) 100)) ))
)
(:durative-action move-to-crate-light
; moverx goes toward a light crate
:parameters (?m - mover ?c - light)
:duration (= ?duration (/ (crate_distance ?c) 10))
:condition (and (at start (mover-empty ?m))
(at start (not (mover-near-crate ?m ?c)))
(over all (crate-at-warehouse ?c))
(at start (> (+(mover_power ?m) 1)(/ (crate_distance ?c) 10)) ))
:effect (and (at end (not (mover-at-loadingBay ?m)))
(at end (not (mover-at-StationCharge ?m)))
(at end (mover-near-crate ?m ?c))
(at end (Decrease (mover_power ?m) (/ (crate_distance ?c) 10)) ))
)
(:durative-action move-to-crate-heavy
; mover1 and mover2 go toward a heavy crate together
:parameters (?m1 - mover1 ?m2 - mover2 ?c - heavy)
:duration (= ?duration (/ (crate_distance ?c) 10))
:condition (and (at start (mover-empty ?m1))
(at start (mover-empty ?m2))
(at start (not (mover-near-crate ?m1 ?c)))
(at start (not (mover-near-crate ?m2 ?c)))
(over all (crate-at-warehouse ?c))
(at start (> (+(mover_power ?m1) 1)(/ (crate_distance ?c) 10)) )
(at start (> (+(mover_power ?m2) 1)(/ (crate_distance ?c) 10)) ))
:effect (and (at end (not (mover-at-loadingBay ?m1)))
(at end (not (mover-at-StationCharge ?m1)))
(at end (mover-near-crate ?m1 ?c))
(at end (not (mover-at-loadingBay ?m2)))
(at end (not (mover-at-StationCharge ?m2)))
(at end (mover-near-crate ?m2 ?c))
(at end (Decrease (mover_power ?m1) (/ (crate_distance ?c) 10)) )
(at end (Decrease (mover_power ?m2) (/ (crate_distance ?c) 10)) ))
)
(:durative-action move-to-crate-fragile
; mover1 and mover2 go toward a fragile crate together
:parameters (?m1 - mover1 ?m2 - mover2 ?c - fragile)
:duration (= ?duration (/ (crate_distance ?c) 10))
:condition (and (at start (mover-empty ?m1))
(at start (mover-empty ?m2))
(at start (not (mover-near-crate ?m1 ?c)))
(at start (not (mover-near-crate ?m2 ?c)))
(over all (crate-at-warehouse ?c))
(at start (> (+(mover_power ?m1) 1)(/ (crate_distance ?c) 10)) )
(at start (> (+(mover_power ?m2) 1)(/ (crate_distance ?c) 10)) ))
:effect (and (at end (not (mover-at-loadingBay ?m1)))
(at end (not (mover-at-StationCharge ?m1)))
(at end (mover-near-crate ?m1 ?c))
(at end (not (mover-at-loadingBay ?m2)))
(at end (not (mover-at-StationCharge ?m2)))
(at end (mover-near-crate ?m2 ?c))
(at end (Decrease (mover_power ?m1) (/ (crate_distance ?c) 10)) )
(at end (Decrease (mover_power ?m2) (/ (crate_distance ?c) 10)) ))
)
(:durative-action pick-light-single
; moverx picks up a light crate
:parameters (?m - mover ?c - light)
:duration (= ?duration 1)
:condition (and (at start (mover-empty ?m))
(over all (mover-near-crate ?m ?c))
(at start (crate-at-warehouse ?c))
(at start (not (mover-at-loadingBay ?m)))
(at start (not (mover-at-StationCharge ?m)))
(at start (> (+(mover_power ?m) 1) 1)))
:effect (and (at end (not (mover-empty ?m)))
(at end (not (crate-at-warehouse ?c)))
(at end (carry-light-single ?m ?c))
(at end (Decrease (mover_power ?m) 1)))
)
(:durative-action pick-light-double
; mover1 and mover2 pick up a light crate together
:parameters (?m1 - mover1 ?m2 - mover2 ?c - light)
:duration (= ?duration 1)
