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 h c a e j b g i f k l)
(:init
(handempty)
(ontable h)
(ontable c)
(ontable a)
(ontable e)
(ontable j)
(ontable b)
(ontable g)
(ontable i)
(ontable f)
(ontable k)
(ontable l)
(clear h)
(clear c)
(clear a)
(clear e)
(clear j)
(clear b)
(clear g)
(clear i)
(clear f)
(clear k)
(clear l)
)
(:goal
(and
(on h c)
(on c a)
(on a e)
(on e j)
(on j b)
(on b g)
(on g i)
(on i f)
(on f k)
(on k 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 j a g l i d h c f b)
(:init
(handempty)
(ontable e)
(ontable j)
(ontable a)
(ontable g)
(ontable l)
(ontable i)
(ontable d)
(ontable h)
(ontable c)
(ontable f)
(ontable b)
(clear e)
(clear j)
(clear a)
(clear g)
(clear l)
(clear i)
(clear d)
(clear h)
(clear c)
(clear f)
(clear b)
)
(:goal
(and
(on e j)
(on j a)
(on a g)
(on g l)
(on l i)
(on i d)
(on d h)
(on h c)
(on c 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 k f j h)
(:init
(handempty)
(ontable k)
(ontable f)
(ontable j)
(ontable h)
(clear k)
(clear f)
(clear j)
(clear h)
)
(:goal
(and
(on k f)
(on f 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 k c a b e i d f l h)
(:init
(handempty)
(ontable k)
(ontable c)
(ontable a)
(ontable b)
(ontable e)
(ontable i)
(ontable d)
(ontable f)
(ontable l)
(ontable h)
(clear k)
(clear c)
(clear a)
(clear b)
(clear e)
(clear i)
(clear d)
(clear f)
(clear l)
(clear h)
)
(:goal
(and
(on k c)
(on c a)
(on a b)
(on b e)
(on e i)
(on i d)
(on d f)
(on f l)
(on l 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 i e d k l b j h f a)
(:init
(handempty)
(ontable g)
(ontable i)
(ontable e)
(ontable d)
(ontable k)
(ontable l)
(ontable b)
(ontable j)
(ontable h)
(ontable f)
(ontable a)
(clear g)
(clear i)
(clear e)
(clear d)
(clear k)
(clear l)
(clear b)
(clear j)
(clear h)
(clear f)
(clear a)
)
(:goal
(and
(on g i)
(on i e)
(on e d)
(on d k)
(on k l)
(on l b)
(on b j)
(on j h)
(on h 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 i j a e c h)
(:init
(handempty)
(ontable i)
(ontable j)
(ontable a)
(ontable e)
(ontable c)
(ontable h)
(clear i)
(clear j)
(clear a)
(clear e)
(clear c)
(clear h)
)
(:goal
(and
(on i j)
(on j a)
(on a e)
(on e 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 k h g l c e i j)
(:init
(handempty)
(ontable k)
(ontable h)
(ontable g)
(ontable l)
(ontable c)
(ontable e)
(ontable i)
(ontable j)
(clear k)
(clear h)
(clear g)
(clear l)
(clear c)
(clear e)
(clear i)
(clear j)
)
(:goal
(and
(on k h)
(on h g)
(on g l)
(on l c)
(on c e)
(on e i)
(on i 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 d a e)
(:init
(handempty)
(ontable d)
(ontable a)
(ontable e)
(clear d)
(clear a)
(clear e)
)
(:goal
(and
(on d a)
(on a 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 g h c j e a d i k l f)
(:init
(handempty)
(ontable b)
(ontable g)
(ontable h)
(ontable c)
(ontable j)
(ontable e)
(ontable a)
(ontable d)
(ontable i)
(ontable k)
(ontable l)
(ontable f)
(clear b)
(clear g)
(clear h)
(clear c)
(clear j)
(clear e)
(clear a)
(clear d)
(clear i)
(clear k)
(clear l)
(clear f)
)
(:goal
(and
(on b g)
(on g h)
(on h c)
(on c j)
(on j e)
(on e a)
(on a d)
(on d i)
(on i k)
(on k l)
(on l 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 f c b j d g i e)
(:init
(handempty)
(ontable f)
(ontable c)
(ontable b)
(ontable j)
(ontable d)
(ontable g)
(ontable i)
(ontable e)
(clear f)
(clear c)
(clear b)
(clear j)
(clear d)
(clear g)
(clear i)
(clear e)
)
(:goal
(and
(on f c)
(on c b)
(on b j)
(on j d)
(on d g)
(on g 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 e b a)
(:init
(handempty)
(ontable f)
(ontable e)
(ontable b)
(ontable a)
(clear f)
(clear e)
(clear b)
(clear a)
)
(:goal
(and
(on f e)
(on e b)
(on b 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 f h i j a d b e g k c)
(:init
(handempty)
(ontable f)
(ontable h)
(ontable i)
(ontable j)
(ontable a)
(ontable d)
(ontable b)
(ontable e)
(ontable g)
(ontable k)
(ontable c)
(clear f)
(clear h)
(clear i)
