domain
stringclasses 1
value | instance
stringlengths 202
499
|
|---|---|
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects i b k d c e)
(:init
(handempty)
(ontable i)
(ontable b)
(ontable k)
(ontable d)
(ontable c)
(ontable e)
(clear i)
(clear b)
(clear k)
(clear d)
(clear c)
(clear e)
)
(:goal
(and
(on i b)
(on b k)
(on k d)
(on d 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 f k l b)
(:init
(handempty)
(ontable f)
(ontable k)
(ontable l)
(ontable b)
(clear f)
(clear k)
(clear l)
(clear b)
)
(:goal
(and
(on f k)
(on k l)
(on l b)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects i f c a e k)
(:init
(handempty)
(ontable i)
(ontable f)
(ontable c)
(ontable a)
(ontable e)
(ontable k)
(clear i)
(clear f)
(clear c)
(clear a)
(clear e)
(clear k)
)
(:goal
(and
(on i f)
(on f c)
(on c a)
(on a 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 g f i l h j b e a c)
(:init
(handempty)
(ontable g)
(ontable f)
(ontable i)
(ontable l)
(ontable h)
(ontable j)
(ontable b)
(ontable e)
(ontable a)
(ontable c)
(clear g)
(clear f)
(clear i)
(clear l)
(clear h)
(clear j)
(clear b)
(clear e)
(clear a)
(clear c)
)
(:goal
(and
(on g f)
(on f i)
(on i l)
(on l h)
(on h j)
(on j b)
(on b e)
(on e a)
(on a c)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects c l i a j h f k b d)
(:init
(handempty)
(ontable c)
(ontable l)
(ontable i)
(ontable a)
(ontable j)
(ontable h)
(ontable f)
(ontable k)
(ontable b)
(ontable d)
(clear c)
(clear l)
(clear i)
(clear a)
(clear j)
(clear h)
(clear f)
(clear k)
(clear b)
(clear d)
)
(:goal
(and
(on c l)
(on l i)
(on i a)
(on a j)
(on j h)
(on h f)
(on f k)
(on k 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 d c)
(:init
(handempty)
(ontable l)
(ontable e)
(ontable j)
(ontable d)
(ontable c)
(clear l)
(clear e)
(clear j)
(clear d)
(clear c)
)
(:goal
(and
(on l e)
(on e j)
(on j d)
(on d c)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects e c h l k d)
(:init
(handempty)
(ontable e)
(ontable c)
(ontable h)
(ontable l)
(ontable k)
(ontable d)
(clear e)
(clear c)
(clear h)
(clear l)
(clear k)
(clear d)
)
(:goal
(and
(on e c)
(on c h)
(on h l)
(on l k)
(on k d)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a l h d c g j b)
(:init
(handempty)
(ontable a)
(ontable l)
(ontable h)
(ontable d)
(ontable c)
(ontable g)
(ontable j)
(ontable b)
(clear a)
(clear l)
(clear h)
(clear d)
(clear c)
(clear g)
(clear j)
(clear b)
)
(:goal
(and
(on a l)
(on l h)
(on h d)
(on d c)
(on c g)
(on g j)
(on j b)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects f j e)
(:init
(handempty)
(ontable f)
(ontable j)
(ontable e)
(clear f)
(clear j)
(clear e)
)
(:goal
(and
(on f 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 f i c a)
(:init
(handempty)
(ontable f)
(ontable i)
(ontable c)
(ontable a)
(clear f)
(clear i)
(clear c)
(clear a)
)
(:goal
(and
(on f i)
(on i 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 h i k j)
(:init
(handempty)
(ontable h)
(ontable i)
(ontable k)
(ontable j)
(clear h)
(clear i)
(clear k)
(clear j)
)
(:goal
(and
(on h i)
(on i 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 i e h f b g)
(:init
(handempty)
(ontable i)
(ontable e)
(ontable h)
(ontable f)
(ontable b)
(ontable g)
(clear i)
(clear e)
(clear h)
(clear f)
(clear b)
(clear g)
)
(:goal
(and
(on i e)
(on e h)
(on h f)
(on f 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 k g b j a e c l d h i f)
(:init
(handempty)
(ontable k)
(ontable g)
(ontable b)
(ontable j)
(ontable a)
(ontable e)
(ontable c)
(ontable l)
(ontable d)
(ontable h)
(ontable i)
(ontable f)
(clear k)
(clear g)
(clear b)
(clear j)
(clear a)
(clear e)
(clear c)
(clear l)
(clear d)
(clear h)
(clear i)
(clear f)
)
(:goal
(and
(on k g)
(on g b)
(on b j)
(on j a)
(on a e)
(on e c)
(on c l)
(on l d)
(on d h)
(on h i)
(on i f)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects g b k d i l a e j f)
(:init
(handempty)
(ontable g)
(ontable b)
(ontable k)
(ontable d)
(ontable i)
(ontable l)
(ontable a)
(ontable e)
(ontable j)
(ontable f)
(clear g)
(clear b)
(clear k)
(clear d)
(clear i)
(clear l)
(clear a)
(clear e)
(clear j)
(clear f)
