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problem.pddl
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problem.pddl
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(define (problem Planning_Problem)
(:domain RCLL)
(:objects
RedTeam - Team
BlueTeam - Team
RedRobot1 - Robot
RedRobot2 - Robot
RedRobot3 - Robot
BlueRobot1 - Robot
BlueRobot2 - Robot
BlueRobot3 - Robot
RedBS - BaseStation
RedCS1 - CapStation
RedCS2 - CapStation
RedRS2 - RingStation
RedRS1 - RingStation
RedDS - DeliveryStation
BlueBS - BaseStation
BlueCS1 - CapStation
BlueCS2 - CapStation
BlueRS1 - RingStation
BlueRS2 - RingStation
BlueDS - DeliveryStation
o1 - Order
RedBSMagazine1 - Magazine
RedBSMagazine2 - Magazine
RedBSMagazine3 - Magazine
bwp1 - BaseWorkpiece
bwp2 - BaseWorkpiece
bwp3 - BaseWorkpiece
bwp4 - BaseWorkpiece
bwpc1 - BaseWorkpiece
c1 - CapWorkpiece
r1 - RingWorkpiece
DeliverySlide1 - DeliverySlide
RedStartLocation - StartLocation
BlueStartLocation - StartLocation
DummyMagazineEndWorkpiece1 - DummyMagazineEndWorkpiece
DummyMagazineEndWorkpiece2 - DummyMagazineEndWorkpiece
DummyMagazineEndWorkpiece3 - DummyMagazineEndWorkpiece
r2 - RingWorkpiece
)
(:init
(above c1 bwpc1)
(control RedTeam)
(robotOwner RedRobot1 RedTeam)
(at RedRobot1 RedStartLocation)
(emptyGripper RedRobot1)
(robotOwner RedRobot2 RedTeam)
(at RedRobot2 RedStartLocation)
(emptyGripper RedRobot2)
(robotOwner RedRobot3 RedTeam)
(at RedRobot3 RedStartLocation)
(emptyGripper RedRobot3)
(robotOwner BlueRobot1 BlueTeam)
(at BlueRobot1 BlueStartLocation)
(emptyGripper BlueRobot1)
(robotOwner BlueRobot2 BlueTeam)
(at BlueRobot2 BlueStartLocation)
(emptyGripper BlueRobot2)
(robotOwner BlueRobot3 BlueTeam)
(at BlueRobot3 BlueStartLocation)
(emptyGripper BlueRobot3)
(machineOwner RedBS RedTeam)
(machineSideClear RedBS OutputSide)
(machineOwner RedCS1 RedTeam)
(slideClear RedCS1)
(hasShelf RedCS1)
(machineSideClear RedCS1 InputSide)
(machineSideClear RedCS1 OutputSide)
(machineOwner RedCS2 RedTeam)
(slideClear RedCS2)
(hasShelf RedCS2)
(machineSideClear RedCS2 InputSide)
(machineSideClear RedCS2 OutputSide)
(machineOwner RedRS2 RedTeam)
(machineSideClear RedRS2 InputSide)
(machineSideClear RedRS2 OutputSide)
(canPlaceRing RedRS2 r2)
(machineOwner RedRS1 RedTeam)
(machineSideClear RedRS1 InputSide)
(machineSideClear RedRS1 OutputSide)
(canPlaceRing RedRS1 r1)
(machineOwner RedDS RedTeam)
(machineSideClear RedDS InputSide)
(slideOn RedDS DeliverySlide1)
(machineOwner BlueBS BlueTeam)
(machineOwner BlueCS1 BlueTeam)
(machineOwner BlueCS2 BlueTeam)
(machineOwner BlueRS1 BlueTeam)
(machineOwner BlueRS2 BlueTeam)
(machineOwner BlueDS BlueTeam)
(orderType o1 OrderType2)
(orderBaseColor o1 Black)
(orderRing1Color o1 Red)
(orderRing2Color o1 Red)
(orderCapColor o1 Red)
(orderPossibleDeliverySlide o1 DeliverySlide1)
(magazineTop RedBSMagazine1 bwp1)
(nextInMagazine RedBSMagazine1 bwp1 bwp2)
(nextInMagazine RedBSMagazine1 bwp2 DummyMagazineEndWorkpiece1)
(magazineInMachineSide RedBSMagazine1 RedBS OutputSide)
(magazineTop RedBSMagazine2 bwp3)
(nextInMagazine RedBSMagazine2 bwp3 DummyMagazineEndWorkpiece2)
(magazineInMachineSide RedBSMagazine2 RedBS OutputSide)
(magazineTop RedBSMagazine3 bwp4)
(nextInMagazine RedBSMagazine3 bwp4 DummyMagazineEndWorkpiece3)
(magazineInMachineSide RedBSMagazine3 RedBS OutputSide)
(color bwp1 Black)
(clear bwp1)
(baseOf bwp1 bwp1)
(color bwp2 Black)
(clear bwp2)
(baseOf bwp2 bwp2)
(color bwp3 Black)
(clear bwp3)
(baseOf bwp3 bwp3)
(color bwp4 Black)
(clear bwp4)
(baseOf bwp4 bwp4)
(color bwpc1 Transparent)
(baseOf bwpc1 bwpc1)
(wpOnShelf bwpc1 RedCS1)
(color c1 Red)
(clear c1)
(baseOf c1 bwpc1)
(color r1 Red)
(color r2 Red)
)
(:goal
(and
(assigned o1 bwp1)
(filled o1)
)
)
)