(define
(domain swiat-paczek)
(:requirements
:adl
)
(:predicates
(na-gorze ?x ?y)
(na-ziemii ?x)
(czysta ?x)
(podniesiona ?x)
)
(:action podnies-z-paczki
:parameters (?x ?y)
:precondition
(and
(not (exists (?z) (podniesiona ?z)))
(czysta ?x)
(na-gorze ?x ?y)
)
:effect
(and
(not (na-gorze ?x ?y))
(podniesiona ?x)
(not (czysta ?x))
(czysta ?y)
)
)
(:action podnies-z-ziemii
:parameters (?x)
:precondition
(and
(not (exists (?z) (podniesiona ?z)))
(na-ziemii ?x)
(not (exists (?z) (na-gorze ?z ?x)))
)
:effect
(and
(not (na-ziemii ?x))
(podniesiona ?x)
(not (czysta ?x))
)
)
(:action opusc-na-paczke
:parameters (?y ?x)
:precondition
(and
(podniesiona ?x)
(czysta ?y)
)
:effect
(and
(na-gorze ?x ?y)
(not (podniesiona ?x))
(not (czysta ?y))
(czysta ?x)
)
)
(:action opusc-na-ziemie
:parameters (?x)
:precondition
(and
(podniesiona ?x)
)
:effect
(and
(na-ziemii ?x)
(not (podniesiona ?x))
(czysta ?x)
)
)
)
================================================================================================
(define
(problem p1)
(:domain swiat-paczek)
(:objects a b c d e f g h)
(:init
(na-ziemii a)
(na-ziemii b)
(na-ziemii c)
(na-ziemii d)
(na-ziemii e)
(na-ziemii f)
(na-ziemii g)
(na-ziemii h)
(czysta a)
(czysta b)
(czysta c)
(czysta d)
(czysta e)
(czysta f)
(czysta g)
(czysta h)
)
(:goal
(and
(not (exists (?x) (and (na-ziemii ?x) (czysta ?x) )))
(exists (?x) (forall (?y) ()))
)
)
)
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