aiddl-test.planning.state-variable.dock-worker-robot.domain.aiddl Maven / Gradle / Ivy

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Provides common types and algorithm implementations for the fast prototyping integrative AI systems with the AIDDL framework.

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;; AIDDL version of the 'Dock Worker Robot' domain described in:
;; Automated Planning - Theory and Praxis
;; by Malik Ghallab and Dana Nau and Paolo Traverso
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
(#mod self org.aiddl.test.planning.state-variable.dwr)

(#req SVP org.aiddl.common.planning.state-variable)

(^Operator@SVP move
  (
    name:(move ?r ?l ?m)
    signature:{?r:t_robot ?l:t_location ?m:t_location}
    preconditions:{
      (adjacent ?l ?m) : true
      (at ?r ?l) : true
      (occupied ?m) : false
    }
    effects:{
      (at ?r ?m) : true
      (occupied ?m) : true
      (occupied ?l) : false
      (at ?r ?l) : false
    }
  )
)

(^Operator@SVP load
  (
    name:(load ?k ?l ?c ?r)
    signature:{?k:t_crane ?l:t_location ?c:t_container ?r:t_robot}
    preconditions:{
      (belong ?k ?l) : true
      (holding ?k ?c) : true
      (at ?r ?l) : true
      (unloaded ?r) : true
    }
    effects:{
      (empty ?k) : true
      (holding ?k ?c) : false
      (loaded ?r ?c) : true
      (unloaded ?r) : false
    }
  )
)

(^Operator@SVP unload
  (
    name:(unload ?k ?l ?r ?c)
    signature:{?k:t_crane ?l:t_location ?c:t_container ?r:t_robot}
    preconditions:{
      (belong ?k ?l) : true
      (at ?r ?l) : true
      (loaded ?r ?c) : true
      (empty ?k) : true
    }
    effects:{
      (empty ?k) : false
      (holding ?k ?c) : true
      (unloaded ?r) : true
      (loaded ?r ?c) : false
    }
  )
)

(^Operator@SVP put
  (
    name:(put ?k ?l ?c ?d ?p)
    signature:{?k:t_crane ?l:t_location ?c:t_container ?d:t_container ?p:t_pile} 
    preconditions:{
      (belong ?k ?l) : true
      (attached ?p ?l) : true
      (holding ?k ?c) : true
      (top ?d ?p) : true
    }
    effects:{
      (holding ?k ?c) : false
      (empty ?k) : true
      (in ?c ?p) : true
      (top ?c ?p) : true
      (on ?c ?d) : true
      (top ?d ?p) : false
    }
  )
)

(^Operator@SVP take
  (
    name:(take ?k ?l ?c ?d ?p)
    signature:{?k:t_crane ?l:t_location ?c:t_container ?d:t_container ?p:t_pile}    
    preconditions:{
      (belong ?k ?l) : true
      (attached ?p ?l) : true
      (empty ?k) : true
      (top ?c ?p) : true
      (on ?c ?d) : true
    }
    effects:{
      (holding ?k ?c) : true
      (empty ?k) : false
      (in ?c ?p) : false
      (top ?c ?p) : false
      (on ?c ?d) : false
      (top ?d ?p) : true
    }
  )
)

(^Operators@SVP O {$move $load $unload $put $take})