(clear j)
(clear a)
(clear d)
(clear b)
(clear e)
(clear g)
(clear k)
(clear c)
)
(:goal
(and
(on f h)
(on h i)
(on i j)
(on j a)
(on a d)
(on d b)
(on b e)
(on e g)
(on g k)
(on k 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 l c h j f b a e g i)
(:init
(handempty)
(ontable l)
(ontable c)
(ontable h)
(ontable j)
(ontable f)
(ontable b)
(ontable a)
(ontable e)
(ontable g)
(ontable i)
(clear l)
(clear c)
(clear h)
(clear j)
(clear f)
(clear b)
(clear a)
(clear e)
(clear g)
(clear i)
)
(:goal
(and
(on l c)
(on c h)
(on h j)
(on j f)
(on f b)
(on b a)
(on a e)
(on e 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 j d b h a k e)
(:init
(handempty)
(ontable i)
(ontable j)
(ontable d)
(ontable b)
(ontable h)
(ontable a)
(ontable k)
(ontable e)
(clear i)
(clear j)
(clear d)
(clear b)
(clear h)
(clear a)
(clear k)
(clear e)
)
(:goal
(and
(on i j)
(on j d)
(on d b)
(on b h)
(on h a)
(on a 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 l c a f)
(:init
(handempty)
(ontable l)
(ontable c)
(ontable a)
(ontable f)
(clear l)
(clear c)
(clear a)
(clear f)
)
(:goal
(and
(on l c)
(on c a)
(on a 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 e a f g)
(:init
(handempty)
(ontable e)
(ontable a)
(ontable f)
(ontable g)
(clear e)
(clear a)
(clear f)
(clear g)
)
(:goal
(and
(on e a)
(on a 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 c k h)
(:init
(handempty)
(ontable f)
(ontable c)
(ontable k)
(ontable h)
(clear f)
(clear c)
(clear k)
(clear h)
)
(:goal
(and
(on f c)
(on c k)
(on k 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 l a)
(:init
(handempty)
(ontable d)
(ontable l)
(ontable a)
(clear d)
(clear l)
(clear a)
)
(:goal
(and
(on d l)
(on l 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 l h a b)
(:init
(handempty)
(ontable l)
(ontable h)
(ontable a)
(ontable b)
(clear l)
(clear h)
(clear a)
(clear b)
)
(:goal
(and
(on l h)
(on h 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 k j g a c h b l f d i)
(:init
(handempty)
(ontable e)
(ontable k)
(ontable j)
(ontable g)
(ontable a)
(ontable c)
(ontable h)
(ontable b)
(ontable l)
(ontable f)
(ontable d)
(ontable i)
(clear e)
(clear k)
(clear j)
(clear g)
(clear a)
(clear c)
(clear h)
(clear b)
(clear l)
(clear f)
(clear d)
(clear i)
)
(:goal
(and
(on e k)
(on k j)
(on j g)
(on g a)
(on a c)
(on c h)
(on h b)
(on b l)
(on l f)
(on f 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 j l e k c g b a i f)
(:init
(handempty)
(ontable j)
(ontable l)
(ontable e)
(ontable k)
(ontable c)
(ontable g)
(ontable b)
(ontable a)
(ontable i)
(ontable f)
(clear j)
(clear l)
(clear e)
(clear k)
(clear c)
(clear g)
(clear b)
(clear a)
(clear i)
(clear f)
)
(:goal
(and
(on j l)
(on l e)
(on e k)
(on k c)
(on c g)
(on g b)
(on b a)
(on a 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 e d k b h j i)
(:init
(handempty)
(ontable e)
(ontable d)
(ontable k)
(ontable b)
(ontable h)
(ontable j)
(ontable i)
(clear e)
(clear d)
(clear k)
(clear b)
(clear h)
(clear j)
(clear i)
)
(:goal
(and
(on e d)
(on d k)
(on k b)
(on b h)
(on h 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 d l i)
(:init
(handempty)
(ontable d)
(ontable l)
(ontable i)
(clear d)
(clear l)
(clear i)
)
(:goal
(and
(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 l b f h i j e a k d)
(:init
(handempty)
(ontable l)
(ontable b)
(ontable f)
(ontable h)
(ontable i)
(ontable j)
(ontable e)
(ontable a)
(ontable k)
(ontable d)
(clear l)
(clear b)
(clear f)
(clear h)
(clear i)
(clear j)
(clear e)
(clear a)
(clear k)
(clear d)
)
(:goal
(and
(on l b)
(on b f)
(on f h)
(on h i)
(on i j)
(on j e)
(on e a)
(on a 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 i h j k c a l g f)
(:init
(handempty)
(ontable i)
(ontable h)
(ontable j)
(ontable k)
(ontable c)
(ontable a)
(ontable l)
(ontable g)
(ontable f)
(clear i)
(clear h)
(clear j)
(clear k)
(clear c)
(clear a)
(clear l)
(clear g)
(clear f)
)
(:goal
(and
(on i h)
(on h j)
(on j k)
