domain
stringclasses 1
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stringlengths 202
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(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j h l a e g k d c f i)
(:init
(handempty)
(ontable j)
(ontable h)
(ontable l)
(ontable a)
(ontable e)
(ontable g)
(ontable k)
(ontable d)
(ontable c)
(ontable f)
(ontable i)
(clear j)
(clear h)
(clear l)
(clear a)
(clear e)
(clear g)
(clear k)
(clear d)
(clear c)
(clear f)
(clear i)
)
(:goal
(and
(on j h)
(on h l)
(on l a)
(on a e)
(on e g)
(on g k)
(on k d)
(on d c)
(on c f)
(on f i)
)))
|
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects l e c)
(:init
(handempty)
(ontable l)
(ontable e)
(ontable c)
(clear l)
(clear e)
(clear c)
)
(:goal
(and
(on l e)
(on e c)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects k j e c b f d l a g)
(:init
(handempty)
(ontable k)
(ontable j)
(ontable e)
(ontable c)
(ontable b)
(ontable f)
(ontable d)
(ontable l)
(ontable a)
(ontable g)
(clear k)
(clear j)
(clear e)
(clear c)
(clear b)
(clear f)
(clear d)
(clear l)
(clear a)
(clear g)
)
(:goal
(and
(on k j)
(on j e)
(on e c)
(on c b)
(on b f)
(on f d)
(on d l)
(on l a)
(on a g)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j a c e l)
(:init
(handempty)
(ontable j)
(ontable a)
(ontable c)
(ontable e)
(ontable l)
(clear j)
(clear a)
(clear c)
(clear e)
(clear l)
)
(:goal
(and
(on j a)
(on a c)
(on c e)
(on e l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects e k d a g c b l)
(:init
(handempty)
(ontable e)
(ontable k)
(ontable d)
(ontable a)
(ontable g)
(ontable c)
(ontable b)
(ontable l)
(clear e)
(clear k)
(clear d)
(clear a)
(clear g)
(clear c)
(clear b)
(clear l)
)
(:goal
(and
(on e k)
(on k d)
(on d a)
(on a g)
(on g c)
(on c b)
(on b l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects c i k a e g j d)
(:init
(handempty)
(ontable c)
(ontable i)
(ontable k)
(ontable a)
(ontable e)
(ontable g)
(ontable j)
(ontable d)
(clear c)
(clear i)
(clear k)
(clear a)
(clear e)
(clear g)
(clear j)
(clear d)
)
(:goal
(and
(on c i)
(on i k)
(on k a)
(on a e)
(on e g)
(on g j)
(on j d)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects d h i e)
(:init
(handempty)
(ontable d)
(ontable h)
(ontable i)
(ontable e)
(clear d)
(clear h)
(clear i)
(clear e)
)
(:goal
(and
(on d h)
(on h i)
(on i e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects f g a c d h k j b e i l)
(:init
(handempty)
(ontable f)
(ontable g)
(ontable a)
(ontable c)
(ontable d)
(ontable h)
(ontable k)
(ontable j)
(ontable b)
(ontable e)
(ontable i)
(ontable l)
(clear f)
(clear g)
(clear a)
(clear c)
(clear d)
(clear h)
(clear k)
(clear j)
(clear b)
(clear e)
(clear i)
(clear l)
)
(:goal
(and
(on f g)
(on g a)
(on a c)
(on c d)
(on d h)
(on h k)
(on k j)
(on j b)
(on b e)
(on e i)
(on i l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a h f k e l b)
(:init
(handempty)
(ontable a)
(ontable h)
(ontable f)
(ontable k)
(ontable e)
(ontable l)
(ontable b)
(clear a)
(clear h)
(clear f)
(clear k)
(clear e)
(clear l)
(clear b)
)
(:goal
(and
(on a h)
(on h f)
(on f k)
(on k e)
(on e l)
(on l b)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects c d g b h)
(:init
(handempty)
(ontable c)
(ontable d)
(ontable g)
(ontable b)
(ontable h)
(clear c)
(clear d)
(clear g)
(clear b)
(clear h)
)
(:goal
(and
(on c d)
(on d g)
(on g b)
(on b h)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects i f h g d e a c j l)
(:init
(handempty)
(ontable i)
(ontable f)
(ontable h)
(ontable g)
(ontable d)
(ontable e)
(ontable a)
(ontable c)
(ontable j)
(ontable l)
(clear i)
(clear f)
(clear h)
(clear g)
(clear d)
(clear e)
(clear a)
(clear c)
(clear j)
(clear l)
)
(:goal
(and
(on i f)
(on f h)
(on h g)
(on g d)
(on d e)
(on e a)
(on a c)
(on c j)
(on j l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects k a f c d l i h e j)
(:init
(handempty)
(ontable k)