)
(:goal
(and
(on g b)
(on b k)
(on k d)
(on d i)
(on i l)
(on l a)
(on a 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 i h e a g j l)
(:init
(handempty)
(ontable i)
(ontable h)
(ontable e)
(ontable a)
(ontable g)
(ontable j)
(ontable l)
(clear i)
(clear h)
(clear e)
(clear a)
(clear g)
(clear j)
(clear l)
)
(:goal
(and
(on i h)
(on h e)
(on e a)
(on a g)
(on g 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 l i c g e)
(:init
(handempty)
(ontable l)
(ontable i)
(ontable c)
(ontable g)
(ontable e)
(clear l)
(clear i)
(clear c)
(clear g)
(clear e)
)
(:goal
(and
(on l i)
(on i c)
(on c g)
(on g e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects c j k f d a i b e)
(:init
(handempty)
(ontable c)
(ontable j)
(ontable k)
(ontable f)
(ontable d)
(ontable a)
(ontable i)
(ontable b)
(ontable e)
(clear c)
(clear j)
(clear k)
(clear f)
(clear d)
(clear a)
(clear i)
(clear b)
(clear e)
)
(:goal
(and
(on c j)
(on j k)
(on k f)
(on f d)
(on d a)
(on a i)
(on i b)
(on b e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects d e k l f i j b)
(:init
(handempty)
(ontable d)
(ontable e)
(ontable k)
(ontable l)
(ontable f)
(ontable i)
(ontable j)
(ontable b)
(clear d)
(clear e)
(clear k)
(clear l)
(clear f)
(clear i)
(clear j)
(clear b)
)
(:goal
(and
(on d e)
(on e k)
(on k l)
(on l f)
(on f i)
(on i 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 j f g b a i k l d)
(:init
(handempty)
(ontable j)
(ontable f)
(ontable g)
(ontable b)
(ontable a)
(ontable i)
(ontable k)
(ontable l)
(ontable d)
(clear j)
(clear f)
(clear g)
(clear b)
(clear a)
(clear i)
(clear k)
(clear l)
(clear d)
)
(:goal
(and
(on j f)
(on f g)
(on g b)
(on b a)
(on a i)
(on i 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 b a e h g i d c f l)
(:init
(handempty)
(ontable b)
(ontable a)
(ontable e)
(ontable h)
(ontable g)
(ontable i)
(ontable d)
(ontable c)
(ontable f)
(ontable l)
(clear b)
(clear a)
(clear e)
(clear h)
(clear g)
(clear i)
(clear d)
(clear c)
(clear f)
(clear l)
)
(:goal
(and
(on b a)
(on a e)
(on e h)
(on h g)
(on g i)
(on i d)
(on d c)
(on c f)
(on f l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects g f e h k l j i c b a)
(:init
(handempty)
(ontable g)
(ontable f)
(ontable e)
(ontable h)
(ontable k)
(ontable l)
(ontable j)
(ontable i)
(ontable c)
(ontable b)
(ontable a)
(clear g)
(clear f)
(clear e)
(clear h)
(clear k)
(clear l)
(clear j)
(clear i)
(clear c)
(clear b)
(clear a)
)
(:goal
(and
(on g f)
(on f e)
(on e h)
(on h k)
(on k l)
(on l j)
(on j i)
(on i c)
(on c b)
(on b a)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a f i d h c k e l g b j)
(:init
(handempty)
(ontable a)
(ontable f)
(ontable i)
(ontable d)
(ontable h)
(ontable c)
(ontable k)
(ontable e)
(ontable l)
(ontable g)
(ontable b)
(ontable j)
(clear a)
(clear f)
(clear i)
(clear d)
(clear h)
(clear c)
(clear k)
(clear e)
(clear l)
(clear g)
(clear b)
(clear j)
)
(:goal
(and
(on a f)
(on f i)
(on i d)
(on d h)
(on h c)
(on c k)
(on k e)
(on e l)
(on l g)
(on g 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 d h c k l b g e)
(:init
(handempty)
(ontable d)
(ontable h)
(ontable c)
(ontable k)
(ontable l)
(ontable b)
(ontable g)
(ontable e)
(clear d)
(clear h)
(clear c)
(clear k)
(clear l)
(clear b)
(clear g)
(clear e)
)
(:goal
(and
(on d h)
(on h c)
(on c k)
(on k l)
(on l b)
(on b g)
(on g e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects d j b g l)
(:init
(handempty)
(ontable d)
(ontable j)
(ontable b)
(ontable g)
(ontable l)
(clear d)
(clear j)
(clear b)
(clear g)
(clear l)
)
(:goal
(and
(on d j)
(on j b)
(on b g)
(on g l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j g f a c h l i e d b k)
(:init
(handempty)
(ontable j)
(ontable g)
(ontable f)
(ontable a)
(ontable c)
(ontable h)
(ontable l)
(ontable i)
(ontable e)
(ontable d)
(ontable b)
(ontable k)
(clear j)
(clear g)
(clear f)
(clear a)
(clear c)
(clear h)
(clear l)
(clear i)
(clear e)
(clear d)
(clear b)
(clear k)
)
(:goal
(and
(on j g)
(on g f)
(on f a)
(on a c)
(on c h)
(on h l)
(on l i)
(on i e)
(on e d)
(on d 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 k h j c e l a b d)