(on k c)
(on c a)
(on a l)
(on l 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 h e a i c)
(:init
(handempty)
(ontable h)
(ontable e)
(ontable a)
(ontable i)
(ontable c)
(clear h)
(clear e)
(clear a)
(clear i)
(clear c)
)
(:goal
(and
(on h e)
(on e a)
(on a i)
(on i 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 f l g d i j c k a)
(:init
(handempty)
(ontable f)
(ontable l)
(ontable g)
(ontable d)
(ontable i)
(ontable j)
(ontable c)
(ontable k)
(ontable a)
(clear f)
(clear l)
(clear g)
(clear d)
(clear i)
(clear j)
(clear c)
(clear k)
(clear a)
)
(:goal
(and
(on f l)
(on l g)
(on g d)
(on d i)
(on i j)
(on j c)
(on c k)
(on k 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 h d i c e f b a)
(:init
(handempty)
(ontable h)
(ontable d)
(ontable i)
(ontable c)
(ontable e)
(ontable f)
(ontable b)
(ontable a)
(clear h)
(clear d)
(clear i)
(clear c)
(clear e)
(clear f)
(clear b)
(clear a)
)
(:goal
(and
(on h d)
(on d i)
(on i c)
(on c e)
(on e f)
(on f b)
(on b 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 i k h g)
(:init
(handempty)
(ontable i)
(ontable k)
(ontable h)
(ontable g)
(clear i)
(clear k)
(clear h)
(clear g)
)
(:goal
(and
(on i k)
(on k 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 j i g e h k a f d c)
(:init
(handempty)
(ontable l)
(ontable j)
(ontable i)
(ontable g)
(ontable e)
(ontable h)
(ontable k)
(ontable a)
(ontable f)
(ontable d)
(ontable c)
(clear l)
(clear j)
(clear i)
(clear g)
(clear e)
(clear h)
(clear k)
(clear a)
(clear f)
(clear d)
(clear c)
)
(:goal
(and
(on l j)
(on j i)
(on i g)
(on g e)
(on e h)
(on h k)
(on k a)
(on a f)
(on f d)
(on d 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 b i)
(:init
(handempty)
(ontable d)
(ontable b)
(ontable i)
(clear d)
(clear b)
(clear i)
)
(:goal
(and
(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 a k d c i f b e g l j h)
(:init
(handempty)
(ontable a)
(ontable k)
(ontable d)
(ontable c)
(ontable i)
(ontable f)
(ontable b)
(ontable e)
(ontable g)
(ontable l)
(ontable j)
(ontable h)
(clear a)
(clear k)
(clear d)
(clear c)
(clear i)
(clear f)
(clear b)
(clear e)
(clear g)
(clear l)
(clear j)
(clear h)
)
(:goal
(and
(on a k)
(on k d)
(on d c)
(on c i)
(on i f)
(on f b)
(on b e)
(on e g)
(on g l)
(on l 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 b c h l e j d)
(:init
(handempty)
(ontable b)
(ontable c)
(ontable h)
(ontable l)
(ontable e)
(ontable j)
(ontable d)
(clear b)
(clear c)
(clear h)
(clear l)
(clear e)
(clear j)
(clear d)
)
(:goal
(and
(on b c)
(on c h)
(on h l)
(on l e)
(on e 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 f i j b k l h g c a e)
(:init
(handempty)
(ontable f)
(ontable i)
(ontable j)
(ontable b)
(ontable k)
(ontable l)
(ontable h)
(ontable g)
(ontable c)
(ontable a)
(ontable e)
(clear f)
(clear i)
(clear j)
(clear b)
(clear k)
(clear l)
(clear h)
(clear g)
(clear c)
(clear a)
(clear e)
)
(:goal
(and
(on f i)
(on i j)
(on j b)
(on b k)
(on k l)
(on l h)
(on h g)
(on g c)
(on c a)
(on a 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 c j i d h k b a f e l g)
(:init
(handempty)
(ontable c)
(ontable j)
(ontable i)
(ontable d)
(ontable h)
(ontable k)
(ontable b)
(ontable a)
(ontable f)
(ontable e)
(ontable l)
(ontable g)
(clear c)
(clear j)
(clear i)
(clear d)
(clear h)
(clear k)
(clear b)
(clear a)
(clear f)
(clear e)
(clear l)
(clear g)
)
(:goal
(and
(on c j)
(on j i)
(on i d)
(on d h)
(on h k)
(on k b)
(on b a)
(on a f)
(on f e)
(on e l)
(on l 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 i a l b k e c)
(:init
(handempty)
(ontable j)
(ontable i)
(ontable a)
(ontable l)
(ontable b)
(ontable k)
(ontable e)
(ontable c)
(clear j)
(clear i)
(clear a)
(clear l)
(clear b)
(clear k)
(clear e)
(clear c)
)
(:goal
(and
(on j i)
(on i a)
(on a l)
(on l b)
(on b k)
(on k 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 l e a g k j h f c i b)
(:init
(handempty)
(ontable d)
(ontable l)
(ontable e)
(ontable a)
(ontable g)
(ontable k)