(ontable a)
(ontable f)
(ontable c)
(ontable d)
(ontable l)
(ontable i)
(ontable h)
(ontable e)
(ontable j)
(clear k)
(clear a)
(clear f)
(clear c)
(clear d)
(clear l)
(clear i)
(clear h)
(clear e)
(clear j)
)
(:goal
(and
(on k a)
(on a f)
(on f c)
(on c d)
(on d l)
(on l i)
(on i h)
(on h e)
(on e j)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects g b f)
(:init
(handempty)
(ontable g)
(ontable b)
(ontable f)
(clear g)
(clear b)
(clear f)
)
(:goal
(and
(on g b)
(on b f)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects l e d g a h c k b i j f)
(:init
(handempty)
(ontable l)
(ontable e)
(ontable d)
(ontable g)
(ontable a)
(ontable h)
(ontable c)
(ontable k)
(ontable b)
(ontable i)
(ontable j)
(ontable f)
(clear l)
(clear e)
(clear d)
(clear g)
(clear a)
(clear h)
(clear c)
(clear k)
(clear b)
(clear i)
(clear j)
(clear f)
)
(:goal
(and
(on l e)
(on e d)
(on d g)
(on g a)
(on a h)
(on h c)
(on c k)
(on k b)
(on b i)
(on i j)
(on j f)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j h e)
(:init
(handempty)
(ontable j)
(ontable h)
(ontable e)
(clear j)
(clear h)
(clear e)
)
(:goal
(and
(on j h)
(on h e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects e c g b f)
(:init
(handempty)
(ontable e)
(ontable c)
(ontable g)
(ontable b)
(ontable f)
(clear e)
(clear c)
(clear g)
(clear b)
(clear f)
)
(:goal
(and
(on e c)
(on c g)
(on g b)
(on b f)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects h d f j i)
(:init
(handempty)
(ontable h)
(ontable d)
(ontable f)
(ontable j)
(ontable i)
(clear h)
(clear d)
(clear f)
(clear j)
(clear i)
)
(:goal
(and
(on h d)
(on d f)
(on f j)
(on j i)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects l c b f j d a h)
(:init
(handempty)
(ontable l)
(ontable c)
(ontable b)
(ontable f)
(ontable j)
(ontable d)
(ontable a)
(ontable h)
(clear l)
(clear c)
(clear b)
(clear f)
(clear j)
(clear d)
(clear a)
(clear h)
)
(:goal
(and
(on l c)
(on c b)
(on b f)
(on f j)
(on j d)
(on d a)
(on a h)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects k j a c l h i)
(:init
(handempty)
(ontable k)
(ontable j)
(ontable a)
(ontable c)
(ontable l)
(ontable h)
(ontable i)
(clear k)
(clear j)
(clear a)
(clear c)
(clear l)
(clear h)
(clear i)
)
(:goal
(and
(on k j)
(on j a)
(on a c)
(on c l)
(on l h)
(on h i)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects c j g f)
(:init
(handempty)
(ontable c)
(ontable j)
(ontable g)
(ontable f)
(clear c)
(clear j)
(clear g)
(clear f)
)
(:goal
(and
(on c j)
(on j g)
(on g f)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects c j e h i f)
(:init
(handempty)
(ontable c)
(ontable j)
(ontable e)
(ontable h)
(ontable i)
(ontable f)
(clear c)
(clear j)
(clear e)
(clear h)
(clear i)
(clear f)
)
(:goal
(and
(on c j)
(on j e)
(on e h)
(on h i)
(on i f)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a e b k h c f i d g)
(:init
(handempty)
(ontable a)
(ontable e)
(ontable b)
(ontable k)
(ontable h)
(ontable c)
(ontable f)
(ontable i)
(ontable d)
(ontable g)
(clear a)
(clear e)
(clear b)
(clear k)
(clear h)
(clear c)
(clear f)
(clear i)
(clear d)
(clear g)
)
(:goal
(and
(on a e)
(on e b)
(on b k)
(on k h)
(on h c)
(on c f)
(on f i)
(on i d)
(on d g)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j f i e b l g d)
(:init
(handempty)
(ontable j)
(ontable f)
(ontable i)
(ontable e)
(ontable b)
(ontable l)
(ontable g)
(ontable d)
(clear j)
(clear f)
(clear i)
(clear e)
(clear b)
(clear l)
(clear g)
(clear d)
)
(:goal
(and
(on j f)
(on f i)
(on i e)
(on e b)
(on b l)
(on l g)
(on g d)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j a g)
(:init
(handempty)
(ontable j)
(ontable a)
(ontable g)
(clear j)
(clear a)
(clear g)
)
(:goal
(and
(on j a)
(on a g)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a l h b e c k f g)
(:init
(handempty)
(ontable a)
(ontable l)
(ontable h)
(ontable b)
(ontable e)
(ontable c)
(ontable k)