(:init
(handempty)
(ontable k)
(ontable h)
(ontable j)
(ontable c)
(ontable e)
(ontable l)
(ontable a)
(ontable b)
(ontable d)
(clear k)
(clear h)
(clear j)
(clear c)
(clear e)
(clear l)
(clear a)
(clear b)
(clear d)
)
(:goal
(and
(on k h)
(on h j)
(on j c)
(on c e)
(on e l)
(on l a)
(on a 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 j a b c e g d h)
(:init
(handempty)
(ontable j)
(ontable a)
(ontable b)
(ontable c)
(ontable e)
(ontable g)
(ontable d)
(ontable h)
(clear j)
(clear a)
(clear b)
(clear c)
(clear e)
(clear g)
(clear d)
(clear h)
)
(:goal
(and
(on j a)
(on a b)
(on b c)
(on c e)
(on e g)
(on g d)
(on d h)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects k d i h f e j c b l)
(:init
(handempty)
(ontable k)
(ontable d)
(ontable i)
(ontable h)
(ontable f)
(ontable e)
(ontable j)
(ontable c)
(ontable b)
(ontable l)
(clear k)
(clear d)
(clear i)
(clear h)
(clear f)
(clear e)
(clear j)
(clear c)
(clear b)
(clear l)
)
(:goal
(and
(on k d)
(on d i)
(on i h)
(on h f)
(on f e)
(on e j)
(on j c)
(on c b)
(on b l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects l g b)
(:init
(handempty)
(ontable l)
(ontable g)
(ontable b)
(clear l)
(clear g)
(clear b)
)
(:goal
(and
(on l g)
(on g b)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects d a f i b j e g k)
(:init
(handempty)
(ontable d)
(ontable a)
(ontable f)
(ontable i)
(ontable b)
(ontable j)
(ontable e)
(ontable g)
(ontable k)
(clear d)
(clear a)
(clear f)
(clear i)
(clear b)
(clear j)
(clear e)
(clear g)
(clear k)
)
(:goal
(and
(on d a)
(on a f)
(on f i)
(on i b)
(on b j)
(on j e)
(on e g)
(on g k)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j d g k e)
(:init
(handempty)
(ontable j)
(ontable d)
(ontable g)
(ontable k)
(ontable e)
(clear j)
(clear d)
(clear g)
(clear k)
(clear e)
)
(:goal
(and
(on j d)
(on d g)
(on g 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 g b f h)
(:init
(handempty)
(ontable g)
(ontable b)
(ontable f)
(ontable h)
(clear g)
(clear b)
(clear f)
(clear h)
)
(:goal
(and
(on g 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 h i b j k e f l c g a)
(:init
(handempty)
(ontable h)
(ontable i)
(ontable b)
(ontable j)
(ontable k)
(ontable e)
(ontable f)
(ontable l)
(ontable c)
(ontable g)
(ontable a)
(clear h)
(clear i)
(clear b)
(clear j)
(clear k)
(clear e)
(clear f)
(clear l)
(clear c)
(clear g)
(clear a)
)
(:goal
(and
(on h i)
(on i b)
(on b j)
(on j k)
(on k e)
(on e f)
(on f l)
(on l c)
(on c g)
(on g a)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects e a b l)
(:init
(handempty)
(ontable e)
(ontable a)
(ontable b)
(ontable l)
(clear e)
(clear a)
(clear b)
(clear l)
)
(:goal
(and
(on e a)
(on a b)
(on b l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects g d f b)
(:init
(handempty)
(ontable g)
(ontable d)
(ontable f)
(ontable b)
(clear g)
(clear d)
(clear f)
(clear b)
)
(:goal
(and
(on g d)
(on d 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 e j c i l)
(:init
(handempty)
(ontable e)
(ontable j)
(ontable c)
(ontable i)
(ontable l)
(clear e)
(clear j)
(clear c)
(clear i)
(clear l)
)
(:goal
(and
(on e j)
(on j c)
(on c i)
(on i l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects h j c k d f g)
(:init
(handempty)
(ontable h)
(ontable j)
(ontable c)
(ontable k)
(ontable d)
(ontable f)
(ontable g)
(clear h)
(clear j)
(clear c)
(clear k)
(clear d)
(clear f)
(clear g)
)
(:goal
(and
(on h j)
(on j c)
(on c k)
(on k d)
(on d f)
(on f g)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j i g f e k a h l b)
(:init
(handempty)
(ontable j)
(ontable i)
(ontable g)
(ontable f)
(ontable e)
(ontable k)
(ontable a)
(ontable h)
(ontable l)
(ontable b)
(clear j)
(clear i)
(clear g)
(clear f)
(clear e)
(clear k)
(clear a)
(clear h)
(clear l)
(clear b)
)
(:goal
(and
(on j i)
(on i g)
(on g f)
(on f e)
(on e k)
(on k a)
(on a h)
(on h l)
(on l b)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects c g a d)
(:init
(handempty)
(ontable c)
(ontable g)
(ontable a)
(ontable d)
(clear c)
(clear g)
(clear a)
(clear d)
)
(:goal
(and
(on c g)
(on g a)
(on a d)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects g e l i c k b h j d)