(ontable j)
(ontable h)
(ontable f)
(ontable c)
(ontable i)
(ontable b)
(clear d)
(clear l)
(clear e)
(clear a)
(clear g)
(clear k)
(clear j)
(clear h)
(clear f)
(clear c)
(clear i)
(clear b)
)
(:goal
(and
(on d l)
(on l e)
(on e a)
(on a g)
(on g k)
(on k j)
(on j h)
(on h f)
(on f 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 k e i f d j g b)
(:init
(handempty)
(ontable k)
(ontable e)
(ontable i)
(ontable f)
(ontable d)
(ontable j)
(ontable g)
(ontable b)
(clear k)
(clear e)
(clear i)
(clear f)
(clear d)
(clear j)
(clear g)
(clear b)
)
(:goal
(and
(on k e)
(on e i)
(on i f)
(on f d)
(on d j)
(on j g)
(on g 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 d g f b j)
(:init
(handempty)
(ontable d)
(ontable g)
(ontable f)
(ontable b)
(ontable j)
(clear d)
(clear g)
(clear f)
(clear b)
(clear j)
)
(:goal
(and
(on d g)
(on g f)
(on f b)
(on b 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 f l c k b j e h i g)
(:init
(handempty)
(ontable f)
(ontable l)
(ontable c)
(ontable k)
(ontable b)
(ontable j)
(ontable e)
(ontable h)
(ontable i)
(ontable g)
(clear f)
(clear l)
(clear c)
(clear k)
(clear b)
(clear j)
(clear e)
(clear h)
(clear i)
(clear g)
)
(:goal
(and
(on f l)
(on l c)
(on c k)
(on k b)
(on b j)
(on j e)
(on e h)
(on h 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 e b d g k a j c l f)
(:init
(handempty)
(ontable e)
(ontable b)
(ontable d)
(ontable g)
(ontable k)
(ontable a)
(ontable j)
(ontable c)
(ontable l)
(ontable f)
(clear e)
(clear b)
(clear d)
(clear g)
(clear k)
(clear a)
(clear j)
(clear c)
(clear l)
(clear f)
)
(:goal
(and
(on e b)
(on b d)
(on d g)
(on g k)
(on k a)
(on a j)
(on j c)
(on c l)
(on l 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 e f k c g j b)
(:init
(handempty)
(ontable e)
(ontable f)
(ontable k)
(ontable c)
(ontable g)
(ontable j)
(ontable b)
(clear e)
(clear f)
(clear k)
(clear c)
(clear g)
(clear j)
(clear b)
)
(:goal
(and
(on e f)
(on f k)
(on k c)
(on c g)
(on g 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 h k i a l c d)
(:init
(handempty)
(ontable h)
(ontable k)
(ontable i)
(ontable a)
(ontable l)
(ontable c)
(ontable d)
(clear h)
(clear k)
(clear i)
(clear a)
(clear l)
(clear c)
(clear d)
)
(:goal
(and
(on h k)
(on k i)
(on i a)
(on a l)
(on l 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 g k e a f b i c l)
(:init
(handempty)
(ontable g)
(ontable k)
(ontable e)
(ontable a)
(ontable f)
(ontable b)
(ontable i)
(ontable c)
(ontable l)
(clear g)
(clear k)
(clear e)
(clear a)
(clear f)
(clear b)
(clear i)
(clear c)
(clear l)
)
(:goal
(and
(on g k)
(on k e)
(on e a)
(on a f)
(on f b)
(on b i)
(on i 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 g l b j)
(:init
(handempty)
(ontable g)
(ontable l)
(ontable b)
(ontable j)
(clear g)
(clear l)
(clear b)
(clear j)
)
(:goal
(and
(on g l)
(on l b)
(on b 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 j e g i d)
(:init
(handempty)
(ontable k)
(ontable j)
(ontable e)
(ontable g)
(ontable i)
(ontable d)
(clear k)
(clear j)
(clear e)
(clear g)
(clear i)
(clear d)
)
(:goal
(and
(on k j)
(on j e)
(on e g)
(on g i)
(on i 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 d c l h i a b j g e)
(:init
(handempty)
(ontable k)
(ontable d)
(ontable c)
(ontable l)
(ontable h)
(ontable i)
(ontable a)
(ontable b)
(ontable j)
(ontable g)
(ontable e)
(clear k)
(clear d)
(clear c)
(clear l)
(clear h)
(clear i)
(clear a)
(clear b)
(clear j)
(clear g)
(clear e)
)
(:goal
(and
(on k d)
(on d c)
(on c l)
(on l h)
(on h i)
(on i a)
(on a b)
(on b j)
(on j 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 c h g k l f e a)
(:init
(handempty)
(ontable i)
(ontable c)
(ontable h)
(ontable g)
(ontable k)
(ontable l)
(ontable f)
(ontable e)
(ontable a)
(clear i)
(clear c)
(clear h)
(clear g)
(clear k)
(clear l)
(clear f)
(clear e)
(clear a)
)
(:goal
(and
(on i c)
(on c h)
(on h g)
(on g k)
(on k l)
(on l f)
(on f e)