(ontable f)
(ontable g)
(clear a)
(clear l)
(clear h)
(clear b)
(clear e)
(clear c)
(clear k)
(clear f)
(clear g)
)
(:goal
(and
(on a l)
(on l h)
(on h b)
(on b e)
(on e c)
(on c k)
(on k f)
(on f g)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects f k l i h d a g b e c j)
(:init
(handempty)
(ontable f)
(ontable k)
(ontable l)
(ontable i)
(ontable h)
(ontable d)
(ontable a)
(ontable g)
(ontable b)
(ontable e)
(ontable c)
(ontable j)
(clear f)
(clear k)
(clear l)
(clear i)
(clear h)
(clear d)
(clear a)
(clear g)
(clear b)
(clear e)
(clear c)
(clear j)
)
(:goal
(and
(on f k)
(on k l)
(on l i)
(on i h)
(on h d)
(on d a)
(on a g)
(on g b)
(on b e)
(on e c)
(on c j)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects k g j e b)
(:init
(handempty)
(ontable k)
(ontable g)
(ontable j)
(ontable e)
(ontable b)
(clear k)
(clear g)
(clear j)
(clear e)
(clear b)
)
(:goal
(and
(on k g)
(on g j)
(on j e)
(on e b)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects e d b i)
(:init
(handempty)
(ontable e)
(ontable d)
(ontable b)
(ontable i)
(clear e)
(clear d)
(clear b)
(clear i)
)
(:goal
(and
(on e d)
(on d b)
(on b i)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects c e f i a d l)
(:init
(handempty)
(ontable c)
(ontable e)
(ontable f)
(ontable i)
(ontable a)
(ontable d)
(ontable l)
(clear c)
(clear e)
(clear f)
(clear i)
(clear a)
(clear d)
(clear l)
)
(:goal
(and
(on c e)
(on e f)
(on f i)
(on i a)
(on a d)
(on d l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects i l g e b c k a d)
(:init
(handempty)
(ontable i)
(ontable l)
(ontable g)
(ontable e)
(ontable b)
(ontable c)
(ontable k)
(ontable a)
(ontable d)
(clear i)
(clear l)
(clear g)
(clear e)
(clear b)
(clear c)
(clear k)
(clear a)
(clear d)
)
(:goal
(and
(on i l)
(on l g)
(on g e)
(on e b)
(on b c)
(on c k)
(on k a)
(on a d)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a i c b e j k l g d h)
(:init
(handempty)
(ontable a)
(ontable i)
(ontable c)
(ontable b)
(ontable e)
(ontable j)
(ontable k)
(ontable l)
(ontable g)
(ontable d)
(ontable h)
(clear a)
(clear i)
(clear c)
(clear b)
(clear e)
(clear j)
(clear k)
(clear l)
(clear g)
(clear d)
(clear h)
)
(:goal
(and
(on a i)
(on i c)
(on c b)
(on b e)
(on e j)
(on j k)
(on k l)
(on l g)
(on g d)
(on d h)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects b d e g)
(:init
(handempty)
(ontable b)
(ontable d)
(ontable e)
(ontable g)
(clear b)
(clear d)
(clear e)
(clear g)
)
(:goal
(and
(on b d)
(on d e)
(on e g)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects i h j e g b k f c d)
(:init
(handempty)
(ontable i)
(ontable h)
(ontable j)
(ontable e)
(ontable g)
(ontable b)
(ontable k)
(ontable f)
(ontable c)
(ontable d)
(clear i)
(clear h)
(clear j)
(clear e)
(clear g)
(clear b)
(clear k)
(clear f)
(clear c)
(clear d)
)
(:goal
(and
(on i h)
(on h j)
(on j e)
(on e g)
(on g b)
(on b k)
(on k f)
(on f c)
(on c d)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects d l e c)
(:init
(handempty)
(ontable d)
(ontable l)
(ontable e)
(ontable c)
(clear d)
(clear l)
(clear e)
(clear c)
)
(:goal
(and
(on d l)
(on l e)
(on e c)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects d e c g)
(:init
(handempty)
(ontable d)
(ontable e)
(ontable c)
(ontable g)
(clear d)
(clear e)
(clear c)
(clear g)
)
(:goal
(and
(on d e)
(on e c)
(on c g)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects d g i j l e b f)
(:init
(handempty)
(ontable d)
(ontable g)
(ontable i)
(ontable j)
(ontable l)
(ontable e)
(ontable b)
(ontable f)
(clear d)
(clear g)
(clear i)
(clear j)
(clear l)
(clear e)
(clear b)
(clear f)
)
(:goal
(and
(on d g)
(on g i)
(on i j)
(on j l)
(on l e)
(on e b)
(on b f)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects d a b j e l h c f g i)
(:init
(handempty)
(ontable d)
(ontable a)
(ontable b)
(ontable j)
(ontable e)
(ontable l)
(ontable h)
(ontable c)
(ontable f)
(ontable g)