(:init
(handempty)
(ontable g)
(ontable e)
(ontable l)
(ontable i)
(ontable c)
(ontable k)
(ontable b)
(ontable h)
(ontable j)
(ontable d)
(clear g)
(clear e)
(clear l)
(clear i)
(clear c)
(clear k)
(clear b)
(clear h)
(clear j)
(clear d)
)
(:goal
(and
(on g e)
(on e l)
(on l i)
(on i c)
(on c k)
(on k b)
(on b h)
(on h 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 l h c b g d i)
(:init
(handempty)
(ontable e)
(ontable l)
(ontable h)
(ontable c)
(ontable b)
(ontable g)
(ontable d)
(ontable i)
(clear e)
(clear l)
(clear h)
(clear c)
(clear b)
(clear g)
(clear d)
(clear i)
)
(:goal
(and
(on e l)
(on l h)
(on h c)
(on c b)
(on b g)
(on g 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 e f d l j)
(:init
(handempty)
(ontable e)
(ontable f)
(ontable d)
(ontable l)
(ontable j)
(clear e)
(clear f)
(clear d)
(clear l)
(clear j)
)
(:goal
(and
(on e f)
(on f d)
(on d l)
(on l j)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects c a d k f)
(:init
(handempty)
(ontable c)
(ontable a)
(ontable d)
(ontable k)
(ontable f)
(clear c)
(clear a)
(clear d)
(clear k)
(clear f)
)
(:goal
(and
(on c a)
(on a d)
(on d k)
(on k f)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects c e k a i h)
(:init
(handempty)
(ontable c)
(ontable e)
(ontable k)
(ontable a)
(ontable i)
(ontable h)
(clear c)
(clear e)
(clear k)
(clear a)
(clear i)
(clear h)
)
(:goal
(and
(on c e)
(on e k)
(on k a)
(on a 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 a b l j g c)
(:init
(handempty)
(ontable a)
(ontable b)
(ontable l)
(ontable j)
(ontable g)
(ontable c)
(clear a)
(clear b)
(clear l)
(clear j)
(clear g)
(clear c)
)
(:goal
(and
(on a b)
(on b l)
(on l j)
(on j 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 c d g l h)
(:init
(handempty)
(ontable c)
(ontable d)
(ontable g)
(ontable l)
(ontable h)
(clear c)
(clear d)
(clear g)
(clear l)
(clear h)
)
(:goal
(and
(on c d)
(on d g)
(on g l)
(on l h)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j l h c i f k a)
(:init
(handempty)
(ontable j)
(ontable l)
(ontable h)
(ontable c)
(ontable i)
(ontable f)
(ontable k)
(ontable a)
(clear j)
(clear l)
(clear h)
(clear c)
(clear i)
(clear f)
(clear k)
(clear a)
)
(:goal
(and
(on j l)
(on l h)
(on h c)
(on c i)
(on i f)
(on f k)
(on k a)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a f k i e l b)
(:init
(handempty)
(ontable a)
(ontable f)
(ontable k)
(ontable i)
(ontable e)
(ontable l)
(ontable b)
(clear a)
(clear f)
(clear k)
(clear i)
(clear e)
(clear l)
(clear b)
)
(:goal
(and
(on a f)
(on f k)
(on k i)
(on i e)
(on e l)
(on l b)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects f h d j g a i c b)
(:init
(handempty)
(ontable f)
(ontable h)
(ontable d)
(ontable j)
(ontable g)
(ontable a)
(ontable i)
(ontable c)
(ontable b)
(clear f)
(clear h)
(clear d)
(clear j)
(clear g)
(clear a)
(clear i)
(clear c)
(clear b)
)
(:goal
(and
(on f h)
(on h d)
(on d j)
(on j g)
(on g a)
(on a i)
(on i c)
(on c b)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects i a h c l e d)
(:init
(handempty)
(ontable i)
(ontable a)
(ontable h)
(ontable c)
(ontable l)
(ontable e)
(ontable d)
(clear i)
(clear a)
(clear h)
(clear c)
(clear l)
(clear e)
(clear d)
)
(:goal
(and
(on i a)
(on a h)
(on h c)
(on c l)
(on l 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 j g c k b f i h d e)
(:init
(handempty)
(ontable j)
(ontable g)
(ontable c)
(ontable k)
(ontable b)
(ontable f)
(ontable i)
(ontable h)
(ontable d)
(ontable e)
(clear j)
(clear g)
(clear c)
(clear k)
(clear b)
(clear f)
(clear i)
(clear h)
(clear d)
(clear e)
)
(:goal
(and
(on j g)
(on g c)
(on c k)
(on k b)
(on b f)
(on f i)
(on i h)
(on h d)
(on d e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects i d h e a j)
(:init
(handempty)
(ontable i)
(ontable d)
(ontable h)
(ontable e)
(ontable a)
(ontable j)
(clear i)
(clear d)
(clear h)
(clear e)
(clear a)
(clear j)
)
(:goal
(and
(on i d)
(on d h)
(on h e)
(on e 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 b e k g h j f a c l)
(:init
(handempty)
(ontable b)
(ontable e)
(ontable k)
(ontable g)
(ontable h)
