Commit f990b022 authored by David Speck's avatar David Speck

add gripper domain

parent d618fd5e
domains = [
{'description': 'Colored Gripper is a sdac version of gripper.',
'name': 'colored-griper',
'problems': [
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p02.pddl', 'gripper-colored/sas/p02.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p03.pddl', 'gripper-colored/sas/p03.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p04.pddl', 'gripper-colored/sas/p04.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p05.pddl', 'gripper-colored/sas/p05.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p06.pddl', 'gripper-colored/sas/p06.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p07.pddl', 'gripper-colored/sas/p07.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p08.pddl', 'gripper-colored/sas/p08.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p09.pddl', 'gripper-colored/sas/p09.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p10.pddl', 'gripper-colored/sas/p10.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p11.pddl', 'gripper-colored/sas/p11.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p12.pddl', 'gripper-colored/sas/p12.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p13.pddl', 'gripper-colored/sas/p13.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p14.pddl', 'gripper-colored/sas/p14.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p15.pddl', 'gripper-colored/sas/p15.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p16.pddl', 'gripper-colored/sas/p16.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p17.pddl', 'gripper-colored/sas/p17.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p18.pddl', 'gripper-colored/sas/p18.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p19.pddl', 'gripper-colored/sas/p19.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p20.pddl', 'gripper-colored/sas/p20.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p21.pddl', 'gripper-colored/sas/p21.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p22.pddl', 'gripper-colored/sas/p22.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p23.pddl', 'gripper-colored/sas/p23.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p24.pddl', 'gripper-colored/sas/p24.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p25.pddl', 'gripper-colored/sas/p25.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p26.pddl', 'gripper-colored/sas/p26.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p27.pddl', 'gripper-colored/sas/p27.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p28.pddl', 'gripper-colored/sas/p28.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p29.pddl', 'gripper-colored/sas/p29.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p30.pddl', 'gripper-colored/sas/p30.sas'),
('gripper-colored/pddl/domain-sdac.pddl', 'gripper-colored/pddl/p31.pddl', 'gripper-colored/sas/p31.sas')
]}
]
(define (domain gripper-strips)
(:requirements :typing)
(:types ball room gripper)
(:predicates
(at-robby ?r - room)
(at ?b - ball ?r - room)
(free ?g - gripper)
(carry ?b - ball ?g - gripper)
(red ?b - ball)
(blue ?b - ball)
(blue_room ?r - room)
(red_room ?r - room)
)
(:functions
(total-cost) - number
)
(:action move
:parameters (?from - room ?to - room)
