-
Notifications
You must be signed in to change notification settings - Fork 1
/
task_d.pddl
207 lines (206 loc) · 13.2 KB
/
task_d.pddl
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
(define (problem auto_warehouse_timed)
(:domain auto_warehouse)
(:objects
p0 p1 p2 p3 - pallet
robot0 robot1 - agent
H1X2Y12 H0X4Y17 H2X6Y11 H0X8Y2 H3X4Y12 H1X4Y7 H0X11Y10 H1X5Y16 H1X2Y8 H0X4Y4 H1X7Y9
H3X10Y3 H1X7Y13 H3X5Y17 H3X3Y3 H2X9Y13 H2X7Y14 H0X7Y9 H1X3Y8 H0X9Y10 H2X10Y5 H3X2Y16 H3X3Y5
H2X8Y13 H1X4Y9 H3X4Y14 H3X8Y21 H2X9Y5 H2X7Y19 H0X3Y3 H2X8Y5 H1X5Y18 H0X3Y14 H0X4Y14 H3X3Y13
H3X8Y10 H1X7Y17 H3X2Y20 H2X6Y8 H3X8Y20 H1X8Y10 H2X11Y13 H2X0Y11 H3X7Y18 H3X2Y6 H3X5Y11 H3X4Y6
H1X5Y2 H2X6Y13 H0X10Y10 H0X5Y10 H3X2Y2 H1X4Y13 H0X10Y19 H0X0Y8 H0X6Y4 H0X7Y18 H2X7Y13 H3X3Y17
H2X4Y6 H1X2Y11 H3X5Y12 H0X8Y5 H1X3Y14 H0X5Y1 H2X3Y9 H3X8Y12 H3X9Y21 H1X6Y9 H3X5Y10 H2X6Y14
H0X6Y11 H1X2Y15 H3X4Y10 H0X6Y10 H1X5Y6 H3X2Y7 H0X9Y19 H0X5Y4 H1X6Y13 H3X2Y8 H0X6Y8 H1X4Y3
H1X4Y5 H1X11Y21 H3X9Y13 H1X5Y15 H3X6Y15 H2X11Y5 H0X6Y9 H1X8Y12 H3X4Y9 H1X8Y6 H3X8Y16 H1X5Y20
H1X4Y17 H2X6Y1 H2X3Y10 H0X7Y20 H2X7Y5 H3X3Y9 H2X4Y9 H0X3Y13 H1X6Y17 H3X2Y10 H0X3Y5 H3X6Y4
H2X6Y7 H3X9Y17 H3X2Y12 H3X1Y7 H1X6Y15 H0X12Y1 H3X6Y8 H1X6Y6 H3X6Y9 H3X7Y11 H2X6Y5 H2X5Y7
H1X5Y7 H0X8Y10 H3X6Y14 H2X12Y4 H0X7Y10 H3X7Y12 H3X7Y7 H0X5Y3 H0X4Y10 H2X10Y13 H2X3Y6 H1X12Y21 - location
)
(:init
(is_at robot0 H0X9Y10) (occupied H0X9Y10) (is_at robot1 H3X5Y11) (occupied H3X5Y11)
(avail robot0) (avail robot1)
(is_at p0 H3X5Y12) (is_at p1 H0X10Y10) (is_at p2 H0X10Y10) (is_at p3 H3X2Y20)
(avail p0) (avail p1) (avail p2) (avail p3)
(connected H0X9Y10 H0X9Y10)
(connected H0X9Y10 H0X10Y10)
(connected H0X10Y10 H0X9Y10)
(connected H0X9Y10 H2X9Y13) (connected H2X9Y13 H3X7Y11)
(connected H3X7Y11 H3X6Y8) (connected H3X6Y8 H3X6Y4) (connected H3X6Y4 H0X8Y2)
(connected H0X8Y2 H2X8Y5) (connected H2X8Y5 H2X9Y5) (connected H2X9Y5 H2X10Y5)
(connected H2X10Y5 H2X6Y5) (connected H2X6Y5 H1X4Y7)
(connected H1X4Y7 H0X6Y9) (connected H0X6Y9 H0X9Y10)
(connected H0X9Y10 H0X10Y10) (connected H0X10Y10 H2X10Y13)
(connected H2X10Y13 H2X7Y14) (connected H2X7Y14 H3X5Y12)
(connected H3X5Y12 H0X7Y10) (connected H0X7Y10 H0X8Y10)
(connected H0X8Y10 H0X9Y10)
(connected H0X9Y10 H0X8Y10) (connected H0X8Y10 H2X8Y13)
(connected H2X8Y13 H1X6Y15) (connected H1X6Y15 H1X5Y18) (connected H1X5Y18 H0X7Y20)
(connected H0X7Y20 H0X10Y19)