(ontable j)
(ontable f)
(ontable a)
(ontable c)
(ontable l)
(clear b)
(clear e)
(clear k)
(clear g)
(clear h)
(clear j)
(clear f)
(clear a)
(clear c)
(clear l)
)
(:goal
(and
(on b e)
(on e k)
(on k g)
(on g h)
(on h j)
(on j f)
(on f a)
(on a c)
(on c l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects h a b l e f i d g k j)
(:init
(handempty)
(ontable h)
(ontable a)
(ontable b)
(ontable l)
(ontable e)
(ontable f)
(ontable i)
(ontable d)
(ontable g)
(ontable k)
(ontable j)
(clear h)
(clear a)
(clear b)
(clear l)
(clear e)
(clear f)
(clear i)
(clear d)
(clear g)
(clear k)
(clear j)
)
(:goal
(and
(on h a)
(on a b)
(on b l)
(on l e)
(on e f)
(on f i)
(on i d)
(on d g)
(on g 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 i g f a l h j d)
(:init
(handempty)
(ontable e)
(ontable i)
(ontable g)
(ontable f)
(ontable a)
(ontable l)
(ontable h)
(ontable j)
(ontable d)
(clear e)
(clear i)
(clear g)
(clear f)
(clear a)
(clear l)
(clear h)
(clear j)
(clear d)
)
(:goal
(and
(on e i)
(on i g)
(on g f)
(on f a)
(on a l)
(on l h)
(on h 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 i e j g a)
(:init
(handempty)
(ontable i)
(ontable e)
(ontable j)
(ontable g)
(ontable a)
(clear i)
(clear e)
(clear j)
(clear g)
(clear a)
)
(:goal
(and
(on i e)
(on e j)
(on j g)
(on g a)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a k c j l g i)
(:init
(handempty)
(ontable a)
(ontable k)
(ontable c)
(ontable j)
(ontable l)
(ontable g)
(ontable i)
(clear a)
(clear k)
(clear c)
(clear j)
(clear l)
(clear g)
(clear i)
)
(:goal
(and
(on a k)
(on k c)
(on c j)
(on j 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 l e j i f a g b k)
(:init
(handempty)
(ontable l)
(ontable e)
(ontable j)
(ontable i)
(ontable f)
(ontable a)
(ontable g)
(ontable b)
(ontable k)
(clear l)
(clear e)
(clear j)
(clear i)
(clear f)
(clear a)
(clear g)
(clear b)
(clear k)
)
(:goal
(and
(on l e)
(on e j)
(on j i)
(on i f)
(on f a)
(on a g)
(on g b)
(on b k)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects b d a k g i h l f)
(:init
(handempty)
(ontable b)
(ontable d)
(ontable a)
(ontable k)
(ontable g)
(ontable i)
(ontable h)
(ontable l)
(ontable f)
(clear b)
(clear d)
(clear a)
(clear k)
(clear g)
(clear i)
(clear h)
(clear l)
(clear f)
)
(:goal
(and
(on b d)
(on d a)
(on a k)
(on k g)
(on g i)
(on i h)
(on h 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 c d b h l g f k)
(:init
(handempty)
(ontable c)
(ontable d)
(ontable b)
(ontable h)
(ontable l)
(ontable g)
(ontable f)
(ontable k)
(clear c)
(clear d)
(clear b)
(clear h)
(clear l)
(clear g)
(clear f)
(clear k)
)
(:goal
(and
(on c d)
(on d b)
(on b h)
(on h l)
(on l g)
(on g 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 h c d)
(:init
(handempty)
(ontable h)
(ontable c)
(ontable d)
(clear h)
(clear c)
(clear d)
)
(:goal
(and
(on h c)
(on c d)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects c j e i a f k h g)
(:init
(handempty)
(ontable c)
(ontable j)
(ontable e)
(ontable i)
(ontable a)
(ontable f)
(ontable k)
(ontable h)
(ontable g)
(clear c)
(clear j)
(clear e)
(clear i)
(clear a)
(clear f)
(clear k)
(clear h)
(clear g)
)
(:goal
(and
(on c j)
(on j e)
(on e i)
(on i a)
(on a f)
(on f k)
(on k h)
(on h g)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects f i a l b e d h g c k)
(:init
(handempty)
(ontable f)
(ontable i)
(ontable a)
(ontable l)
(ontable b)
(ontable e)
(ontable d)
(ontable h)
(ontable g)
(ontable c)
(ontable k)
(clear f)
(clear i)
(clear a)
(clear l)
(clear b)
(clear e)
(clear d)
(clear h)
(clear g)
(clear c)
(clear k)
)
(:goal
(and
(on f i)
(on i a)
(on a l)
(on l b)
(on b e)
(on e d)
(on d h)
(on h g)
(on g c)
(on c k)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects l c b i d e a k f j h g)
(:init
(handempty)
(ontable l)
(ontable c)
(ontable b)
(ontable i)
(ontable d)
(ontable e)
(ontable a)
(ontable k)
(ontable f)
(ontable j)
(ontable h)
(ontable g)
(clear l)
(clear c)
(clear b)
(clear i)
(clear d)
(clear e)
(clear a)
(clear k)
(clear f)
(clear j)
(clear h)
(clear g)
)
(:goal
(and
(on l c)
(on c b)
(on b i)
(on i d)
(on d e)
(on e a)
(on a k)
(on k f)
(on f j)