(ontable i)
(clear d)
(clear a)
(clear b)
(clear j)
(clear e)
(clear l)
(clear h)
(clear c)
(clear f)
(clear g)
(clear i)
)
(:goal
(and
(on d a)
(on a b)
(on b j)
(on j e)
(on e l)
(on l h)
(on h c)
(on c f)
(on f g)
(on g i)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects i k f e b c h a)
(:init
(handempty)
(ontable i)
(ontable k)
(ontable f)
(ontable e)
(ontable b)
(ontable c)
(ontable h)
(ontable a)
(clear i)
(clear k)
(clear f)
(clear e)
(clear b)
(clear c)
(clear h)
(clear a)
)
(:goal
(and
(on i k)
(on k f)
(on f e)
(on e b)
(on b c)
(on c h)
(on h a)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects b l f e)
(:init
(handempty)
(ontable b)
(ontable l)
(ontable f)
(ontable e)
(clear b)
(clear l)
(clear f)
(clear e)
)
(:goal
(and
(on b l)
(on l f)
(on f e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects e i g a l b c h j d k)
(:init
(handempty)
(ontable e)
(ontable i)
(ontable g)
(ontable a)
(ontable l)
(ontable b)
(ontable c)
(ontable h)
(ontable j)
(ontable d)
(ontable k)
(clear e)
(clear i)
(clear g)
(clear a)
(clear l)
(clear b)
(clear c)
(clear h)
(clear j)
(clear d)
(clear k)
)
(:goal
(and
(on e i)
(on i g)
(on g a)
(on a l)
(on l b)
(on b c)
(on c h)
(on h j)
(on j d)
(on d k)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects f c i h d l g a b)
(:init
(handempty)
(ontable f)
(ontable c)
(ontable i)
(ontable h)
(ontable d)
(ontable l)
(ontable g)
(ontable a)
(ontable b)
(clear f)
(clear c)
(clear i)
(clear h)
(clear d)
(clear l)
(clear g)
(clear a)
(clear b)
)
(:goal
(and
(on f c)
(on c i)
(on i h)
(on h d)
(on d l)
(on l g)
(on g a)
(on a b)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects e g c h)
(:init
(handempty)
(ontable e)
(ontable g)
(ontable c)
(ontable h)
(clear e)
(clear g)
(clear c)
(clear h)
)
(:goal
(and
(on e g)
(on g c)
(on c h)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects i c e l g j h a)
(:init
(handempty)
(ontable i)
(ontable c)
(ontable e)
(ontable l)
(ontable g)
(ontable j)
(ontable h)
(ontable a)
(clear i)
(clear c)
(clear e)
(clear l)
(clear g)
(clear j)
(clear h)
(clear a)
)
(:goal
(and
(on i c)
(on c e)
(on e l)
(on l g)
(on g j)
(on j h)
(on h a)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects c j a g e b)
(:init
(handempty)
(ontable c)
(ontable j)
(ontable a)
(ontable g)
(ontable e)
(ontable b)
(clear c)
(clear j)
(clear a)
(clear g)
(clear e)
(clear b)
)
(:goal
(and
(on c j)
(on j a)
(on a g)
(on g e)
(on e b)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects h j f l)
(:init
(handempty)
(ontable h)
(ontable j)
(ontable f)
(ontable l)
(clear h)
(clear j)
(clear f)
(clear l)
)
(:goal
(and
(on h j)
(on j f)
(on f l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects g e k a d i)
(:init
(handempty)
(ontable g)
(ontable e)
(ontable k)
(ontable a)
(ontable d)
(ontable i)
(clear g)
(clear e)
(clear k)
(clear a)
(clear d)
(clear i)
)
(:goal
(and
(on g e)
(on e k)
(on k a)
(on a d)
(on d i)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects h j e c l k g d)
(:init
(handempty)
(ontable h)
(ontable j)
(ontable e)
(ontable c)
(ontable l)
(ontable k)
(ontable g)
(ontable d)
(clear h)
(clear j)
(clear e)
(clear c)
(clear l)
(clear k)
(clear g)
(clear d)
)
(:goal
(and
(on h j)
(on j e)
(on e c)
(on c l)
(on l k)
(on k g)
(on g d)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j g l k e d h f a c)
(:init
(handempty)
(ontable j)
(ontable g)
(ontable l)
(ontable k)
(ontable e)
(ontable d)
(ontable h)
(ontable f)
(ontable a)
(ontable c)
(clear j)
(clear g)
(clear l)
(clear k)
(clear e)
(clear d)
(clear h)
(clear f)
(clear a)
(clear c)
)
(:goal
(and
(on j g)
(on g l)
(on l k)
(on k e)
(on e d)
(on d h)
(on h f)
(on f a)
(on a c)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects b c k d f l h i j a)
(:init
(handempty)
(ontable b)
(ontable c)
(ontable k)
(ontable d)
(ontable f)
(ontable l)
(ontable h)
(ontable i)
