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domain.pddl
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domain.pddl
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(define (domain assignment)
(:requirements :strips :adl :typing)
(:types
loader mover - robot
crate
cheap expensive - loader
)
(:predicates
(free ?r - robot)
(mover_at_bay ?m - mover)
(crate_at_bay ?c - crate)
(free_bay)
(crate_fragile ?c - crate)
(mover_at_crate ?m - mover ?c - crate)
(going_to_crate ?m - mover ?c - crate)
(going_to_bay ?m - mover)
(going_to_bay_fast ?m - mover)
(crate_on_mover ?m - mover ?c - crate)
(crate_on_loader ?l - loader ?c - crate)
(mover_together ?m - mover)
(wait_for_free_bay ?m - mover)
(loading_crate ?l - loader)
(crate_on_conveyor ?c - crate)
(crate_at_warehouse ?c - crate)
(last_crate_loaded ?c - crate)
(subsequent_crates ?c1 - crate ?c2 - crate)
(wait_first_crate)
(crate_need_sequence ?c - crate)
(going_to_recharge ?m - mover)
(recharging ?m)
)
(:functions
(weight ?c - crate)
(distance ?o)
(charge ?m - mover)
(loading_time ?l - loader)
(max_charge)
(max_light_weight)
)
(:action go_to_crate
:parameters (?m - mover ?c -crate)
:precondition (and
(crate_at_warehouse ?c)
(mover_at_bay ?m)
(free ?m))
:effect (and
(going_to_crate ?m ?c)
(not (free ?m))
(not (mover_at_bay ?m))
)
)
(:process move_to_crate
:parameters (?m - mover ?c -crate)
:precondition (and
(> (charge ?m) 0)
(going_to_crate ?m ?c))
:effect (and
(decrease (charge ?m) #t)
(increase (distance ?m) (* #t 10))
)
)
(:event robot_at_crate
:parameters (?m - mover ?c -crate)
:precondition (and
(going_to_crate ?m ?c)
(= (distance ?m) (distance ?c))
)
:effect (and
(not (going_to_crate ?m ?c))
(mover_at_crate ?m ?c)
(free ?m)
)
)
(:action grab_one_mover
:parameters (?m - mover ?c - crate)
:precondition (and
(<= (weight ?c) (max_light_weight))
(not (crate_fragile ?c))
(crate_at_warehouse ?c)
(free ?m)
(mover_at_crate ?m ?c))
:effect (and
(not (crate_at_warehouse ?c))
(not (mover_at_crate ?m ?c))
(going_to_bay ?m)
(crate_on_mover ?m ?c)
(not (free ?m)))
)
(:action grab_two_movers
:parameters (?m1 ?m2 - mover ?c - crate)
:precondition (and
(free ?m1)
(free ?m2)
(or
(> (weight ?c) (max_light_weight))
(crate_fragile ?c)
)
(crate_at_warehouse ?c)
(mover_at_crate ?m1 ?c)
(mover_at_crate ?m2 ?c)
(not (= ?m1 ?m2)))
:effect (and
(not (crate_at_warehouse ?c))
(not (mover_at_crate ?m1 ?c))
(not (mover_at_crate ?m2 ?c))
(mover_together ?m1)
(mover_together ?m2)
(going_to_bay ?m1)
(going_to_bay ?m2)
(crate_on_mover ?m1 ?c)
(crate_on_mover ?m2 ?c)
(not (free ?m1))
(not (free ?m2)))
)
(:action grab_two_movers_fast
:parameters (?m1 ?m2 - mover ?c - crate)
:precondition (and
(free ?m1)
(free ?m2)
(<= (weight ?c) (max_light_weight))
(crate_at_warehouse ?c)
(not (crate_fragile ?c))
(mover_at_crate ?m1 ?c)
(mover_at_crate ?m2 ?c)
(not (= ?m1 ?m2)))
:effect (and
(not (crate_at_warehouse ?c))
(not (mover_at_crate ?m1 ?c))