(on j h)
(on h g)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects b f h k e j)
(:init
(handempty)
(ontable b)
(ontable f)
(ontable h)
(ontable k)
(ontable e)
(ontable j)
(clear b)
(clear f)
(clear h)
(clear k)
(clear e)
(clear j)
)
(:goal
(and
(on b f)
(on f h)
(on h k)
(on k 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 e d j f g h k a l b i)
(:init
(handempty)
(ontable e)
(ontable d)
(ontable j)
(ontable f)
(ontable g)
(ontable h)
(ontable k)
(ontable a)
(ontable l)
(ontable b)
(ontable i)
(clear e)
(clear d)
(clear j)
(clear f)
(clear g)
(clear h)
(clear k)
(clear a)
(clear l)
(clear b)
(clear i)
)
(:goal
(and
(on e d)
(on d j)
(on j f)
(on f g)
(on g h)
(on h k)
(on k a)
(on a l)
(on l b)
(on b i)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects g i l j a f h)
(:init
(handempty)
(ontable g)
(ontable i)
(ontable l)
(ontable j)
(ontable a)
(ontable f)
(ontable h)
(clear g)
(clear i)
(clear l)
(clear j)
(clear a)
(clear f)
(clear h)
)
(:goal
(and
(on g i)
(on i l)
(on l j)
(on j a)
(on a 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 f b c h j)
(:init
(handempty)
(ontable f)
(ontable b)
(ontable c)
(ontable h)
(ontable j)
(clear f)
(clear b)
(clear c)
(clear h)
(clear j)
)
(:goal
(and
(on f b)
(on b c)
(on c h)
(on h j)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a e c j h d i k b f)
(:init
(handempty)
(ontable a)
(ontable e)
(ontable c)
(ontable j)
(ontable h)
(ontable d)
(ontable i)
(ontable k)
(ontable b)
(ontable f)
(clear a)
(clear e)
(clear c)
(clear j)
(clear h)
(clear d)
(clear i)
(clear k)
(clear b)
(clear f)
)
(:goal
(and
(on a e)
(on e c)
(on c j)
(on j h)
(on h d)
(on d i)
(on i k)
(on k 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 f j g d)
(:init
(handempty)
(ontable f)
(ontable j)
(ontable g)
(ontable d)
(clear f)
(clear j)
(clear g)
(clear d)
)
(:goal
(and
(on f j)
(on j g)
(on g d)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects g j c k l e b f d i)
(:init
(handempty)
(ontable g)
(ontable j)
(ontable c)
(ontable k)
(ontable l)
(ontable e)
(ontable b)
(ontable f)
(ontable d)
(ontable i)
(clear g)
(clear j)
(clear c)
(clear k)
(clear l)
(clear e)
(clear b)
(clear f)
(clear d)
(clear i)
)
(:goal
(and
(on g j)
(on j c)
(on c k)
(on k l)
(on l e)
(on e b)
(on b f)
(on f d)
(on d i)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects i e a c h l)
(:init
(handempty)
(ontable i)
(ontable e)
(ontable a)
(ontable c)
(ontable h)
(ontable l)
(clear i)
(clear e)
(clear a)
(clear c)
(clear h)
(clear l)
)
(:goal
(and
(on i e)
(on e a)
(on a c)
(on c 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 f g e l d c b j i k h)
(:init
(handempty)
(ontable f)
(ontable g)
(ontable e)
(ontable l)
(ontable d)
(ontable c)
(ontable b)
(ontable j)
(ontable i)
(ontable k)
(ontable h)
(clear f)
(clear g)
(clear e)
(clear l)
(clear d)
(clear c)
(clear b)
(clear j)
(clear i)
(clear k)
(clear h)
)
(:goal
(and
(on f g)
(on g e)
(on e l)
(on l d)
(on d c)
(on c b)
(on b j)
(on j i)
(on i k)
(on k h)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects d l c e f a k h)
(:init
(handempty)
(ontable d)
(ontable l)
(ontable c)
(ontable e)
(ontable f)
(ontable a)
(ontable k)
(ontable h)
(clear d)
(clear l)
(clear c)
(clear e)
(clear f)
(clear a)
(clear k)
(clear h)
)
(:goal
(and
(on d l)
(on l c)
(on c e)
(on e f)
(on f a)
(on a k)
(on k h)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects g k h e)
(:init
(handempty)
(ontable g)
(ontable k)
(ontable h)
(ontable e)
(clear g)
(clear k)
(clear h)
(clear e)
)
(:goal
(and
(on g k)
(on k h)
(on h e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j a e k i h c f g)
(:init
(handempty)
(ontable j)
(ontable a)
(ontable e)
(ontable k)
(ontable i)
(ontable h)
(ontable c)
(ontable f)
(ontable g)
(clear j)
(clear a)
(clear e)
(clear k)
(clear i)
(clear h)
(clear c)
(clear f)
(clear g)
)
(:goal
(and
(on j a)
(on a e)
(on e k)
(on k i)
(on i h)
(on h c)
(on c f)
(on f g)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects f k i e c g b d l h)
(:init
(handempty)
(ontable f)
(ontable k)
(ontable i)
(ontable e)
(ontable c)
(ontable g)
(ontable b)
