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