:precondition (at-robby ?from)
:effect (and (at-robby ?to) (not (at-robby ?from)) (increase (total-cost) 5))
;:cost (+
; (sum (?r - room ?b - ball) (and (at ?b ?r) (red ?b) (blue_room ?r)))
; (sum (?r - room ?b - ball) (and (at ?b ?r) (blue ?b) (red_room ?r)))
; )
)
(:action pick
:parameters (?b - ball ?r - room ?g - gripper)
:precondition (and (at ?b ?r) (at-robby ?r) (free ?g))
:effect (and (carry ?b ?g)
(not (at ?b ?r))
(not (free ?g)) (increase (total-cost) 0))
;:cost 0
)
(:action drop
:parameters (?b - ball ?r - room ?g - gripper)
:precondition (and (carry ?b ?g) (at-robby ?r))
:effect (and (at ?b ?r)
(free ?g)
(not (carry ?b ?g)) (increase (total-cost) 0))
;:cost 0
)
;(:action color-red
; :parameters (?b - ball)
; :precondition (blue ?b)
; :effect (and (red ?b) (not (blue ?b)) (increase (total-cost) 1))
; :cost 0
;)
;(:action color-blue
; :parameters (?b - ball)
; :precondition (red ?b)
; :effect (and (blue ?b) (not (red ?b)) (increase (total-cost) 1))
; :cost 0
;)
)
(define (problem strips-gripper-x-1)
(:domain gripper-strips)
(:objects
R - room
B - room
left - gripper
right - gripper
ball00 - ball
ball01 - ball
ball02 - ball
ball03 - ball
)
(:init
(blue_room B)
(red_room R)
(at-robby R)
(free left)
(free right)
(at ball00 R)
(at ball01 R)
(at ball02 R)
(at ball03 R)
(red ball00)
(red ball01)
(blue ball02)
(blue ball03)
)
(:goal (and
(at ball00 B)
(at ball01 B)
(at ball02 B)
(at ball03 B)
))
(:metric minimize (total-cost))
)
\ No newline at end of file
(define (problem strips-gripper-x-1)
(:domain gripper-strips)
(:objects
R - room
B - room
left - gripper
right - gripper
ball00 - ball
ball01 - ball
ball02 - ball
ball03 - ball
ball04 - ball
ball05 - ball
)
(:init
(blue_room B)
(red_room R)
(at-robby R)
(free left)
(free right)
(at ball00 R)
(at ball01 R)
(at ball02 R)
(at ball03 R)
(at ball04 R)
(at ball05 R)
(red ball00)
(red ball01)
(red ball02)
(blue ball03)
(blue ball04)
(blue ball05)
)
(:goal (and
(at ball00 B)
(at ball01 B)
(at ball02 B)
(at ball03 B)
(at ball04 B)
(at ball05 B)
))
(:metric minimize (total-cost))
)
\ No newline at end of file
(define (problem strips-gripper-x-1)
(:domain gripper-strips)
(:objects
R - room
B - room
left - gripper
right - gripper
ball00 - ball
ball01 - ball
ball02 - ball
ball03 - ball
ball04 - ball
ball05 - ball
ball06 - ball
ball07 - ball
)
(:init
(blue_room B)
(red_room R)
(at-robby R)
(free left)
(free right)
(at ball00 R)
(at ball01 R)
(at ball02 R)
(at ball03 R)
(at ball04 R)
(at ball05 R)
(at ball06 R)
(at ball07 R)
(red ball00)
(red ball01)
(red ball02)
(red ball03)
(blue ball04)
(blue ball05)
(blue ball06)
(blue ball07)
)
(:goal (and
(at ball00 B)
(at ball01 B)
(at ball02 B)
(at ball03 B)
(at ball04 B)
(at ball05 B)
(at ball06 B)
(at ball07 B)
))
(:metric minimize (total-cost))
)
\ No newline at end of file
(define (problem strips-gripper-x-1)
(:domain gripper-strips)
(:objects
R - room
B - room
left - gripper
right - gripper
ball00 - ball
ball01 - ball
ball02 - ball
ball03 - ball
ball04 - ball
ball05 - ball
ball06 - ball
ball07 - ball
ball08 - ball
ball09 - ball
)
(:init
(blue_room B)
(red_room R)
(at-robby R)
(free left)
(free right)
(at ball00 R)
(at ball01 R)
(at ball02 R)
(at ball03 R)
(at ball04 R)
(at ball05 R)
(at ball06 R)
(at ball07 R)
(at ball08 R)
(at ball09 R)
