403 lines
13 KiB
Plaintext
403 lines
13 KiB
Plaintext
|
(define (domain upp)
|
||
|
|
(:requirements :typing :action-costs)
|
||
|
|
(:types size_t location_t side_t color_t image_t resource_t sheet_t)
|
||
|
|
(:constants
|
||
|
|
Letter - size_t
|
||
|
|
|
||
|
|
Black
|
||
|
|
Color - color_t
|
||
|
|
|
||
|
|
Front
|
||
|
|
Back - side_t
|
||
|
|
|
||
|
|
Some_Feeder_Tray
|
||
|
|
Some_Finisher_Tray
|
||
|
|
EndCap_Entry-BlackContainer_Exit
|
||
|
|
HtmOverBlack_Entry-EndCap_Exit
|
||
|
|
HtmOverBlack_Exit-Down_TopEntry
|
||
|
|
ColorContainer_Entry-Down_BottomExit
|
||
|
|
ColorContainer_ExitToIME-ColorPrinter_Entry
|
||
|
|
ColorPrinter_Exit-ColorContainer_EntryFromIME
|
||
|
|
ColorContainer_Exit-Up_BottomEntry
|
||
|
|
Down_BottomEntry-ColorFeeder_Exit
|
||
|
|
BlackContainer_Entry-BlackFeeder_Exit
|
||
|
|
Down_TopExit-HtmOverColor_Entry
|
||
|
|
HtmOverColor_Exit-Up_TopEntry
|
||
|
|
BlackContainer_ExitToIME-BlackPrinter_Entry
|
||
|
|
BlackPrinter_Exit-BlackContainer_EntryFromIME
|
||
|
|
Finisher1_Entry-Up_TopExit
|
||
|
|
Finisher2_Entry-Finisher1_Exit
|
||
|
|
Finisher1_Tray
|
||
|
|
Finisher2_Exit
|
||
|
|
Finisher2_Tray - location_t
|
||
|
|
|
||
|
|
EndCap-RSRC
|
||
|
|
HtmOverBlack-RSRC
|
||
|
|
ColorContainer-RSRC
|
||
|
|
ColorPrinter-RSRC
|
||
|
|
ColorFeeder-RSRC
|
||
|
|
BlackFeeder-RSRC
|
||
|
|
Down-RSRC
|
||
|
|
HtmOverColor-RSRC
|
||
|
|
BlackContainer-RSRC
|
||
|
|
BlackPrinter-RSRC
|
||
|
|
Up-RSRC
|
||
|
|
Finisher1-RSRC
|
||
|
|
Finisher2-RSRC - resource_t
|
||
|
|
)
|
||
|
|
(:predicates
|
||
|
|
(Sheetsize ?sheet - sheet_t ?size - size_t)
|
||
|
|
(Location ?sheet - sheet_t ?location - location_t)
|
||
|
|
(Hasimage ?sheet - sheet_t ?side - side_t ?image - image_t)
|
||
|
|
(Sideup ?sheet - sheet_t ?side - side_t)
|
||
|
|
(Stackedin ?sheet - sheet_t ?location - location_t)
|
||
|
|
(Imagecolor ?image - image_t ?color - color_t)
|
||
|
|
(Notprintedwith ?sheet - sheet_t ?side - side_t ?color - color_t)
|
||
|
|
(Oppositeside ?side1 - side_t ?side2 - side_t)
|
||
|
|
(Available ?resource - resource_t)
|
||
|
|
(Prevsheet ?sheet1 - sheet_t ?sheet2 - sheet_t)
|
||
|
|
(Uninitialized)
|
||
|
|
|
||
|
|
)
|
||
|
|
(:functions (total-cost) - number)
|
||
|
|
(:action initialize
|
||
|
|
:parameters ()
|
||
|
|
:precondition (and
|
||
|
|
(Uninitialized))
|
||
|
|
:effect (and
|
||
|
|
(not (Uninitialized))
|
||
|
|
(Available EndCap-RSRC)
|
||
|
|
(Available HtmOverBlack-RSRC)
|
||
|
|
(Available ColorContainer-RSRC)
|
||
|
|
(Available ColorPrinter-RSRC)
|
||
|
|
(Available ColorFeeder-RSRC)
|
||
|
|
(Available BlackFeeder-RSRC)
|
||
|
|
(Available Down-RSRC)
|
||
|
|
(Available HtmOverColor-RSRC)
|
||
|
|
(Available BlackContainer-RSRC)
|
||
|
|
(Available BlackPrinter-RSRC)
|
||
|
|
(Available Up-RSRC)
|
||
|
|
(Available Finisher1-RSRC)
|
||
|
|
(Available Finisher2-RSRC))
|
||
|
|
)
|
||
|
|
(:action EndCap-Move-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available EndCap-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet EndCap_Entry-BlackContainer_Exit))
|
||
|
|
:effect (and
|
||
|
|
(not (Available EndCap-RSRC))
|
||
|
|
(Location ?sheet HtmOverBlack_Entry-EndCap_Exit)
|
||
|
|
(not (Location ?sheet EndCap_Entry-BlackContainer_Exit))
|
||
|
|
(Available EndCap-RSRC)
|
||
|
|
(increase (total-cost) 2000))
|
||
|
|
)
|
||
|
|
(:action HtmOverBlack-Move-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available HtmOverBlack-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet HtmOverBlack_Entry-EndCap_Exit))