(ontable j)
(ontable a)
(clear b)
(clear c)
(clear k)
(clear d)
(clear f)
(clear l)
(clear h)
(clear i)
(clear j)
(clear a)
)
(:goal
(and
(on b c)
(on c k)
(on k d)
(on d f)
(on f l)
(on l h)
(on h i)
(on i j)
(on j a)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a d g j i c l b f e)
(:init
(handempty)
(ontable a)
(ontable d)
(ontable g)
(ontable j)
(ontable i)
(ontable c)
(ontable l)
(ontable b)
(ontable f)
(ontable e)
(clear a)
(clear d)
(clear g)
(clear j)
(clear i)
(clear c)
(clear l)
(clear b)
(clear f)
(clear e)
)
(:goal
(and
(on a d)
(on d g)
(on g j)
(on j i)
(on i c)
(on c l)
(on l b)
(on b f)
(on f e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j f d i g c k e)
(:init
(handempty)
(ontable j)
(ontable f)
(ontable d)
(ontable i)
(ontable g)
(ontable c)
(ontable k)
(ontable e)
(clear j)
(clear f)
(clear d)
(clear i)
(clear g)
(clear c)
(clear k)
(clear e)
)
(:goal
(and
(on j f)
(on f d)
(on d i)
(on i g)
(on g c)
(on c k)
(on k e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects b i f e)
(:init
(handempty)
(ontable b)
(ontable i)
(ontable f)
(ontable e)
(clear b)
(clear i)
(clear f)
(clear e)
)
(:goal
(and
(on b i)
(on i f)
(on f e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a h e)
(:init
(handempty)
(ontable a)
(ontable h)
(ontable e)
(clear a)
(clear h)
(clear e)
)
(:goal
(and
(on a h)
(on h e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects k c b a g e)
(:init
(handempty)
(ontable k)
(ontable c)
(ontable b)
(ontable a)
(ontable g)
(ontable e)
(clear k)
(clear c)
(clear b)
(clear a)
(clear g)
(clear e)
)
(:goal
(and
(on k c)
(on c b)
(on b a)
(on a g)
(on g e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects i f e j h)
(:init
(handempty)
(ontable i)
(ontable f)
(ontable e)
(ontable j)
(ontable h)
(clear i)
(clear f)
(clear e)
(clear j)
(clear h)
)
(:goal
(and
(on i f)
(on f e)
(on e j)
(on j h)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects h k b i a g c)
(:init
(handempty)
(ontable h)
(ontable k)
(ontable b)
(ontable i)
(ontable a)
(ontable g)
(ontable c)
(clear h)
(clear k)
(clear b)
(clear i)
(clear a)
(clear g)
(clear c)
)
(:goal
(and
(on h k)
(on k b)
(on b i)
(on i a)
(on a g)
(on g c)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j h g k i)
(:init
(handempty)
(ontable j)
(ontable h)
(ontable g)
(ontable k)
(ontable i)
(clear j)
(clear h)
(clear g)
(clear k)
(clear i)
)
(:goal
(and
(on j h)
(on h g)
(on g k)
(on k i)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects h e d k b i g)
(:init
(handempty)
(ontable h)
(ontable e)
(ontable d)
(ontable k)
(ontable b)
(ontable i)
(ontable g)
(clear h)
(clear e)
(clear d)
(clear k)
(clear b)
(clear i)
(clear g)
)
(:goal
(and
(on h e)
(on e d)
(on d k)
(on k b)
(on b i)
(on i g)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects d l j)
(:init
(handempty)
(ontable d)
(ontable l)
(ontable j)
(clear d)
(clear l)
(clear j)
)
(:goal
(and
(on d l)
(on l j)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j g a)
(:init
(handempty)
(ontable j)
(ontable g)
(ontable a)
(clear j)
(clear g)
(clear a)
)
(:goal
(and
(on j g)
(on g a)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects k i j a b f l e g h)
(:init
(handempty)
(ontable k)
(ontable i)
(ontable j)
(ontable a)
(ontable b)
(ontable f)
(ontable l)
(ontable e)
(ontable g)
(ontable h)
(clear k)
(clear i)
(clear j)
(clear a)
(clear b)
(clear f)
(clear l)
(clear e)
(clear g)
(clear h)
)
(:goal
(and
(on k i)
(on i j)
(on j a)
(on a b)
(on b f)
(on f l)
(on l e)
(on e g)
(on g h)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects k h f e b)
(:init
(handempty)
(ontable k)
(ontable h)
(ontable f)
(ontable e)
(ontable b)
(clear k)
(clear h)
(clear f)
(clear e)
(clear b)
)
(:goal
(and
(on k h)
(on h f)
(on f e)
(on e b)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects k e i h)
(:init
(handempty)
(ontable k)
(ontable e)
(ontable i)