(ontable d)
(ontable l)
(ontable h)
(clear f)
(clear k)
(clear i)
(clear e)
(clear c)
(clear g)
(clear b)
(clear d)
(clear l)
(clear h)
)
(:goal
(and
(on f k)
(on k i)
(on i e)
(on e c)
(on c g)
(on g b)
(on b d)
(on d l)
(on l h)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects c h j)
(:init
(handempty)
(ontable c)
(ontable h)
(ontable j)
(clear c)
(clear h)
(clear j)
)
(:goal
(and
(on c h)
(on h j)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects b j a l f k)
(:init
(handempty)
(ontable b)
(ontable j)
(ontable a)
(ontable l)
(ontable f)
(ontable k)
(clear b)
(clear j)
(clear a)
(clear l)
(clear f)
(clear k)
)
(:goal
(and
(on b j)
(on j a)
(on a l)
(on l 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 c l e k i h a f b g)
(:init
(handempty)
(ontable c)
(ontable l)
(ontable e)
(ontable k)
(ontable i)
(ontable h)
(ontable a)
(ontable f)
(ontable b)
(ontable g)
(clear c)
(clear l)
(clear e)
(clear k)
(clear i)
(clear h)
(clear a)
(clear f)
(clear b)
(clear g)
)
(:goal
(and
(on c l)
(on l e)
(on e k)
(on k i)
(on i h)
(on h a)
(on a f)
(on f 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 d g k c b l i j f h a)
(:init
(handempty)
(ontable d)
(ontable g)
(ontable k)
(ontable c)
(ontable b)
(ontable l)
(ontable i)
(ontable j)
(ontable f)
(ontable h)
(ontable a)
(clear d)
(clear g)
(clear k)
(clear c)
(clear b)
(clear l)
(clear i)
(clear j)
(clear f)
(clear h)
(clear a)
)
(:goal
(and
(on d g)
(on g k)
(on k c)
(on c b)
(on b l)
(on l i)
(on i j)
(on j f)
(on f h)
(on h a)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects j l k f b g e)
(:init
(handempty)
(ontable j)
(ontable l)
(ontable k)
(ontable f)
(ontable b)
(ontable g)
(ontable e)
(clear j)
(clear l)
(clear k)
(clear f)
(clear b)
(clear g)
(clear e)
)
(:goal
(and
(on j l)
(on l k)
(on k f)
(on f b)
(on b g)
(on g e)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects g e i)
(:init
(handempty)
(ontable g)
(ontable e)
(ontable i)
(clear g)
(clear e)
(clear i)
)
(:goal
(and
(on g e)
(on e i)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects i a l h c d f b g j)
(:init
(handempty)
(ontable i)
(ontable a)
(ontable l)
(ontable h)
(ontable c)
(ontable d)
(ontable f)
(ontable b)
(ontable g)
(ontable j)
(clear i)
(clear a)
(clear l)
(clear h)
(clear c)
(clear d)
(clear f)
(clear b)
(clear g)
(clear j)
)
(:goal
(and
(on i a)
(on a l)
(on l h)
(on h c)
(on c d)
(on d f)
(on f b)
(on b 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 a l e b f g c h k j d i)
(:init
(handempty)
(ontable a)
(ontable l)
(ontable e)
(ontable b)
(ontable f)
(ontable g)
(ontable c)
(ontable h)
(ontable k)
(ontable j)
(ontable d)
(ontable i)
(clear a)
(clear l)
(clear e)
(clear b)
(clear f)
(clear g)
(clear c)
(clear h)
(clear k)
(clear j)
(clear d)
(clear i)
)
(:goal
(and
(on a l)
(on l e)
(on e b)
(on b f)
(on f g)
(on g c)
(on c h)
(on h k)
(on k j)
(on j 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 e k d l g j)
(:init
(handempty)
(ontable c)
(ontable e)
(ontable k)
(ontable d)
(ontable l)
(ontable g)
(ontable j)
(clear c)
(clear e)
(clear k)
(clear d)
(clear l)
(clear g)
(clear j)
)
(:goal
(and
(on c e)
(on e k)
(on k d)
(on d l)
(on l 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 b k f i c d g j)
(:init
(handempty)
(ontable b)
(ontable k)
(ontable f)
(ontable i)
(ontable c)
(ontable d)
(ontable g)
(ontable j)
(clear b)
(clear k)
(clear f)
(clear i)
(clear c)
(clear d)
(clear g)
(clear j)
)
(:goal
(and
(on b k)
(on k f)
(on f i)
(on i c)
(on c d)
(on d 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 g f l d k c i j b a)
(:init
(handempty)
(ontable g)
(ontable f)
(ontable l)
(ontable d)
(ontable k)
(ontable c)
(ontable i)
(ontable j)
(ontable b)
(ontable a)
(clear g)
(clear f)
(clear l)
(clear d)
(clear k)
(clear c)
(clear i)
(clear j)
(clear b)
(clear a)
)
(:goal
(and
(on g f)
(on f l)
(on l d)
(on d k)
(on k c)
(on c i)
(on i j)
(on j b)
(on b a)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects b i g)
(:init
(handempty)
(ontable b)
(ontable i)
(ontable g)
(clear b)
(clear i)
(clear g)
)
(:goal
(and
(on b i)