(on e 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 i c f k b e l a)
(:init
(handempty)
(ontable i)
(ontable c)
(ontable f)
(ontable k)
(ontable b)
(ontable e)
(ontable l)
(ontable a)
(clear i)
(clear c)
(clear f)
(clear k)
(clear b)
(clear e)
(clear l)
(clear a)
)
(:goal
(and
(on i c)
(on c f)
(on f k)
(on k b)
(on b e)
(on e l)
(on l 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 i l c d j g h k f b e a)
(:init
(handempty)
(ontable i)
(ontable l)
(ontable c)
(ontable d)
(ontable j)
(ontable g)
(ontable h)
(ontable k)
(ontable f)
(ontable b)
(ontable e)
(ontable a)
(clear i)
(clear l)
(clear c)
(clear d)
(clear j)
(clear g)
(clear h)
(clear k)
(clear f)
(clear b)
(clear e)
(clear a)
)
(:goal
(and
(on i l)
(on l c)
(on c d)
(on d j)
(on j g)
(on g h)
(on h k)
(on k f)
(on f b)
(on b e)
(on e 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 h j k l d b a f i c g e)
(:init
(handempty)
(ontable h)
(ontable j)
(ontable k)
(ontable l)
(ontable d)
(ontable b)
(ontable a)
(ontable f)
(ontable i)
(ontable c)
(ontable g)
(ontable e)
(clear h)
(clear j)
(clear k)
(clear l)
(clear d)
(clear b)
(clear a)
(clear f)
(clear i)
(clear c)
(clear g)
(clear e)
)
(:goal
(and
(on h j)
(on j k)
(on k l)
(on l d)
(on d b)
(on b a)
(on a f)
(on f i)
(on i c)
(on c 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 b a k j i l h c d g e f)
(:init
(handempty)
(ontable b)
(ontable a)
(ontable k)
(ontable j)
(ontable i)
(ontable l)
(ontable h)
(ontable c)
(ontable d)
(ontable g)
(ontable e)
(ontable f)
(clear b)
(clear a)
(clear k)
(clear j)
(clear i)
(clear l)
(clear h)
(clear c)
(clear d)
(clear g)
(clear e)
(clear f)
)
(:goal
(and
(on b a)
(on a k)
(on k j)
(on j i)
(on i l)
(on l h)
(on h c)
(on c d)
(on d 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 b d a)
(:init
(handempty)
(ontable b)
(ontable d)
(ontable a)
(clear b)
(clear d)
(clear a)
)
(:goal
(and
(on b d)
(on d 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 j h g i c l d)
(:init
(handempty)
(ontable j)
(ontable h)
(ontable g)
(ontable i)
(ontable c)
(ontable l)
(ontable d)
(clear j)
(clear h)
(clear g)
(clear i)
(clear c)
(clear l)
(clear d)
)
(:goal
(and
(on j h)
(on h g)
(on g i)
(on i c)
(on c l)
(on l 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 c j d h a e f)
(:init
(handempty)
(ontable k)
(ontable c)
(ontable j)
(ontable d)
(ontable h)
(ontable a)
(ontable e)
(ontable f)
(clear k)
(clear c)
(clear j)
(clear d)
(clear h)
(clear a)
(clear e)
(clear f)
)
(:goal
(and
(on k c)
(on c j)
(on j d)
(on d h)
(on h a)
(on a 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 a j)
(:init
(handempty)
(ontable k)
(ontable a)
(ontable j)
(clear k)
(clear a)
(clear j)
)
(:goal
(and
(on k a)
(on a 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 l d g i)
(:init
(handempty)
(ontable l)
(ontable d)
(ontable g)
(ontable i)
(clear l)
(clear d)
(clear g)
(clear i)
)
(:goal
(and
(on l 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 i b l f d c k a j e g)
(:init
(handempty)
(ontable i)
(ontable b)
(ontable l)
(ontable f)
(ontable d)
(ontable c)
(ontable k)
(ontable a)
(ontable j)
(ontable e)
(ontable g)
(clear i)
(clear b)
(clear l)
(clear f)
(clear d)
(clear c)
(clear k)
(clear a)
(clear j)
(clear e)
(clear g)
)
(:goal
(and
(on i b)
(on b l)
(on l f)
(on f d)
(on d c)
(on c k)
(on k a)
(on a j)
(on j 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 f)
(:init
(handempty)
(ontable i)
(ontable h)
(ontable f)
(clear i)
(clear h)
(clear f)
)
(:goal
(and
(on i h)
(on h 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 e b f g c d j h a l i)
(:init
(handempty)
(ontable k)
(ontable e)
(ontable b)
(ontable f)
(ontable g)
(ontable c)
(ontable d)
(ontable j)
(ontable h)
(ontable a)
(ontable l)
(ontable i)
(clear k)
(clear e)
(clear b)
(clear f)
(clear g)
(clear c)
(clear d)
(clear j)
(clear h)
(clear a)
(clear l)
(clear i)
)
(:goal
(and
(on k e)
(on e b)
(on b f)
(on f g)
(on g c)
(on c d)
(on d j)
(on j h)
(on h a)