|
||
|
|
:effect (and
|
||
|
|
(not (Available HtmOverBlack-RSRC))
|
||
|
|
(Location ?sheet HtmOverBlack_Exit-Down_TopEntry)
|
||
|
|
(not (Location ?sheet HtmOverBlack_Entry-EndCap_Exit))
|
||
|
|
(Available HtmOverBlack-RSRC)
|
||
|
|
(increase (total-cost) 17999))
|
||
|
|
)
|
||
|
|
(:action ColorContainer-ToIME-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available ColorContainer-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet ColorContainer_Entry-Down_BottomExit))
|
||
|
|
:effect (and
|
||
|
|
(not (Available ColorContainer-RSRC))
|
||
|
|
(Location ?sheet ColorContainer_ExitToIME-ColorPrinter_Entry)
|
||
|
|
(not (Location ?sheet ColorContainer_Entry-Down_BottomExit))
|
||
|
|
(Available ColorContainer-RSRC)
|
||
|
|
(increase (total-cost) 8000))
|
||
|
|
)
|
||
|
|
(:action ColorContainer-FromIME-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available ColorContainer-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet ColorPrinter_Exit-ColorContainer_EntryFromIME))
|
||
|
|
:effect (and
|
||
|
|
(not (Available ColorContainer-RSRC))
|
||
|
|
(Location ?sheet ColorContainer_Exit-Up_BottomEntry)
|
||
|
|
(not (Location ?sheet ColorPrinter_Exit-ColorContainer_EntryFromIME))
|
||
|
|
(Available ColorContainer-RSRC)
|
||
|
|
(increase (total-cost) 8000))
|
||
|
|
)
|
||
|
|
(:action ColorPrinter-Simplex-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t ?face - side_t ?image - image_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available ColorPrinter-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Sideup ?sheet ?face)
|
||
|
|
(Imagecolor ?image Color)
|
||
|
|
(Location ?sheet ColorContainer_ExitToIME-ColorPrinter_Entry)
|
||
|
|
(Notprintedwith ?sheet ?face Color))
|
||
|
|
:effect (and
|
||
|
|
(not (Available ColorPrinter-RSRC))
|
||
|
|
(Location ?sheet ColorPrinter_Exit-ColorContainer_EntryFromIME)
|
||
|
|
(Hasimage ?sheet ?face ?image)
|
||
|
|
(not (Location ?sheet ColorContainer_ExitToIME-ColorPrinter_Entry))
|
||
|
|
(not (Notprintedwith ?sheet ?face Color))
|
||
|
|
(Available ColorPrinter-RSRC)
|
||
|
|
(increase (total-cost) 224040))
|
||
|
|
)
|
||
|
|
(:action ColorPrinter-SimplexMono-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t ?face - side_t ?image - image_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available ColorPrinter-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Sideup ?sheet ?face)
|
||
|
|
(Imagecolor ?image Black)
|
||
|
|
(Location ?sheet ColorContainer_ExitToIME-ColorPrinter_Entry)
|
||
|
|
(Notprintedwith ?sheet ?face Black))
|
||
|
|
:effect (and
|
||
|
|
(not (Available ColorPrinter-RSRC))
|
||
|
|
(Location ?sheet ColorPrinter_Exit-ColorContainer_EntryFromIME)
|
||
|
|
(Hasimage ?sheet ?face ?image)
|
||
|
|
(not (Location ?sheet ColorContainer_ExitToIME-ColorPrinter_Entry))
|
||
|
|
(not (Notprintedwith ?sheet ?face Black))
|
||
|
|
(Available ColorPrinter-RSRC)
|
||
|
|
(increase (total-cost) 224040))
|
||
|
|
)
|
||
|
|
(:action ColorFeeder-Feed-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available ColorFeeder-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet Some_Feeder_Tray))
|
||
|
|
:effect (and
|
||
|
|
(not (Available ColorFeeder-RSRC))
|
||
|
|
(Location ?sheet Down_BottomEntry-ColorFeeder_Exit)
|
||
|
|
(Sideup ?sheet Front)
|
||
|
|
(not (Location ?sheet Some_Feeder_Tray))
|
||
|
|
(Available ColorFeeder-RSRC)
|
||
|
|
(increase (total-cost) 8000))
|
||
|
|
)
|
||
|
|
