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