(on a 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 h f k l e b d c j a)
(:init
(handempty)
(ontable i)
(ontable h)
(ontable f)
(ontable k)
(ontable l)
(ontable e)
(ontable b)
(ontable d)
(ontable c)
(ontable j)
(ontable a)
(clear i)
(clear h)
(clear f)
(clear k)
(clear l)
(clear e)
(clear b)
(clear d)
(clear c)
(clear j)
(clear a)
)
(:goal
(and
(on i h)
(on h f)
(on f k)
(on k l)
(on l e)
(on e b)
(on b d)
(on d c)
(on c 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 l f c k h d g e)
(:init
(handempty)
(ontable l)
(ontable f)
(ontable c)
(ontable k)
(ontable h)
(ontable d)
(ontable g)
(ontable e)
(clear l)
(clear f)
(clear c)
(clear k)
(clear h)
(clear d)
(clear g)
(clear e)
)
(:goal
(and
(on l f)
(on f c)
(on c k)
(on k h)
(on h d)
(on d 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 d c f a j h)
(:init
(handempty)
(ontable d)
(ontable c)
(ontable f)
(ontable a)
(ontable j)
(ontable h)
(clear d)
(clear c)
(clear f)
(clear a)
(clear j)
(clear h)
)
(:goal
(and
(on d c)
(on c f)
(on f a)
(on a 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 f e i c)
(:init
(handempty)
(ontable f)
(ontable e)
(ontable i)
(ontable c)
(clear f)
(clear e)
(clear i)
(clear c)
)
(:goal
(and
(on f e)
(on e i)
(on i 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 f e k l i h b g)
(:init
(handempty)
(ontable f)
(ontable e)
(ontable k)
(ontable l)
(ontable i)
(ontable h)
(ontable b)
(ontable g)
(clear f)
(clear e)
(clear k)
(clear l)
(clear i)
(clear h)
(clear b)
(clear g)
)
(:goal
(and
(on f e)
(on e k)
(on k l)
(on l i)
(on i h)
(on h 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 e f i b k)
(:init
(handempty)
(ontable e)
(ontable f)
(ontable i)
(ontable b)
(ontable k)
(clear e)
(clear f)
(clear i)
(clear b)
(clear k)
)
(:goal
(and
(on e f)
(on f i)
(on i 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 e l a)
(:init
(handempty)
(ontable e)
(ontable l)
(ontable a)
(clear e)
(clear l)
(clear a)
)
(:goal
(and
(on e l)
(on l 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 g d c)
(:init
(handempty)
(ontable g)
(ontable d)
(ontable c)
(clear g)
(clear d)
(clear c)
)
(:goal
(and
(on g d)
(on d 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 a b l)
(:init
(handempty)
(ontable a)
(ontable b)
(ontable l)
(clear a)
(clear b)
(clear l)
)
(:goal
(and
(on a 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 b i g a)
(:init
(handempty)
(ontable b)
(ontable i)
(ontable g)
(ontable a)
(clear b)
(clear i)
(clear g)
(clear a)
)
(:goal
(and
(on b i)
(on i 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 i c j g)
(:init
(handempty)
(ontable i)
(ontable c)
(ontable j)
(ontable g)
(clear i)
(clear c)
(clear j)
(clear g)
)
(:goal
(and
(on i c)
(on c j)
(on j 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 g i f)
(:init
(handempty)
(ontable g)
(ontable i)
(ontable f)
(clear g)
(clear i)
(clear f)
)
(:goal
(and
(on g 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 c e f h a i g)
(:init
(handempty)
(ontable c)
(ontable e)
(ontable f)
(ontable h)
(ontable a)
(ontable i)
(ontable g)
(clear c)
(clear e)
(clear f)
(clear h)
(clear a)
(clear i)
(clear g)
)
(:goal
(and
(on c e)
(on e f)
(on f h)
(on h a)
(on a 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 j i l e f g a h k c)
(:init
(handempty)
(ontable j)
(ontable i)
(ontable l)
(ontable e)
(ontable f)
(ontable g)
(ontable a)
(ontable h)
(ontable k)
(ontable c)
(clear j)
(clear i)
(clear l)
(clear e)
(clear f)
(clear g)
(clear a)
(clear h)
(clear k)
(clear c)
)
(:goal
(and
(on j i)
(on i l)
(on l e)
(on e f)
(on f g)
(on g a)
(on a h)
(on h k)
(on k 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 i f c a j e)
(:init
(handempty)
(ontable k)
(ontable i)
(ontable f)
(ontable c)
(ontable a)
(ontable j)
(ontable e)
(clear k)
(clear i)
(clear f)
(clear c)
(clear a)
(clear j)
(clear e)
)
(:goal
(and
(on k i)
(on i f)
(on f c)
(on c a)
(on a j)
(on j 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 d j i l f c b e a g k)