(not (mover_at_crate ?m2 ?c))
(mover_together ?m1)
(mover_together ?m2)
(going_to_bay_fast ?m1)
(going_to_bay_fast ?m2)
(crate_on_mover ?m1 ?c)
(crate_on_mover ?m2 ?c)
(not (free ?m1))
(not (free ?m2)))
)
(:process move_to_bay_normal_speed
:parameters (?m - mover ?c - crate)
:precondition (and
(> (charge ?m) 0)
(crate_on_mover ?m ?c)
(going_to_bay ?m))
:effect (and
(decrease (charge ?m) #t)
(decrease (distance ?m) (* #t (/ 100 (weight ?c))))
)
)
(:process move_to_bay_fast_speed
:parameters (?m - mover ?c - crate)
:precondition (and
(> (charge ?m) 0)
(crate_on_mover ?m ?c)
(going_to_bay_fast ?m))
:effect (and
(decrease (charge ?m) #t)
(decrease (distance ?m) (* #t (/ 150 (weight ?c))))
)
)
(:event arrived_to_bay
:parameters (?m - mover ?c -crate)
:precondition (and
(free_bay)
(crate_on_mover ?m ?c)
(or
(going_to_bay ?m)
(going_to_bay_fast ?m)
)
(<= (distance ?m) 0))
:effect (and
(assign (distance ?m) 0)
(not (going_to_bay ?m))
(not (going_to_bay_fast ?m)))
)
(:event arrived_to_busy_bay
:parameters (?m - mover ?c -crate)
:precondition (and
(not (free_bay))
(crate_on_mover ?m ?c)
(or
(going_to_bay ?m)
(going_to_bay_fast ?m)
)
(<= (distance ?m) 0))
:effect (and
(assign (distance ?m) 0)
(not (going_to_bay ?m))
(not (going_to_bay_fast ?m))
(wait_for_free_bay ?m))
)
(:process wait_bay_free
:parameters (?m - mover)
:precondition (wait_for_free_bay ?m)
:effect ()
)
(:event stop_waiting_for_free_bay
:parameters (?m - mover ?c -crate)
:precondition (and
(free_bay)
(wait_for_free_bay ?m))
:effect (not (wait_for_free_bay ?m))
)
(:action release_one_mover
:parameters (?m - mover ?c - crate)
:precondition (and
(<= (weight ?c) (max_light_weight))
(not (crate_fragile ?c))
(not (wait_for_free_bay ?m))
(not (mover_together ?m))
(crate_on_mover ?m ?c)
(= (distance ?m) 0))
:effect (and
(mover_at_bay ?m)
(not (free_bay))
(crate_at_bay ?c)
(not (crate_on_mover ?m ?c))
(free ?m))
)
(:action release_two_movers
:parameters (?m1 ?m2 - mover ?c - crate)
:precondition (and
(not (wait_for_free_bay ?m1))
(not (wait_for_free_bay ?m2))
(crate_on_mover ?m1 ?c)
(crate_on_mover ?m2 ?c)
(= (distance ?m1) 0)
(= (distance ?m2) 0)
(mover_together ?m1)
(mover_together ?m2)
(not (= ?m1 ?m2)))
:effect (and
(mover_at_bay ?m1)
(mover_at_bay ?m2)
(not (free_bay))
(crate_at_bay ?c)
(not (crate_on_mover ?m1 ?c))
(not (crate_on_mover ?m2 ?c))
(free ?m1)
(free ?m2))
)
(:action start_charging
:parameters (?m - mover)
:precondition (and
(mover_at_bay ?m)
(< (charge ?m) (max_charge))
)
:effect (and
(not (free ?m))
(recharging ?m))
)
(:process recharge_battery
:parameters (?m - mover)
:precondition (and
(recharging ?m)
)
:effect (increase (charge ?m) #t)
)
(:event charge_complete
:parameters (?m - mover)
:precondition (and
(recharging ?m)
(= (charge ?m) (max_charge))
)
:effect (and
(free ?m)
(not (recharging ?m)))
)
(:action load_crate_expensive
:parameters (?l - expensive ?c - crate)
:precondition (and
(crate_at_bay ?c)
(not (loading_crate ?l))