(:action BlackFeeder-Feed-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available BlackFeeder-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet Some_Feeder_Tray))
|
||
|
|
:effect (and
|
||
|
|
(not (Available BlackFeeder-RSRC))
|
||
|
|
(Location ?sheet BlackContainer_Entry-BlackFeeder_Exit)
|
||
|
|
(Sideup ?sheet Front)
|
||
|
|
(not (Location ?sheet Some_Feeder_Tray))
|
||
|
|
(Available BlackFeeder-RSRC)
|
||
|
|
(increase (total-cost) 8000))
|
||
|
|
)
|
||
|
|
(:action Down-MoveTop-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available Down-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet HtmOverBlack_Exit-Down_TopEntry))
|
||
|
|
:effect (and
|
||
|
|
(not (Available Down-RSRC))
|
||
|
|
(Location ?sheet Down_TopExit-HtmOverColor_Entry)
|
||
|
|
(not (Location ?sheet HtmOverBlack_Exit-Down_TopEntry))
|
||
|
|
(Available Down-RSRC)
|
||
|
|
(increase (total-cost) 2999))
|
||
|
|
)
|
||
|
|
(:action Down-MoveBottom-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available Down-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet Down_BottomEntry-ColorFeeder_Exit))
|
||
|
|
:effect (and
|
||
|
|
(not (Available Down-RSRC))
|
||
|
|
(Location ?sheet ColorContainer_Entry-Down_BottomExit)
|
||
|
|
(not (Location ?sheet Down_BottomEntry-ColorFeeder_Exit))
|
||
|
|
(Available Down-RSRC)
|
||
|
|
(increase (total-cost) 2999))
|
||
|
|
)
|
||
|
|
(:action Down-MoveDown-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available Down-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet HtmOverBlack_Exit-Down_TopEntry))
|
||
|
|
:effect (and
|
||
|
|
(not (Available Down-RSRC))
|
||
|
|
(Location ?sheet ColorContainer_Entry-Down_BottomExit)
|
||
|
|
(not (Location ?sheet HtmOverBlack_Exit-Down_TopEntry))
|
||
|
|
(Available Down-RSRC)
|
||
|
|
(increase (total-cost) 9999))
|
||
|
|
)
|
||
|
|
(:action HtmOverColor-Move-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available HtmOverColor-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet Down_TopExit-HtmOverColor_Entry))
|
||
|
|
:effect (and
|
||
|
|
(not (Available HtmOverColor-RSRC))
|
||
|
|
(Location ?sheet HtmOverColor_Exit-Up_TopEntry)
|
||
|
|
(not (Location ?sheet Down_TopExit-HtmOverColor_Entry))
|
||
|
|
(Available HtmOverColor-RSRC)
|
||
|
|
(increase (total-cost) 9999))
|
||
|
|
)
|
||
|
|
(:action BlackContainer-ToIME-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available BlackContainer-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet BlackContainer_Entry-BlackFeeder_Exit))
|
||
|
|
:effect (and
|
||
|
|
(not (Available BlackContainer-RSRC))
|
||
|
|
(Location ?sheet BlackContainer_ExitToIME-BlackPrinter_Entry)
|
||
|
|
(not (Location ?sheet BlackContainer_Entry-BlackFeeder_Exit))
|
||
|
|
(Available BlackContainer-RSRC)
|
||
|
|
(increase (total-cost) 2000))
|
||
|
|
)
|
||
|
|
(:action BlackContainer-FromIME-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available BlackContainer-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet BlackPrinter_Exit-BlackContainer_EntryFromIME))
|
||
|
|
:effect (and
|
||
|
|
(not (Available BlackContainer-RSRC))
|
||
|
|
(Location ?sheet EndCap_Entry-BlackContainer_Exit)
|
||
|
|
(not (Location ?sheet BlackPrinter_Exit-BlackContainer_EntryFromIME))
|
||
|
|
(Available BlackContainer-RSRC)
|
||
|
|
(increase (total-cost) 2000))
|
||
|
|
)
|
||
|
|
(:action BlackPrinter-Simplex-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t ?face - side_t ?image - image_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available BlackPrinter-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Sideup ?sheet ?face)
