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domain-Bookmarked.pddl
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domain-Bookmarked.pddl
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(define (domain Drones_Bookmarked)
(:requirements :adl :typing)
(:types coord - object drone - object)
(:constants outC - coord s0 s1 s2 s3 - drone)
(:predicates
(at_drone ?r - drone ?x ?y ?z - coord)
(occupied ?x ?y ?z - coord)
(launch_point ?x ?y ?z - coord)
(plus_four ?c1 ?c2 - coord)
(plus_one ?c1 ?c2 - coord)
(plus_three ?c1 ?c2 - coord)
)
(:action lift-off
:parameters (?rmov - drone ?x2 ?y2 ?z2 - coord)
:precondition (and
(at_drone ?rmov outC outC outC)
(not (= ?x2 outC))
(not (= ?y2 outC))
(not (= ?z2 outC))
;;drone has to be outside for insert
;;aperture exists
(launch_point ?x2 ?y2 ?z2)
(not (occupied ?x2 ?y2 ?z2))
)
:effect (and
(not (at_drone ?rmov outC outC outC))
(at_drone ?rmov ?x2 ?y2 ?z2)
(occupied ?x2 ?y2 ?z2)
)
)
(:action fly_plusX
:parameters (?rmov - drone ?x1 ?y1 ?z1 ?x2 ?y2 ?z2 - coord)
:precondition (and
(at_drone ?rmov ?x1 ?y1 ?z1)
(not (occupied ?x2 ?y2 ?z2))
(= ?y2 ?y1)
(= ?z2 ?z1)
(plus_one ?x1 ?x2)
)
:effect (and
(not (at_drone ?rmov ?x1 ?y1 ?z1))
(not (occupied ?x1 ?y1 ?z1))
(at_drone ?rmov ?x2 ?y2 ?z2)
(occupied ?x2 ?y2 ?z2)
)
)
(:action fly_minusX
:parameters (?rmov - drone ?x1 ?y1 ?z1 ?x2 ?y2 ?z2 - coord)
:precondition (and
(at_drone ?rmov ?x1 ?y1 ?z1)
(not (occupied ?x2 ?y2 ?z2))
(= ?y2 ?y1)
(= ?z2 ?z1)
(plus_one ?x2 ?x1)
)
:effect (and
(not (at_drone ?rmov ?x1 ?y1 ?z1))
(not (occupied ?x1 ?y1 ?z1))
(at_drone ?rmov ?x2 ?y2 ?z2)
(occupied ?x2 ?y2 ?z2)
)
)
(:action fly_plusY
:parameters (?rmov - drone ?x1 ?y1 ?z1 ?x2 ?y2 ?z2 - coord)
:precondition (and
(at_drone ?rmov ?x1 ?y1 ?z1)
(not (occupied ?x2 ?y2 ?z2))
(= ?x2 ?x1)
(= ?z2 ?z1)
(plus_one ?y1 ?y2)
)
:effect (and
(not (at_drone ?rmov ?x1 ?y1 ?z1))
(not (occupied ?x1 ?y1 ?z1))
(at_drone ?rmov ?x2 ?y2 ?z2)
(occupied ?x2 ?y2 ?z2)
)
)
(:action fly_minusY
:parameters (?rmov - drone ?x1 ?y1 ?z1 ?x2 ?y2 ?z2 - coord)
:precondition (and
(at_drone ?rmov ?x1 ?y1 ?z1)
(not (occupied ?x2 ?y2 ?z2))
(= ?x2 ?x1)
(= ?z2 ?z1)
(plus_one ?y2 ?y1)
)
:effect (and
(not (at_drone ?rmov ?x1 ?y1 ?z1))
(not (occupied ?x1 ?y1 ?z1))
(at_drone ?rmov ?x2 ?y2 ?z2)
(occupied ?x2 ?y2 ?z2)
)
)
(:action fly_plusZ
:parameters (?rmov - drone ?x1 ?y1 ?z1 ?x2 ?y2 ?z2 - coord)
:precondition (and
(at_drone ?rmov ?x1 ?y1 ?z1)
(not (occupied ?x2 ?y2 ?z2))
(= ?x2 ?x1)
(= ?y2 ?y1)
(plus_one ?z1 ?z2)
)
:effect (and
(not (at_drone ?rmov ?x1 ?y1 ?z1))
(not (occupied ?x1 ?y1 ?z1))
(at_drone ?rmov ?x2 ?y2 ?z2)
(occupied ?x2 ?y2 ?z2)
)
)
(:action fly_minusZ
:parameters (?rmov - drone ?x1 ?y1 ?z1 ?x2 ?y2 ?z2 - coord)
:precondition (and
(at_drone ?rmov ?x1 ?y1 ?z1)
(not (occupied ?x2 ?y2 ?z2))
(= ?x2 ?x1)
(= ?y2 ?y1)
(plus_one ?z2 ?z1)
)
:effect (and
(not (at_drone ?rmov ?x1 ?y1 ?z1))
(not (occupied ?x1 ?y1 ?z1))
(at_drone ?rmov ?x2 ?y2 ?z2)
(occupied ?x2 ?y2 ?z2)
)
)
)