)
:effect (and
(assign (loading_time ?l) 0)
(free_bay)
(not (crate_at_bay ?c))
(loading_crate ?l)
(crate_on_loader ?l ?c))
)
(:action load_crate_cheap
:parameters (?l - cheap ?c - crate)
:precondition (and
(<= (weight ?c) (max_light_weight))
(crate_at_bay ?c)
(not (loading_crate ?l)))
:effect (and
(assign (loading_time ?l) 0)
(free_bay)
(not (crate_at_bay ?c))
(loading_crate ?l)
(crate_on_loader ?l ?c))
)
(:process load_to_conveyor
:parameters (?l - loader)
:precondition (and
(loading_crate ?l))
:effect (and
(increase (loading_time ?l) #t)
)
)
(:event release_on_conveyor
:parameters (?l - loader ?c -crate)
:precondition (and
(loading_crate ?l)
(crate_on_loader ?l ?c)
(not (crate_fragile ?c))
(>= (loading_time ?l) 4))
:effect (and
(not (loading_crate ?l))
(not (crate_on_loader ?l ?c))
(crate_on_conveyor ?c)
(crate_need_sequence ?c)
)
)
(:event release_on_conveyor_fragile
:parameters (?l - loader ?c -crate)
:precondition (and
(loading_crate ?l)
(crate_on_loader ?l ?c)
(crate_fragile ?c)
(>= (loading_time ?l) 6))
:effect (and
(not (loading_crate ?l))
(not (crate_on_loader ?l ?c))
(crate_on_conveyor ?c)
(crate_need_sequence ?c)
)
)
(:event create_sequence
:parameters (?c - crate)
:precondition (and
(wait_first_crate)
(crate_on_conveyor ?c))
:effect (and
(not (wait_first_crate))
(last_crate_loaded ?c)
(not (crate_need_sequence ?c))
)
)
(:event manage_sequence
:parameters (?c1 ?c2 - crate)
:precondition (and
(crate_need_sequence ?c2)
(last_crate_loaded ?c1)
)
:effect (and
(not (crate_need_sequence ?c2))
(subsequent_crates ?c1 ?c2)
(subsequent_crates ?c2 ?c1)
(last_crate_loaded ?c2)
(not (last_crate_loaded ?c1))
)
)
(:action need_recharge_one_mover
:parameters (?m - mover ?c -crate)
:precondition (and
(not (mover_together ?m))
(> (distance ?m) (/ 100 (weight ?c)))
(= (charge ?m) 1)
(going_to_bay ?m)
(crate_on_mover ?m ?c))
:effect (and
(assign (distance ?c) (distance ?m))
(not (crate_on_mover ?m ?c))
(going_to_recharge ?m)
(crate_at_warehouse ?c)
)
)
(:action need_recharge_two_movers
:parameters (?m1 ?m2 - mover ?c -crate)
:precondition (and
(> (distance ?m1) (/ 100 (weight ?c)))
(or
(= (charge ?m1) 1)
(= (charge ?m2) 1)
)
(crate_on_mover ?m1 ?c)
(crate_on_mover ?m2 ?c)
(mover_together ?m1)
(mover_together ?m2)
(going_to_bay ?m1)
(going_to_bay ?m2)
(not (= ?m1 ?m2)))
:effect (and
(assign (distance ?c) (distance ?m1))
(not (crate_on_mover ?m1 ?c))
(not (crate_on_mover ?m2 ?c))
(not (mover_together ?m1))
(not (mover_together ?m2))
(going_to_recharge ?m1)
(going_to_recharge ?m2)
(crate_at_warehouse ?c)
)
)
(:process move_to_charge
:parameters (?m - mover)
:precondition (and
(> (charge ?m) 0)
(going_to_recharge ?m))
:effect (and
(decrease (charge ?m) #t)
(decrease (distance ?m) (* #t 10))
)
)
(:event mover_at_charge
:parameters (?m - mover)
:precondition (and
(going_to_recharge ?m)
(<= (distance ?m) 0)
)
:effect (and
(not (going_to_recharge ?m))
(mover_at_bay ?m)
)
)
)