(connected H0X10Y19 H0X9Y19) (connected H0X9Y19 H1X11Y21)
(connected H1X11Y21 H3X8Y21) (connected H3X8Y21 H3X7Y18) (connected H3X7Y18 H3X6Y15)
(connected H3X6Y15 H3X7Y12) (connected H3X7Y12 H0X9Y10)
(connected H0X9Y10 H2X9Y13) (connected H2X9Y13 H2X6Y14)
(connected H2X6Y14 H3X4Y12) (connected H3X4Y12 H3X3Y9) (connected H3X3Y9 H3X2Y6)
(connected H3X2Y6 H1X5Y6) (connected H1X5Y6 H1X4Y9)
(connected H1X4Y9 H0X6Y11) (connected H0X6Y11 H0X9Y10)
(connected H0X9Y10 H0X8Y10) (connected H0X8Y10 H2X8Y13)
(connected H2X8Y13 H2X7Y13) (connected H2X7Y13 H3X5Y11)
(connected H3X5Y11 H0X7Y9) (connected H0X7Y9 H0X6Y9)
(connected H0X6Y9 H0X9Y10)
(connected H0X9Y10 H0X10Y10) (connected H0X10Y10 H2X10Y13)
(connected H2X10Y13 H2X7Y14) (connected H2X7Y14 H1X5Y16) (connected H1X5Y16 H1X5Y20)
(connected H1X5Y20 H3X2Y20)
(connected H3X2Y20 H3X2Y16) (connected H3X2Y16 H3X2Y12)
(connected H3X2Y12 H0X4Y10) (connected H0X4Y10 H0X8Y10) (connected H0X8Y10 H0X9Y10)
(connected H0X9Y10 H0X8Y10) (connected H0X8Y10 H0X7Y10)
(connected H0X7Y10 H0X6Y10) (connected H0X6Y10 H2X6Y7) (connected H2X6Y7 H0X6Y4)
(connected H0X6Y4 H0X5Y4) (connected H0X5Y4 H2X5Y7)
(connected H2X5Y7 H0X5Y10) (connected H0X5Y10 H0X9Y10)
(connected H0X10Y10 H0X10Y10)
(connected H0X10Y10 H0X9Y10) (connected H0X9Y10 H2X9Y13)
(connected H2X9Y13 H3X7Y11) (connected H3X7Y11 H3X6Y8) (connected H3X6Y8 H3X6Y4)
(connected H3X6Y4 H0X8Y2) (connected H0X8Y2 H2X8Y5) (connected H2X8Y5 H2X9Y5)
(connected H2X9Y5 H2X10Y5)
(connected H2X10Y5 H2X11Y5) (connected H2X11Y5 H2X7Y5)
(connected H2X7Y5 H1X5Y7) (connected H1X5Y7 H0X7Y9) (connected H0X7Y9 H0X10Y10)
(connected H0X10Y10 H2X10Y13) (connected H2X10Y13 H2X7Y14)
(connected H2X7Y14 H3X5Y12)
(connected H3X5Y12 H0X7Y10) (connected H0X7Y10 H0X6Y10)
(connected H0X6Y10 H0X10Y10)
(connected H0X10Y10 H2X10Y13) (connected H2X10Y13 H2X7Y14)
(connected H2X7Y14 H1X5Y16) (connected H1X5Y16 H0X7Y18) (connected H0X7Y18 H0X10Y19)
(connected H0X10Y19 H0X9Y19) (connected H0X9Y19 H1X11Y21)
(connected H1X11Y21 H3X8Y21) (connected H3X8Y21 H3X8Y20) (connected H3X8Y20 H3X8Y16)
(connected H3X8Y16 H3X8Y12) (connected H3X8Y12 H0X10Y10)
(connected H0X10Y10 H0X9Y10) (connected H0X9Y10 H2X9Y13)
(connected H2X9Y13 H2X6Y14) (connected H2X6Y14 H3X4Y12) (connected H3X4Y12 H3X3Y9)
(connected H3X3Y9 H3X2Y6)
(connected H3X2Y6 H3X2Y7) (connected H3X2Y7 H1X5Y7)
(connected H1X5Y7 H0X7Y9) (connected H0X7Y9 H0X10Y10)