(:init
(handempty)
(ontable d)
(ontable j)
(ontable i)
(ontable l)
(ontable f)
(ontable c)
(ontable b)
(ontable e)
(ontable a)
(ontable g)
(ontable k)
(clear d)
(clear j)
(clear i)
(clear l)
(clear f)
(clear c)
(clear b)
(clear e)
(clear a)
(clear g)
(clear k)
)
(:goal
(and
(on d j)
(on j i)
(on i l)
(on l f)
(on f c)
(on c b)
(on b e)
(on e a)
(on a g)
(on g 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 a d c b)
(:init
(handempty)
(ontable f)
(ontable a)
(ontable d)
(ontable c)
(ontable b)
(clear f)
(clear a)
(clear d)
(clear c)
(clear b)
)
(:goal
(and
(on f a)
(on a d)
(on d c)
(on c 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 d i c l j f h g)
(:init
(handempty)
(ontable d)
(ontable i)
(ontable c)
(ontable l)
(ontable j)
(ontable f)
(ontable h)
(ontable g)
(clear d)
(clear i)
(clear c)
(clear l)
(clear j)
(clear f)
(clear h)
(clear g)
)
(:goal
(and
(on d i)
(on i c)
(on c l)
(on l j)
(on j f)
(on f 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 f i c e k a j)
(:init
(handempty)
(ontable f)
(ontable i)
(ontable c)
(ontable e)
(ontable k)
(ontable a)
(ontable j)
(clear f)
(clear i)
(clear c)
(clear e)
(clear k)
(clear a)
(clear j)
)
(:goal
(and
(on f i)
(on i c)
(on c e)
(on e k)
(on k a)
(on a 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 h i l)
(:init
(handempty)
(ontable k)
(ontable h)
(ontable i)
(ontable l)
(clear k)
(clear h)
(clear i)
(clear l)
)
(:goal
(and
(on k h)
(on h 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 c i e h l g)
(:init
(handempty)
(ontable c)
(ontable i)
(ontable e)
(ontable h)
(ontable l)
(ontable g)
(clear c)
(clear i)
(clear e)
(clear h)
(clear l)
(clear g)
)
(:goal
(and
(on c i)
(on i e)
(on e h)
(on h l)
(on l 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 g h c i b)
(:init
(handempty)
(ontable g)
(ontable h)
(ontable c)
(ontable i)
(ontable b)
(clear g)
(clear h)
(clear c)
(clear i)
(clear b)
)
(:goal
(and
(on g h)
(on h 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 d b g e k j i l c f h)
(:init
(handempty)
(ontable d)
(ontable b)
(ontable g)
(ontable e)
(ontable k)
(ontable j)
(ontable i)
(ontable l)
(ontable c)
(ontable f)
(ontable h)
(clear d)
(clear b)
(clear g)
(clear e)
(clear k)
(clear j)
(clear i)
(clear l)
(clear c)
(clear f)
(clear h)
)
(:goal
(and
(on d b)
(on b g)
(on g e)
(on e k)
(on k j)
(on j i)
(on i l)
(on l c)
(on c 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 h g j c i d l a e)
(:init
(handempty)
(ontable h)
(ontable g)
(ontable j)
(ontable c)
(ontable i)
(ontable d)
(ontable l)
(ontable a)
(ontable e)
(clear h)
(clear g)
(clear j)
(clear c)
(clear i)
(clear d)
(clear l)
(clear a)
(clear e)
)
(:goal
(and
(on h g)
(on g j)
(on j c)
(on c i)
(on i d)
(on d l)
(on l a)
(on a 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 g k j a h)
(:init
(handempty)
(ontable g)
(ontable k)
(ontable j)
(ontable a)
(ontable h)
(clear g)
(clear k)
(clear j)
(clear a)
(clear h)
)
(:goal
(and
(on g k)
(on k j)
(on j 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 j e d c l h i g k a)
(:init
(handempty)
(ontable j)
(ontable e)
(ontable d)
(ontable c)
(ontable l)
(ontable h)
(ontable i)
(ontable g)
(ontable k)
(ontable a)
(clear j)
(clear e)
(clear d)
(clear c)
(clear l)
(clear h)
(clear i)
(clear g)
(clear k)
(clear a)
)
(:goal
(and
(on j e)
(on e d)
(on d c)
(on c l)
(on l h)
(on h i)
(on i g)
(on g k)
(on k 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 d j c b i h a l f)
(:init
(handempty)
(ontable d)
(ontable j)
(ontable c)
(ontable b)
(ontable i)
(ontable h)
(ontable a)
(ontable l)
(ontable f)
(clear d)
(clear j)
(clear c)
(clear b)
(clear i)
(clear h)
(clear a)
(clear l)
(clear f)
)
(:goal
(and
(on d j)
(on j c)
(on c b)
(on b i)
(on i h)
(on h a)
(on a l)
(on l 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 b h d a c k l f j g i e)
(:init
(handempty)
(ontable b)
(ontable h)
(ontable d)
(ontable a)
(ontable c)
(ontable k)
(ontable l)