(on i g)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects b d g c e f i a h j l)
(:init
(handempty)
(ontable b)
(ontable d)
(ontable g)
(ontable c)
(ontable e)
(ontable f)
(ontable i)
(ontable a)
(ontable h)
(ontable j)
(ontable l)
(clear b)
(clear d)
(clear g)
(clear c)
(clear e)
(clear f)
(clear i)
(clear a)
(clear h)
(clear j)
(clear l)
)
(:goal
(and
(on b d)
(on d g)
(on g c)
(on c e)
(on e f)
(on f i)
(on i a)
(on a h)
(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 j a e i c b h)
(:init
(handempty)
(ontable j)
(ontable a)
(ontable e)
(ontable i)
(ontable c)
(ontable b)
(ontable h)
(clear j)
(clear a)
(clear e)
(clear i)
(clear c)
(clear b)
(clear h)
)
(:goal
(and
(on j a)
(on a e)
(on e i)
(on i c)
(on c 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 c h d i g j)
(:init
(handempty)
(ontable c)
(ontable h)
(ontable d)
(ontable i)
(ontable g)
(ontable j)
(clear c)
(clear h)
(clear d)
(clear i)
(clear g)
(clear j)
)
(:goal
(and
(on c h)
(on h d)
(on d i)
(on i 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 e f b a h j c k i l)
(:init
(handempty)
(ontable e)
(ontable f)
(ontable b)
(ontable a)
(ontable h)
(ontable j)
(ontable c)
(ontable k)
(ontable i)
(ontable l)
(clear e)
(clear f)
(clear b)
(clear a)
(clear h)
(clear j)
(clear c)
(clear k)
(clear i)
(clear l)
)
(:goal
(and
(on e f)
(on f b)
(on b a)
(on a h)
(on h j)
(on j c)
(on c k)
(on k i)
(on i l)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects a b j i l e g c)
(:init
(handempty)
(ontable a)
(ontable b)
(ontable j)
(ontable i)
(ontable l)
(ontable e)
(ontable g)
(ontable c)
(clear a)
(clear b)
(clear j)
(clear i)
(clear l)
(clear e)
(clear g)
(clear c)
)
(:goal
(and
(on a b)
(on b j)
(on j i)
(on i l)
(on l e)
(on e 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 c l i e h)
(:init
(handempty)
(ontable c)
(ontable l)
(ontable i)
(ontable e)
(ontable h)
(clear c)
(clear l)
(clear i)
(clear e)
(clear h)
)
(:goal
(and
(on c l)
(on l i)
(on i e)
(on e 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 h l a d c k b g)
(:init
(handempty)
(ontable e)
(ontable h)
(ontable l)
(ontable a)
(ontable d)
(ontable c)
(ontable k)
(ontable b)
(ontable g)
(clear e)
(clear h)
(clear l)
(clear a)
(clear d)
(clear c)
(clear k)
(clear b)
(clear g)
)
(:goal
(and
(on e h)
(on h l)
(on l a)
(on a d)
(on d c)
(on c 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 e j i)
(:init
(handempty)
(ontable e)
(ontable j)
(ontable i)
(clear e)
(clear j)
(clear i)
)
(:goal
(and
(on e j)
(on j i)
))) |
(define (domain blocksworld-4ops)
(:requirements :strips)
(:predicates (clear ?x)
(ontable ?x)
(handempty)
(holding ?x)
(on ?x ?y))
(:action pick-up
:parameters (?ob)
:precondition (and (clear ?ob) (ontable ?ob) (handempty))
:effect (and (holding ?ob) (not (clear ?ob)) (not (ontable ?ob))
(not (handempty))))
(:action put-down
:parameters (?ob)
:precondition (holding ?ob)
:effect (and (clear ?ob) (handempty) (ontable ?ob)
(not (holding ?ob))))
(:action stack
:parameters (?ob ?underob)
:precondition (and (clear ?underob) (holding ?ob))
:effect (and (handempty) (clear ?ob) (on ?ob ?underob)
(not (clear ?underob)) (not (holding ?ob))))
(:action unstack
:parameters (?ob ?underob)
:precondition (and (on ?ob ?underob) (clear ?ob) (handempty))
:effect (and (holding ?ob) (clear ?underob)
(not (on ?ob ?underob)) (not (clear ?ob)) (not (handempty)))))
| (define (problem BW-generalization-4)
(:domain blocksworld-4ops)(:objects f j c d l b)
(:init
(handempty)
(ontable f)
(ontable j)
(ontable c)
(ontable d)
(ontable l)
(ontable b)
(clear f)
(clear j)
(clear c)
(clear d)
(clear l)
(clear b)
)
(:goal
(and
(on f j)
(on j c)
(on c d)
(on d 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 a g h k)
(:init
(handempty)
(ontable a)
(ontable g)
(ontable h)
(ontable k)
(clear a)
(clear g)
(clear h)
(clear k)
)
(:goal
(and
(on a g)
(on g 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 e g h l c)
(:init
(handempty)
(ontable a)
(ontable e)
(ontable g)
(ontable h)
(ontable l)
(ontable c)
(clear a)
(clear e)
(clear g)
(clear h)
(clear l)
(clear c)
)
(:goal
(and
(on a e)
(on e g)
(on g h)
(on h l)
(on l c)
))) |