(red ball00)
(red ball01)
(red ball02)
(red ball03)
(red ball04)
(blue ball05)
(blue ball06)
(blue ball07)
(blue ball08)
(blue ball09)
)
(:goal (and
(at ball00 B)
(at ball01 B)
(at ball02 B)
(at ball03 B)
(at ball04 B)
(at ball05 B)
(at ball06 B)
(at ball07 B)
(at ball08 B)
(at ball09 B)
))
(:metric minimize (total-cost))
)
\ No newline at end of file
(define (problem strips-gripper-x-1)
(:domain gripper-strips)
(:objects
R - room
B - room
left - gripper
right - gripper
ball00 - ball
ball01 - ball
ball02 - ball
ball03 - ball
ball04 - ball
ball05 - ball
ball06 - ball
ball07 - ball
ball08 - ball
ball09 - ball
ball10 - ball
ball11 - ball
)
(:init
(blue_room B)
(red_room R)
(at-robby R)
(free left)
(free right)
(at ball00 R)
(at ball01 R)
(at ball02 R)
(at ball03 R)
(at ball04 R)
(at ball05 R)
(at ball06 R)
(at ball07 R)
(at ball08 R)
(at ball09 R)
(at ball10 R)
(at ball11 R)
(red ball00)
(red ball01)
(red ball02)
(red ball03)
(red ball04)
(red ball05)
(blue ball06)
(blue ball07)
(blue ball08)
(blue ball09)
(blue ball10)
(blue ball11)
)
(:goal (and
(at ball00 B)
(at ball01 B)
(at ball02 B)
(at ball03 B)
(at ball04 B)
(at ball05 B)
(at ball06 B)
(at ball07 B)
(at ball08 B)
(at ball09 B)
(at ball10 B)
(at ball11 B)
))
(:metric minimize (total-cost))
)
\ No newline at end of file
(define (problem strips-gripper-x-1)
(:domain gripper-strips)
(:objects
R - room
B - room
left - gripper
right - gripper
ball00 - ball
ball01 - ball
ball02 - ball
ball03 - ball
ball04 - ball
ball05 - ball
ball06 - ball
ball07 - ball
ball08 - ball
ball09 - ball
ball10 - ball
ball11 - ball
ball12 - ball
ball13 - ball
)
(:init
(blue_room B)
(red_room R)
(at-robby R)
(free left)
(free right)
(at ball00 R)
(at ball01 R)
(at ball02 R)
(at ball03 R)
(at ball04 R)
(at ball05 R)
(at ball06 R)
(at ball07 R)
(at ball08 R)
(at ball09 R)
(at ball10 R)
(at ball11 R)
(at ball12 R)
(at ball13 R)
(red ball00)
(red ball01)
(red ball02)
(red ball03)
(red ball04)
(red ball05)
(red ball06)
(blue ball07)
(blue ball08)
(blue ball09)
(blue ball10)
(blue ball11)
(blue ball12)
(blue ball13)
)
(:goal (and
(at ball00 B)
(at ball01 B)
(at ball02 B)
(at ball03 B)
(at ball04 B)
(at ball05 B)
(at ball06 B)
(at ball07 B)
(at ball08 B)
(at ball09 B)
(at ball10 B)
(at ball11 B)
(at ball12 B)
(at ball13 B)
))
(:metric minimize (total-cost))
)
\ No newline at end of file
(define (problem strips-gripper-x-1)
(:domain gripper-strips)
(:objects
R - room
B - room
left - gripper
right - gripper
ball00 - ball
ball01 - ball
ball02 - ball
ball03 - ball
ball04 - ball
ball05 - ball
ball06 - ball
ball07 - ball
ball08 - ball
ball09 - ball
ball10 - ball
ball11 - ball
ball12 - ball
ball13 - ball
ball14 - ball
ball15 - ball
)
(:init
(blue_room B)
(red_room R)
(at-robby R)
(free left)
(free right)
(at ball00 R)
(at ball01 R)
(at ball02 R)
(at ball03 R)
(at ball04 R)
(at ball05 R)
(at ball06 R)
(at ball07 R)
(at ball08 R)
(at ball09 R)
(at ball10 R)
(at ball11 R)
(at ball12 R)
(at ball13 R)
(at ball14 R)
(at ball15 R)
(red ball00)
(red ball01)
(red ball02)
(red ball03)
(red ball04)
(red ball05)
(red ball06)
(red ball07)
(blue ball08)
(blue ball09)
(blue ball10)
(blue ball11)
(blue ball12)
(blue ball13)
(blue ball14)
(blue ball15)
)
(:goal (and
(at ball00 B)
(at ball01 B)
(at ball02 B)
(at ball03 B)
(at ball04 B)