(connected H0X10Y10 H0X11Y10) (connected H0X11Y10 H2X11Y13)
(connected H2X11Y13 H2X7Y13) (connected H2X7Y13 H3X5Y11)
(connected H3X5Y11 H0X7Y9) (connected H0X7Y9 H0X10Y10)
(connected H0X10Y10 H2X10Y13) (connected H2X10Y13 H2X7Y14)
(connected H2X7Y14 H1X5Y16) (connected H1X5Y16 H1X5Y20) (connected H1X5Y20 H3X2Y20)
(connected H3X2Y20 H3X2Y16) (connected H3X2Y16 H3X2Y12)
(connected H3X2Y12 H0X4Y10) (connected H0X4Y10 H0X7Y9) (connected H0X7Y9 H0X10Y10)
(connected H0X10Y10 H2X10Y13) (connected H2X10Y13 H2X6Y13)
(connected H2X6Y13 H0X6Y10) (connected H0X6Y10 H2X6Y7) (connected H2X6Y7 H0X6Y4)
(connected H0X6Y4 H2X6Y7) (connected H2X6Y7 H0X6Y10)
(connected H0X6Y10 H0X10Y10)
(connected H2X10Y5 H2X10Y5)
(connected H2X10Y5 H2X11Y5) (connected H2X11Y5 H2X7Y5)
(connected H2X7Y5 H2X4Y6) (connected H2X4Y6 H1X2Y8) (connected H1X2Y8 H1X2Y12)
(connected H1X2Y12 H3X5Y12)
(connected H3X5Y12 H3X6Y9) (connected H3X6Y9 H3X6Y8)
(connected H3X6Y8 H3X6Y4) (connected H3X6Y4 H0X8Y2) (connected H0X8Y2 H2X8Y5)
(connected H2X8Y5 H2X9Y5) (connected H2X9Y5 H2X10Y5)
(connected H2X10Y5 H2X6Y5) (connected H2X6Y5 H0X6Y8)
(connected H0X6Y8 H1X8Y10) (connected H1X8Y10 H1X7Y13) (connected H1X7Y13 H1X7Y17)
(connected H1X7Y17 H0X9Y19) (connected H0X9Y19 H0X10Y19)
(connected H0X10Y19 H1X12Y21) (connected H1X12Y21 H3X9Y21)
(connected H3X9Y21 H3X9Y17) (connected H3X9Y17 H3X9Y13) (connected H3X9Y13 H3X8Y10)
(connected H3X8Y10 H3X7Y7) (connected H3X7Y7 H3X6Y4) (connected H3X6Y4 H0X8Y2)
(connected H0X8Y2 H2X8Y5) (connected H2X8Y5 H2X9Y5) (connected H2X9Y5 H2X10Y5)
(connected H2X10Y5 H2X11Y5) (connected H2X11Y5 H2X7Y5)
(connected H2X7Y5 H1X5Y7) (connected H1X5Y7 H3X2Y7) (connected H3X2Y7 H3X2Y6)
(connected H3X2Y6 H3X3Y3) (connected H3X3Y3 H0X5Y1)
(connected H0X5Y1 H0X8Y2) (connected H0X8Y2 H2X8Y5) (connected H2X8Y5 H2X9Y5)
(connected H2X9Y5 H2X10Y5)
(connected H2X10Y5 H2X6Y5) (connected H2X6Y5 H0X6Y8)
(connected H0X6Y8 H1X8Y10) (connected H1X8Y10 H3X5Y10) (connected H3X5Y10 H3X5Y11)
(connected H3X5Y11 H3X6Y8) (connected H3X6Y8 H3X6Y4)
(connected H3X6Y4 H0X8Y2) (connected H0X8Y2 H2X8Y5) (connected H2X8Y5 H2X9Y5)
(connected H2X9Y5 H2X10Y5)
(connected H2X10Y5 H2X6Y5) (connected H2X6Y5 H0X6Y8)
(connected H0X6Y8 H2X6Y11) (connected H2X6Y11 H1X4Y13) (connected H1X4Y13 H1X4Y17)
(connected H1X4Y17 H1X5Y20) (connected H1X5Y20 H3X2Y20)
(connected H3X2Y20 H3X2Y16) (connected H3X2Y16 H3X2Y12)