(ontable h)
(clear k)
(clear e)
(clear i)
(clear h)
)
(:goal
(and
(on k e)
(on e i)
(on i h)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects g h k e f d i b c l j a)
(:init
(handempty)
(ontable g)
(ontable h)
(ontable k)
(ontable e)
(ontable f)
(ontable d)
(ontable i)
(ontable b)
(ontable c)
(ontable l)
(ontable j)
(ontable a)
(clear g)
(clear h)
(clear k)
(clear e)
(clear f)
(clear d)
(clear i)
(clear b)
(clear c)
(clear l)
(clear j)
(clear a)
)
(:goal
(and
(on g h)
(on h k)
(on k e)
(on e f)
(on f d)
(on d i)
(on i b)
(on b c)
(on c l)
(on l j)
(on j a)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects c h b g f a d k)
(:init
(handempty)
(ontable c)
(ontable h)
(ontable b)
(ontable g)
(ontable f)
(ontable a)
(ontable d)
(ontable k)
(clear c)
(clear h)
(clear b)
(clear g)
(clear f)
(clear a)
(clear d)
(clear k)
)
(:goal
(and
(on c h)
(on h b)
(on b g)
(on g f)
(on f a)
(on a d)
(on d k)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects k j b c e)
(:init
(handempty)
(ontable k)
(ontable j)
(ontable b)
(ontable c)
(ontable e)
(clear k)
(clear j)
(clear b)
(clear c)
(clear e)
)
(:goal
(and
(on k j)
(on j b)
(on b c)
(on c e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a c k f l j d e h i b g)
(:init
(handempty)
(ontable a)
(ontable c)
(ontable k)
(ontable f)
(ontable l)
(ontable j)
(ontable d)
(ontable e)
(ontable h)
(ontable i)
(ontable b)
(ontable g)
(clear a)
(clear c)
(clear k)
(clear f)
(clear l)
(clear j)
(clear d)
(clear e)
(clear h)
(clear i)
(clear b)
(clear g)
)
(:goal
(and
(on a c)
(on c k)
(on k f)
(on f l)
(on l j)
(on j d)
(on d e)
(on e h)
(on h i)
(on i b)
(on b g)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j b a g d h c e i)
(:init
(handempty)
(ontable j)
(ontable b)
(ontable a)
(ontable g)
(ontable d)
(ontable h)
(ontable c)
(ontable e)
(ontable i)
(clear j)
(clear b)
(clear a)
(clear g)
(clear d)
(clear h)
(clear c)
(clear e)
(clear i)
)
(:goal
(and
(on j b)
(on b a)
(on a g)
(on g d)
(on d h)
(on h c)
(on c e)
(on e i)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects g b k)
(:init
(handempty)
(ontable g)
(ontable b)
(ontable k)
(clear g)
(clear b)
(clear k)
)
(:goal
(and
(on g b)
(on b k)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects g c h i e j a f b)
(:init
(handempty)
(ontable g)
(ontable c)
(ontable h)
(ontable i)
(ontable e)
(ontable j)
(ontable a)
(ontable f)
(ontable b)
(clear g)
(clear c)
(clear h)
(clear i)
(clear e)
(clear j)
(clear a)
(clear f)
(clear b)
)
(:goal
(and
(on g c)
(on c h)
(on h i)
(on i e)
(on e j)
(on j a)
(on a f)
(on f b)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a d h k c e j i l b)
(:init
(handempty)
(ontable a)
(ontable d)
(ontable h)
(ontable k)
(ontable c)
(ontable e)
(ontable j)
(ontable i)
(ontable l)
(ontable b)
(clear a)
(clear d)
(clear h)
(clear k)
(clear c)
(clear e)
(clear j)
(clear i)
(clear l)
(clear b)
)
(:goal
(and
(on a d)
(on d h)
(on h k)
(on k c)
(on c e)
(on e j)
(on j i)
(on i l)
(on l b)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects i l g e d b a j h f k)
(:init
(handempty)
(ontable i)
(ontable l)
(ontable g)
(ontable e)
(ontable d)
(ontable b)
(ontable a)
(ontable j)
(ontable h)
(ontable f)
(ontable k)
(clear i)
(clear l)
(clear g)
(clear e)
(clear d)
(clear b)
(clear a)
(clear j)
(clear h)
(clear f)
(clear k)
)
(:goal
(and
(on i l)
(on l g)
(on g e)
(on e d)
(on d b)
(on b a)
(on a j)
(on j h)
(on h f)
(on f k)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects l e j h d)
(:init
(handempty)
(ontable l)
(ontable e)
(ontable j)
(ontable h)
(ontable d)
(clear l)
(clear e)
(clear j)
(clear h)
(clear d)
)
(:goal
(and
(on l e)
(on e j)
(on j h)
(on h d)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects k f j g a c l)
(:init
(handempty)
(ontable k)
(ontable f)
(ontable j)
(ontable g)
(ontable a)
(ontable c)
(ontable l)
(clear k)
(clear f)
(clear j)
(clear g)