:condition (and (at start (mover-empty ?m1))
(at start (mover-empty ?m2))
(over all (mover-near-crate ?m1 ?c))
(over all (mover-near-crate ?m2 ?c))
(at start (not (mover-at-loadingBay ?m1)))
(at start (not (mover-at-loadingBay ?m2)))
(at start (not (mover-at-StationCharge ?m1)))
(at start (not (mover-at-StationCharge ?m2)))
(at start (crate-at-warehouse ?c))
(at start (> (+(mover_power ?m1) 1) 1))
(at start (> (+(mover_power ?m2) 1) 1)))
:effect (and (at end (not (mover-empty ?m1)))
(at end (not (mover-empty ?m2)))
(at end (not (crate-at-warehouse ?c)))
(at end (carry-light-double ?m1 ?m2 ?c))
(at end (Decrease (mover_power ?m1) 1))
(at end (Decrease (mover_power ?m2) 1)))
)
(:durative-action pick-fragile
; mover1 and mover2 pick up a fragile crate together
:parameters (?m1 - mover1 ?m2 - mover2 ?c - fragile)
:duration (= ?duration 1)
:condition (and (at start (mover-empty ?m1))
(at start (mover-empty ?m2))
(at start (not (mover-at-loadingBay ?m1)))
(at start (not (mover-at-loadingBay ?m2)))
(at start (not (mover-at-StationCharge ?m1)))
(at start (not (mover-at-StationCharge ?m2)))
(over all (mover-near-crate ?m1 ?c))
(over all (mover-near-crate ?m2 ?c))
(at start (crate-at-warehouse ?c))
(at start (> (+(mover_power ?m1) 1) 1))
(at start (> (+(mover_power ?m2) 1) 1)))
:effect (and (at end (not (mover-empty ?m1)))
(at end (not (mover-empty ?m2)))
(at end (not (crate-at-warehouse ?c)))
(at end (carry-fragile ?m1 ?m2 ?c))
(at end (Decrease (mover_power ?m1) 1))
(at end (Decrease (mover_power ?m2) 1)))
)
(:durative-action drop-light-single
; moverx drops a light crate in the loadingBay
:parameters (?m - mover ?c - light ?d - loader)
:duration (= ?duration 1)
:condition (and (at start (carry-light-single ?m ?c))
(over all (mover-at-loadingBay ?m))
(at start (not (mover-empty ?m)))
(at start (loader-free ?d))
(at start (> (+(mover_power ?m) 1) 1)))
:effect (and (at start (not (carry-light-single ?m ?c)))
(at end (crate-at-loadingBay ?c))
(at end (mover-empty ?m))
(at end (not (loader-free ?d)))
(at end (Decrease (mover_power ?m) 1)))
)
(:durative-action drop-light-double
; mover1 and mover2 drop a light crate in the loadingBay together
:parameters (?m1 - mover1 ?m2 - mover2 ?c - light ?d - loader)
:duration (= ?duration 1)
:condition (and (at start (carry-light-double ?m1 ?m2 ?c))
(over all (mover-at-loadingBay ?m1))
(over all (mover-at-loadingBay ?m2))
(at start (not (mover-empty ?m1)))
(at start (not (mover-empty ?m2)))
(at start (loader-free ?d))
(at start (> (+(mover_power ?m1) 1) 1))
(at start (> (+(mover_power ?m2) 1) 1)))
:effect (and (at start (not (carry-light-double ?m1 ?m2 ?c)))
(at end (crate-at-loadingBay ?c))
(at end (mover-empty ?m1))
(at end (mover-empty ?m2))
(at end (not (loader-free ?d)))
(at end (Decrease (mover_power ?m1) 1))
(at end (Decrease (mover_power ?m2) 1)))
)
(:durative-action drop-fragile
; mover1 and mover2 drop a fragile crate in the loadingBay together
:parameters (?m1 - mover1 ?m2 - mover2 ?c - fragile ?d -loader)
:duration (= ?duration 1)
:condition (and (at start (carry-fragile ?m1 ?m2 ?c))