(connected H3X2Y12 H3X2Y8) (connected H3X2Y8 H3X3Y5) (connected H3X3Y5 H0X5Y3)
(connected H0X5Y3 H0X8Y2) (connected H0X8Y2 H2X8Y5) (connected H2X8Y5 H2X9Y5)
(connected H2X9Y5 H2X10Y5)
(connected H2X10Y5 H2X6Y5) (connected H2X6Y5 H2X3Y6)
(connected H2X3Y6 H0X3Y3) (connected H0X3Y3 H0X6Y4)
(connected H0X6Y4 H0X5Y4) (connected H0X5Y4 H0X8Y5)
(connected H0X8Y5 H3X10Y3) (connected H3X10Y3 H0X12Y1) (connected H0X12Y1 H2X12Y4)
(connected H2X12Y4 H2X9Y5) (connected H2X9Y5 H2X10Y5)
(connected H3X5Y12 H3X5Y12)
(connected H3X5Y12 H2X3Y10) (connected H2X3Y10 H0X3Y13)
(connected H0X3Y13 H1X5Y15) (connected H1X5Y15 H1X5Y16) (connected H1X5Y16 H0X7Y18)
(connected H0X7Y18 H0X10Y19)
(connected H0X10Y19 H0X9Y19) (connected H0X9Y19 H1X11Y21)
(connected H1X11Y21 H3X8Y21) (connected H3X8Y21 H3X7Y18) (connected H3X7Y18 H3X6Y15)
(connected H3X6Y15 H3X5Y12)
(connected H3X5Y12 H2X3Y10) (connected H2X3Y10 H2X0Y11)
(connected H2X0Y11 H0X0Y8) (connected H0X0Y8 H3X2Y6)
(connected H3X2Y6 H0X4Y4) (connected H0X4Y4 H1X6Y6)
(connected H1X6Y6 H1X7Y9) (connected H1X7Y9 H1X8Y12) (connected H1X8Y12 H3X5Y12)
(connected H3X5Y12 H3X5Y11)
(connected H3X5Y11 H3X5Y12)
(connected H3X5Y12 H2X3Y10) (connected H2X3Y10 H0X3Y13)
(connected H0X3Y13 H1X5Y15) (connected H1X5Y15 H1X5Y16) (connected H1X5Y16 H1X5Y20)
(connected H1X5Y20 H3X2Y20)
(connected H3X2Y20 H3X2Y16) (connected H3X2Y16 H0X4Y14)
(connected H0X4Y14 H0X3Y14) (connected H0X3Y14 H3X5Y12)
(connected H3X5Y12 H3X4Y9) (connected H3X4Y9 H3X4Y10)
(connected H3X4Y10 H3X4Y6) (connected H3X4Y6 H0X6Y4)
(connected H0X6Y4 H2X6Y7) (connected H2X6Y7 H0X6Y10)
(connected H0X6Y10 H1X8Y12) (connected H1X8Y12 H3X5Y12)
(connected H0X10Y19 H0X10Y19)
(connected H0X10Y19 H1X12Y21) (connected H1X12Y21 H3X9Y21)
(connected H3X9Y21 H3X9Y17) (connected H3X9Y17 H3X9Y13) (connected H3X9Y13 H1X6Y13)
(connected H1X6Y13 H3X3Y13) (connected H3X3Y13 H3X2Y10) (connected H3X2Y10 H3X2Y6)
(connected H3X2Y6 H1X5Y6) (connected H1X5Y6 H1X6Y9)
(connected H1X6Y9 H1X6Y13) (connected H1X6Y13 H1X5Y16) (connected H1X5Y16 H0X7Y18)
(connected H0X7Y18 H0X10Y19)
(connected H0X10Y19 H1X12Y21) (connected H1X12Y21 H3X9Y21)
(connected H3X9Y21 H2X7Y19) (connected H2X7Y19 H3X5Y17) (connected H3X5Y17 H3X6Y14)
(connected H3X6Y14 H3X5Y11)
(connected H3X5Y11 H1X2Y11) (connected H1X2Y11 H1X2Y15)
(connected H1X2Y15 H0X4Y17) (connected H0X4Y17 H0X7Y18) (connected H0X7Y18 H0X10Y19)