(at ball05 B)
(at ball06 B)
(at ball07 B)
(at ball08 B)
(at ball09 B)
(at ball10 B)
(at ball11 B)
(at ball12 B)
(at ball13 B)
(at ball14 B)
(at ball15 B)
))
(:metric minimize (total-cost))
)
\ No newline at end of file
(define (problem strips-gripper-x-1)
(:domain gripper-strips)
(:objects
R - room
B - room
left - gripper
right - gripper
ball00 - ball
ball01 - ball
ball02 - ball
ball03 - ball
ball04 - ball
ball05 - ball
ball06 - ball
ball07 - ball
ball08 - ball
ball09 - ball
ball10 - ball
ball11 - ball
ball12 - ball
ball13 - ball
ball14 - ball
ball15 - ball
ball16 - ball
ball17 - ball
)
(:init
(blue_room B)
(red_room R)
(at-robby R)
(free left)
(free right)
(at ball00 R)
(at ball01 R)
(at ball02 R)
(at ball03 R)
(at ball04 R)
(at ball05 R)
(at ball06 R)
(at ball07 R)
(at ball08 R)
(at ball09 R)
(at ball10 R)
(at ball11 R)
(at ball12 R)
(at ball13 R)
(at ball14 R)
(at ball15 R)
(at ball16 R)
(at ball17 R)
(red ball00)
(red ball01)
(red ball02)
(red ball03)
(red ball04)
(red ball05)
(red ball06)
(red ball07)
(red ball08)
(blue ball09)
(blue ball10)
(blue ball11)
(blue ball12)
(blue ball13)
(blue ball14)
(blue ball15)
(blue ball16)
(blue ball17)
)
(:goal (and
(at ball00 B)
(at ball01 B)
(at ball02 B)
(at ball03 B)
(at ball04 B)
(at ball05 B)
(at ball06 B)
(at ball07 B)
(at ball08 B)
(at ball09 B)
(at ball10 B)
(at ball11 B)
(at ball12 B)
(at ball13 B)
(at ball14 B)
(at ball15 B)
(at ball16 B)
(at ball17 B)
))
(:metric minimize (total-cost))
)
\ No newline at end of file
(define (problem strips-gripper-x-1)
(:domain gripper-strips)
(:objects
R - room
B - room
left - gripper
right - gripper
ball00 - ball
ball01 - ball
ball02 - ball
ball03 - ball
ball04 - ball
ball05 - ball
ball06 - ball
ball07 - ball
ball08 - ball
ball09 - ball
ball10 - ball
ball11 - ball
ball12 - ball
ball13 - ball
ball14 - ball
ball15 - ball
ball16 - ball
ball17 - ball
ball18 - ball
ball19 - ball
)
(:init
(blue_room B)
(red_room R)
(at-robby R)
(free left)
(free right)
(at ball00 R)
(at ball01 R)
(at ball02 R)
(at ball03 R)
(at ball04 R)
(at ball05 R)
(at ball06 R)
(at ball07 R)
(at ball08 R)
(at ball09 R)
(at ball10 R)
(at ball11 R)
(at ball12 R)
(at ball13 R)
(at ball14 R)
(at ball15 R)
(at ball16 R)
(at ball17 R)
(at ball18 R)
(at ball19 R)
(red ball00)
(red ball01)
(red ball02)
(red ball03)
(red ball04)
(red ball05)
(red ball06)
(red ball07)
(red ball08)
(red ball09)
(blue ball10)
(blue ball11)
(blue ball12)
(blue ball13)
(blue ball14)
(blue ball15)
(blue ball16)
(blue ball17)
(blue ball18)
(blue ball19)
)
(:goal (and
(at ball00 B)
(at ball01 B)
(at ball02 B)
(at ball03 B)
(at ball04 B)
(at ball05 B)
(at ball06 B)
(at ball07 B)
(at ball08 B)
(at ball09 B)
(at ball10 B)
(at ball11 B)
(at ball12 B)
(at ball13 B)
(at ball14 B)
(at ball15 B)
(at ball16 B)
(at ball17 B)
(at ball18 B)
(at ball19 B)
))
(:metric minimize (total-cost))
)
\ No newline at end of file
(define (problem strips-gripper-x-1)
(:domain gripper-strips)
(:objects
R - room
B - room
left - gripper
right - gripper
ball00 - ball
ball01 - ball
ball02 - ball
ball03 - ball
ball04 - ball
ball05 - ball
ball06 - ball
ball07 - ball
ball08 - ball
ball09 - ball
ball10 - ball
ball11 - ball
ball12 - ball
ball13 - ball
ball14 - ball
ball15 - ball
ball16 - ball
ball17 - ball
ball18 - ball
ball19 - ball