(ontable f)
(ontable j)
(ontable g)
(ontable i)
(ontable e)
(clear b)
(clear h)
(clear d)
(clear a)
(clear c)
(clear k)
(clear l)
(clear f)
(clear j)
(clear g)
(clear i)
(clear e)
)
(:goal
(and
(on b h)
(on h d)
(on d a)
(on a c)
(on c k)
(on k l)
(on l f)
(on f j)
(on j g)
(on g 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 i d j h e a c)
(:init
(handempty)
(ontable i)
(ontable d)
(ontable j)
(ontable h)
(ontable e)
(ontable a)
(ontable c)
(clear i)
(clear d)
(clear j)
(clear h)
(clear e)
(clear a)
(clear c)
)
(:goal
(and
(on i d)
(on d j)
(on j h)
(on h e)
(on e 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 l a j b h d c e f)
(:init
(handempty)
(ontable l)
(ontable a)
(ontable j)
(ontable b)
(ontable h)
(ontable d)
(ontable c)
(ontable e)
(ontable f)
(clear l)
(clear a)
(clear j)
(clear b)
(clear h)
(clear d)
(clear c)
(clear e)
(clear f)
)
(:goal
(and
(on l a)
(on a j)
(on j b)
(on b h)
(on h d)
(on d c)
(on c 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 f h i l j k g e b d)
(:init
(handempty)
(ontable f)
(ontable h)
(ontable i)
(ontable l)
(ontable j)
(ontable k)
(ontable g)
(ontable e)
(ontable b)
(ontable d)
(clear f)
(clear h)
(clear i)
(clear l)
(clear j)
(clear k)
(clear g)
(clear e)
(clear b)
(clear d)
)
(:goal
(and
(on f h)
(on h i)
(on i l)
(on l j)
(on j k)
(on k g)
(on g e)
(on e b)
(on b 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 h f g l)
(:init
(handempty)
(ontable h)
(ontable f)
(ontable g)
(ontable l)
(clear h)
(clear f)
(clear g)
(clear l)
)
(:goal
(and
(on h f)
(on f g)
(on g 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 e d j a i c g b)
(:init
(handempty)
(ontable k)
(ontable e)
(ontable d)
(ontable j)
(ontable a)
(ontable i)
(ontable c)
(ontable g)
(ontable b)
(clear k)
(clear e)
(clear d)
(clear j)
(clear a)
(clear i)
(clear c)
(clear g)
(clear b)
)
(:goal
(and
(on k e)
(on e d)
(on d j)
(on j a)
(on a i)
(on i c)
(on c g)
(on g 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 d j g f l e h i c k)
(:init
(handempty)
(ontable d)
(ontable j)
(ontable g)
(ontable f)
(ontable l)
(ontable e)
(ontable h)
(ontable i)
(ontable c)
(ontable k)
(clear d)
(clear j)
(clear g)
(clear f)
(clear l)
(clear e)
(clear h)
(clear i)
(clear c)
(clear k)
)
(:goal
(and
(on d j)
(on j g)
(on g f)
(on f l)
(on l e)
(on e h)
(on h i)
(on i c)
(on c 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 k d j a c i h f l)
(:init
(handempty)
(ontable g)
(ontable k)
(ontable d)
(ontable j)
(ontable a)
(ontable c)
(ontable i)
(ontable h)
(ontable f)
(ontable l)
(clear g)
(clear k)
(clear d)
(clear j)
(clear a)
(clear c)
(clear i)
(clear h)
(clear f)
(clear l)
)
(:goal
(and
(on g k)
(on k d)
(on d j)
(on j a)
(on a c)
(on c i)
(on i h)
(on h 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 k c j g a d l)
(:init
(handempty)
(ontable k)
(ontable c)
(ontable j)
(ontable g)
(ontable a)
(ontable d)
(ontable l)
(clear k)
(clear c)
(clear j)
(clear g)
(clear a)
(clear d)
(clear l)
)
(:goal
(and
(on k c)
(on c j)
(on j g)
(on g 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 l b k i)
(:init
(handempty)
(ontable l)
(ontable b)
(ontable k)
(ontable i)
(clear l)
(clear b)
(clear k)
(clear i)
)
(:goal
(and
(on l b)
(on b 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 g a e)
(:init
(handempty)
(ontable g)
(ontable a)
(ontable e)
(clear g)
(clear a)
(clear e)
)
(:goal
(and
(on g a)
(on a 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 g l e h b d f k)
(:init
(handempty)
(ontable g)
(ontable l)
(ontable e)
(ontable h)
(ontable b)
(ontable d)
(ontable f)
(ontable k)
(clear g)
(clear l)
(clear e)
(clear h)
(clear b)
(clear d)
(clear f)
(clear k)
)
(:goal
(and
(on g l)
(on l e)
(on e h)
(on h b)
(on b d)
(on d 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 d i b k)
(:init
(handempty)
(ontable d)
(ontable i)
(ontable b)
(ontable k)
(clear d)
(clear i)
(clear b)
(clear k)
)
(:goal
(and
(on d i)
(on i b)
(on b k)
))) |