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AI T2

a guest Sep 12th, 2019 83 Never
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  1. ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
  2. ;;; 4 Op-blocks world
  3. ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
  4.  
  5. (define (domain BLOCKS)
  6.   (:requirements :strips)
  7.   (:predicates (on ?x ?y)
  8.            (ontable ?x)
  9.            (clear ?x)
  10.            )
  11.  
  12.   (:action table-stack
  13.          :parameters (?x ?y)
  14.          :precondition (and (clear ?x) (ontable ?x) (clear ?y))
  15.          :effect
  16.          (and (not (ontable ?x))
  17.            (not (clear ?y))
  18.            (on ?x ?y)))
  19.  
  20.   (:action stack-table
  21.          :parameters (?x ?y)
  22.          :precondition (and  (clear ?x) (on ?x ?y))
  23.          :effect
  24.          (and ;(clear ?x)
  25.          (ontable ?x)
  26.          (clear ?y)
  27.          (not(on ?x ?y)))
  28.          )
  29.   (:action stack-stack
  30.          :parameters (?x ?y ?z)
  31.          :precondition (and (clear ?x) (on ?x ?y) (clear ?z))
  32.          :effect
  33.          (and
  34.            (not (clear ?z))
  35.            ;(clear ?x)
  36.            (clear ?y)
  37.            (not (on ?x ?y))
  38.            (on ?x ?z))))
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