(connected H0X10Y19 H0X9Y19) (connected H0X9Y19 H1X11Y21)
(connected H1X11Y21 H3X8Y21) (connected H3X8Y21 H3X8Y20) (connected H3X8Y20 H1X5Y20)
(connected H1X5Y20 H3X2Y20)
(connected H3X2Y20 H3X2Y16) (connected H3X2Y16 H1X5Y16)
(connected H1X5Y16 H0X7Y18) (connected H0X7Y18 H0X10Y19)
(connected H0X10Y19 H1X12Y21) (connected H1X12Y21 H3X9Y21)
(connected H3X9Y21 H3X9Y17) (connected H3X9Y17 H3X9Y13) (connected H3X9Y13 H3X8Y10)
(connected H3X8Y10 H2X6Y8) (connected H2X6Y8 H3X4Y6) (connected H3X4Y6 H0X6Y4)
(connected H0X6Y4 H1X8Y6) (connected H1X8Y6 H1X8Y10)
(connected H1X8Y10 H1X7Y13) (connected H1X7Y13 H1X7Y17) (connected H1X7Y17 H0X9Y19)
(connected H0X9Y19 H0X10Y19)
(connected H3X2Y6 H3X2Y6)
(connected H3X2Y6 H3X2Y2) (connected H3X2Y2 H1X5Y2)
(connected H1X5Y2 H1X4Y5) (connected H1X4Y5 H1X3Y8) (connected H1X3Y8 H1X2Y11)
(connected H1X2Y11 H3X5Y11)
(connected H3X5Y11 H2X3Y9) (connected H2X3Y9 H2X4Y9)
(connected H2X4Y9 H3X2Y7) (connected H3X2Y7 H3X2Y6)
(connected H3X2Y6 H1X5Y6) (connected H1X5Y6 H1X6Y9)
(connected H1X6Y9 H1X6Y13) (connected H1X6Y13 H1X6Y17) (connected H1X6Y17 H1X5Y20)
(connected H1X5Y20 H3X2Y20)
(connected H3X2Y20 H3X2Y16) (connected H3X2Y16 H3X2Y12)
(connected H3X2Y12 H3X3Y9) (connected H3X3Y9 H3X2Y6)
(connected H3X2Y6 H0X4Y4) (connected H0X4Y4 H0X5Y4)
(connected H0X5Y4 H0X6Y4)
(connected H0X6Y4 H2X6Y1) (connected H2X6Y1 H1X4Y3)
(connected H1X4Y3 H1X5Y6) (connected H1X5Y6 H3X2Y6)
(connected H3X5Y11 H3X5Y11)
(connected H3X5Y11 H1X2Y11) (connected H1X2Y11 H1X3Y14)
(connected H1X3Y14 H1X4Y17) (connected H1X4Y17 H1X5Y20) (connected H1X5Y20 H3X2Y20)
(connected H3X2Y20 H3X3Y17) (connected H3X3Y17 H3X4Y14)
(connected H3X4Y14 H3X5Y11)
(connected H3X5Y11 H2X3Y9) (connected H2X3Y9 H3X1Y7)
(connected H3X1Y7 H0X3Y5) (connected H0X3Y5 H0X6Y4)
(connected H0X6Y4 H1X8Y6) (connected H1X8Y6 H1X8Y10)
(connected H1X8Y10 H3X5Y10) (connected H3X5Y10 H3X5Y11)
(connected H3X2Y20 H3X2Y20)
(connected H3X2Y20 H3X2Y16) (connected H3X2Y16 H3X2Y12)
(connected H3X2Y12 H3X3Y9) (connected H3X3Y9 H3X4Y6) (connected H3X4Y6 H0X6Y4)
(connected H0X6Y4 H2X6Y7) (connected H2X6Y7 H1X4Y9)
(connected H1X4Y9 H1X4Y13) (connected H1X4Y13 H1X4Y17) (connected H1X4Y17 H1X5Y20)
(connected H1X5Y20 H3X2Y20)
(connected H0X6Y4 H0X6Y4)
)
(:goal (and (is_at p0 H3X2Y6) (is_at p1 H2X10Y5) (is_at p2 H0X10Y19) (is_at p3 H0X6Y4) )
)
(:metric minimize (total-time))
)