(over all (mover-at-loadingBay ?m1))
(over all (mover-at-loadingBay ?m2))
(at start (not (mover-empty ?m1)))
(at start (not (mover-empty ?m2)))
(at start (loader-free ?d))
(at start (> (+(mover_power ?m1) 1) 1))
(at start (> (+(mover_power ?m2) 1) 1)))
:effect (and (at start (not (carry-fragile ?m1 ?m2 ?c)))
(at end (crate-at-loadingBay ?c))
(at end (mover-empty ?m1))
(at end (mover-empty ?m2))
(at end (not (loader-free ?d)))
(at end (Decrease (mover_power ?m1) 1))
(at end (Decrease (mover_power ?m2) 1)))
)
(:durative-action pick-heavy
; mover1 and mover2 pick up a heavy crate together
:parameters (?m1 - mover1 ?m2 - mover2 ?c - heavy)
:duration (= ?duration 1)
:condition (and (at start (crate-at-warehouse ?c))
(over all (mover-near-crate ?m1 ?c))
(over all (mover-near-crate ?m2 ?c))
(at start (not (mover-at-loadingBay ?m1)))
(at start (not (mover-at-loadingBay ?m2)))
(at start (not (mover-at-StationCharge ?m1)))
(at start (not (mover-at-StationCharge ?m2)))
(at start (mover-empty ?m1))
(at start (mover-empty ?m2))
(at start (> (+(mover_power ?m1) 1) 1))
(at start (> (+(mover_power ?m2) 1) 1)))
:effect (and (at end (not (mover-empty ?m1)))
(at end (not (mover-empty ?m2)))
(at end (carry-heavy ?m1 ?m2 ?c))
(at end (not (crate-at-warehouse ?c)))
(at end (Decrease (mover_power ?m1) 1))
(at end (Decrease (mover_power ?m2) 1)))
)
(:durative-action drop-heavy
; mover1 and mover2 drop a heavy crate in the loadingBay together
:parameters (?m1 - mover1 ?m2 - mover2 ?c - heavy ?d -loader)
:duration (= ?duration 1)
:condition (and (at start (carry-heavy ?m1 ?m2 ?c))
(over all (mover-at-loadingBay ?m1))
(over all (mover-at-loadingBay ?m2))
(at start (not (mover-empty ?m1)))
(at start (not (mover-empty ?m1)))
(at start (loader-free ?d))
(at start (> (+(mover_power ?m1) 1) 1))
(at start (> (+(mover_power ?m2) 1) 1)))
:effect (and (at end (not (carry-heavy ?m1 ?m2 ?c)))
(at end (crate-at-loadingBay ?c))
(at end (mover-empty ?m1))
(at end (mover-empty ?m2))
(at end (not (loader-free ?d)))
(at end (Decrease (mover_power ?m1) 1))
(at end (Decrease (mover_power ?m2) 1)))
)
(:durative-action move-to-SationCharge
; moverx move to station Charge
:parameters (?m - mover )
:duration (= ?duration 2)
:condition (and (at start (not (mover-at-StationCharge ?m)))
)
:effect (and (at end (mover-at-StationCharge ?m))
(at end (not(mover-at-loadingBay ?m)))
(at end (Decrease (mover_power ?m) 1)))
)
(:durative-action Charge
; moverx move to station Charge
:parameters (?m - mover )
:duration (= ?duration 10)
:condition (and (at start (mover-at-StationCharge ?m)))
:effect (and (at end (mover-at-StationCharge ?m))
(at end (assign (mover_power ?m) 20)))
)
(:durative-action load
; loader loads a crate from loadingBay to the conveyorBelt
:parameters (?ld - loader ?c - crate)
:duration (= ?duration (* (crate_fragile ?c ) 4))
:condition (and (at start (crate-at-loadingBay ?c)))
:effect (and (at end (not (crate-at-loadingBay ?c)))
(at end (crate-at-conveyorBelt ?c))
(at start (not (loader-free ?ld)))
(at end (loader-free ?ld)))
)
)