(clear a)
(clear c)
(clear l)
)
(:goal
(and
(on k f)
(on f j)
(on j g)
(on g a)
(on a c)
(on c l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects f d j g i c h)
(:init
(handempty)
(ontable f)
(ontable d)
(ontable j)
(ontable g)
(ontable i)
(ontable c)
(ontable h)
(clear f)
(clear d)
(clear j)
(clear g)
(clear i)
(clear c)
(clear h)
)
(:goal
(and
(on f d)
(on d j)
(on j g)
(on g i)
(on i c)
(on c h)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects d e l)
(:init
(handempty)
(ontable d)
(ontable e)
(ontable l)
(clear d)
(clear e)
(clear l)
)
(:goal
(and
(on d e)
(on e l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects d l f a)
(:init
(handempty)
(ontable d)
(ontable l)
(ontable f)
(ontable a)
(clear d)
(clear l)
(clear f)
(clear a)
)
(:goal
(and
(on d l)
(on l f)
(on f a)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects k j a g e i)
(:init
(handempty)
(ontable k)
(ontable j)
(ontable a)
(ontable g)
(ontable e)
(ontable i)
(clear k)
(clear j)
(clear a)
(clear g)
(clear e)
(clear i)
)
(:goal
(and
(on k j)
(on j a)
(on a g)
(on g e)
(on e i)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a j d g f l e)
(:init
(handempty)
(ontable a)
(ontable j)
(ontable d)
(ontable g)
(ontable f)
(ontable l)
(ontable e)
(clear a)
(clear j)
(clear d)
(clear g)
(clear f)
(clear l)
(clear e)
)
(:goal
(and
(on a j)
(on j d)
(on d g)
(on g f)
(on f l)
(on l e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects f c i l)
(:init
(handempty)
(ontable f)
(ontable c)
(ontable i)
(ontable l)
(clear f)
(clear c)
(clear i)
(clear l)
)
(:goal
(and
(on f c)
(on c i)
(on i l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects d b k g l a h c f i e j)
(:init
(handempty)
(ontable d)
(ontable b)
(ontable k)
(ontable g)
(ontable l)
(ontable a)
(ontable h)
(ontable c)
(ontable f)
(ontable i)
(ontable e)
(ontable j)
(clear d)
(clear b)
(clear k)
(clear g)
(clear l)
(clear a)
(clear h)
(clear c)
(clear f)
(clear i)
(clear e)
(clear j)
)
(:goal
(and
(on d b)
(on b k)
(on k g)
(on g l)
(on l a)
(on a h)
(on h c)
(on c f)
(on f i)
(on i e)
(on e j)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects h k d g i)
(:init
(handempty)
(ontable h)
(ontable k)
(ontable d)
(ontable g)
(ontable i)
(clear h)
(clear k)
(clear d)
(clear g)
(clear i)
)
(:goal
(and
(on h k)
(on k d)
(on d g)
(on g i)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects b a g d c i f l h e)
(:init
(handempty)
(ontable b)
(ontable a)
(ontable g)
(ontable d)
(ontable c)
(ontable i)
(ontable f)
(ontable l)
(ontable h)
(ontable e)
(clear b)
(clear a)
(clear g)
(clear d)
(clear c)
(clear i)
(clear f)
(clear l)
(clear h)
(clear e)
)
(:goal
(and
(on b a)
(on a g)
(on g d)
(on d c)
(on c i)
(on i f)
(on f l)
(on l h)
(on h e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects e a b h l k d)
(:init
(handempty)
(ontable e)
(ontable a)
(ontable b)
(ontable h)
(ontable l)
(ontable k)
(ontable d)
(clear e)
(clear a)
(clear b)
(clear h)
(clear l)
(clear k)
(clear d)
)
(:goal
(and
(on e a)
(on a b)
(on b h)
(on h l)
(on l k)
(on k d)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j d g i c h a b e l)
(:init
(handempty)
(ontable j)
(ontable d)
(ontable g)
(ontable i)
(ontable c)
(ontable h)
(ontable a)
(ontable b)
(ontable e)
(ontable l)
(clear j)
(clear d)
(clear g)
(clear i)
(clear c)
(clear h)
(clear a)
(clear b)
(clear e)
(clear l)
)
(:goal
(and
(on j d)
(on d g)
(on g i)
(on i c)
(on c h)
(on h a)
(on a b)
(on b e)
(on e l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a g j d b h e k)
(:init
(handempty)
(ontable a)
(ontable g)
(ontable j)
(ontable d)
(ontable b)
(ontable h)
(ontable e)
(ontable k)
(clear a)
(clear g)
(clear j)
(clear d)
(clear b)
(clear h)
(clear e)
(clear k)
)
(:goal
(and
(on a g)
(on g j)
(on j d)
(on d b)
(on b h)
(on h e)
(on e k)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects d a c h j)
(:init
(handempty)
(ontable d)
(ontable a)
(ontable c)
(ontable h)
(ontable j)
(clear d)
(clear a)
(clear c)
(clear h)
(clear j)
)
(:goal
(and
(on d a)
(on a c)
(on c h)
(on h j)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects b c e i g d l h k)
(:init
(handempty)
(ontable b)
(ontable c)
(ontable e)
(ontable i)
(ontable g)
(ontable d)
(ontable l)
(ontable h)
(ontable k)
(clear b)
(clear c)
(clear e)
(clear i)
(clear g)
(clear d)
(clear l)
(clear h)
(clear k)
)
(:goal
(and
(on b c)
(on c e)
(on e i)
(on i g)
(on g d)
(on d l)
(on l h)
(on h k)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects k g c i b)
(:init
(handempty)
(ontable k)
(ontable g)
(ontable c)
(ontable i)
(ontable b)
(clear k)
(clear g)
(clear c)
(clear i)
(clear b)
)
(:goal
(and
(on k g)
(on g c)
(on c i)
(on i b)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a l h f e g d)
(:init
(handempty)
(ontable a)
(ontable l)
(ontable h)
(ontable f)
(ontable e)
(ontable g)
(ontable d)
(clear a)
(clear l)
(clear h)
(clear f)
(clear e)
(clear g)
(clear d)
)
(:goal
(and
(on a l)
(on l h)
(on h f)
(on f e)
(on e g)
(on g d)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects g d l i)
(:init
(handempty)
(ontable g)
(ontable d)
(ontable l)
(ontable i)
(clear g)
(clear d)
(clear l)
(clear i)
)
(:goal
(and
(on g d)
(on d l)
(on l i)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects i a j d b c h g e f)
(:init
(handempty)
(ontable i)
(ontable a)
(ontable j)
(ontable d)
(ontable b)
(ontable c)
(ontable h)
(ontable g)
(ontable e)
(ontable f)
(clear i)
(clear a)
(clear j)
(clear d)
(clear b)
(clear c)
(clear h)
(clear g)
(clear e)
(clear f)
)
(:goal
(and
(on i a)
(on a j)
(on j d)
(on d b)
(on b c)
(on c h)
(on h g)
(on g e)
(on e f)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects k j b)
(:init
(handempty)
(ontable k)
(ontable j)
(ontable b)
(clear k)
(clear j)
(clear b)
)
(:goal
(and
(on k j)
(on j b)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects g b e c l k i f)
(:init
(handempty)
(ontable g)
(ontable b)
(ontable e)
(ontable c)
(ontable l)
(ontable k)
(ontable i)
(ontable f)
(clear g)
(clear b)
(clear e)
(clear c)
(clear l)
(clear k)
(clear i)
(clear f)
)
(:goal
(and
(on g b)
(on b e)
(on e c)
(on c l)
(on l k)
(on k i)
(on i f)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a h g)
(:init
(handempty)
(ontable a)
(ontable h)
(ontable g)
(clear a)
(clear h)
(clear g)
)
(:goal
(and
(on a h)
(on h g)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects l d k e c j i g f)
(:init
(handempty)
(ontable l)
(ontable d)
(ontable k)
(ontable e)
(ontable c)
(ontable j)
(ontable i)
(ontable g)
(ontable f)
(clear l)
(clear d)
(clear k)
(clear e)
(clear c)
(clear j)
(clear i)
(clear g)
(clear f)
)
(:goal
(and
(on l d)
(on d k)
(on k e)
(on e c)
(on c j)
(on j i)
(on i g)
(on g f)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects d g l f i)
(:init
(handempty)
(ontable d)
(ontable g)
(ontable l)
(ontable f)
(ontable i)
(clear d)
(clear g)
(clear l)
(clear f)
(clear i)
)
(:goal
(and
(on d g)
(on g l)
(on l f)
(on f i)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a j e c l f h)
(:init
(handempty)
(ontable a)
(ontable j)
(ontable e)
(ontable c)
(ontable l)
(ontable f)
(ontable h)
(clear a)
(clear j)
(clear e)
(clear c)
(clear l)
(clear f)
(clear h)
)
(:goal
(and
(on a j)
(on j e)
(on e c)
(on c l)
(on l f)
(on f h)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects i b g)
(:init
(handempty)
(ontable i)
(ontable b)
(ontable g)
(clear i)
(clear b)
(clear g)
)
(:goal
(and
(on i b)
(on b g)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects b c f k d g h e)
(:init
(handempty)
(ontable b)
(ontable c)
(ontable f)
(ontable k)
(ontable d)
(ontable g)
(ontable h)
(ontable e)
(clear b)
(clear c)
(clear f)
(clear k)
(clear d)
(clear g)
(clear h)
(clear e)
)
(:goal
(and
(on b c)
(on c f)
(on f k)
(on k d)
(on d g)
(on g h)
(on h e)
))) |