|
||
|
|
(Imagecolor ?image Black)
|
||
|
|
(Location ?sheet BlackContainer_ExitToIME-BlackPrinter_Entry)
|
||
|
|
(Notprintedwith ?sheet ?face Black))
|
||
|
|
:effect (and
|
||
|
|
(not (Available BlackPrinter-RSRC))
|
||
|
|
(Location ?sheet BlackPrinter_Exit-BlackContainer_EntryFromIME)
|
||
|
|
(Hasimage ?sheet ?face ?image)
|
||
|
|
(not (Location ?sheet BlackContainer_ExitToIME-BlackPrinter_Entry))
|
||
|
|
(not (Notprintedwith ?sheet ?face Black))
|
||
|
|
(Available BlackPrinter-RSRC)
|
||
|
|
(increase (total-cost) 113013))
|
||
|
|
)
|
||
|
|
(:action BlackPrinter-SimplexAndInvert-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t ?face - side_t ?otherface - side_t ?image - image_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available BlackPrinter-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Oppositeside ?face ?otherface)
|
||
|
|
(Imagecolor ?image Black)
|
||
|
|
(Location ?sheet BlackContainer_ExitToIME-BlackPrinter_Entry)
|
||
|
|
(Notprintedwith ?sheet ?face Black)
|
||
|
|
(Sideup ?sheet ?face))
|
||
|
|
:effect (and
|
||
|
|
(not (Available BlackPrinter-RSRC))
|
||
|
|
(Location ?sheet BlackPrinter_Exit-BlackContainer_EntryFromIME)
|
||
|
|
(Sideup ?sheet ?otherface)
|
||
|
|
(Hasimage ?sheet ?face ?image)
|
||
|
|
(not (Location ?sheet BlackContainer_ExitToIME-BlackPrinter_Entry))
|
||
|
|
(not (Notprintedwith ?sheet ?face Black))
|
||
|
|
(not (Sideup ?sheet ?face))
|
||
|
|
(Available BlackPrinter-RSRC)
|
||
|
|
(increase (total-cost) 123013))
|
||
|
|
)
|
||
|
|
(:action Up-MoveTop-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available Up-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet HtmOverColor_Exit-Up_TopEntry))
|
||
|
|
:effect (and
|
||
|
|
(not (Available Up-RSRC))
|
||
|
|
(Location ?sheet Finisher1_Entry-Up_TopExit)
|
||
|
|
(not (Location ?sheet HtmOverColor_Exit-Up_TopEntry))
|
||
|
|
(Available Up-RSRC)
|
||
|
|
(increase (total-cost) 2999))
|
||
|
|
)
|
||
|
|
(:action Up-MoveUp-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available Up-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet ColorContainer_Exit-Up_BottomEntry))
|
||
|
|
:effect (and
|
||
|
|
(not (Available Up-RSRC))
|
||
|
|
(Location ?sheet Finisher1_Entry-Up_TopExit)
|
||
|
|
(not (Location ?sheet ColorContainer_Exit-Up_BottomEntry))
|
||
|
|
(Available Up-RSRC)
|
||
|
|
(increase (total-cost) 9999))
|
||
|
|
)
|
||
|
|
(:action Finisher1-PassThrough-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available Finisher1-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet Finisher1_Entry-Up_TopExit))
|
||
|
|
:effect (and
|
||
|
|
(not (Available Finisher1-RSRC))
|
||
|
|
(Location ?sheet Finisher2_Entry-Finisher1_Exit)
|
||
|
|
(not (Location ?sheet Finisher1_Entry-Up_TopExit))
|
||
|
|
(Available Finisher1-RSRC)
|
||
|
|
(increase (total-cost) 8000))
|
||
|
|
)
|
||
|
|
(:action Finisher1-Stack-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t ?prevsheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available Finisher1-RSRC)
|
||
|
|
(Prevsheet ?sheet ?prevsheet)
|
||
|
|
(Location ?prevsheet Some_Finisher_Tray)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet Finisher1_Entry-Up_TopExit))
|
||
|
|
:effect (and
|
||
|
|
(not (Available Finisher1-RSRC))
|
||
|
|
(Location ?sheet Some_Finisher_Tray)
|
||
|
|
(Stackedin ?sheet Finisher1_Tray)
|
||
|
|
(not (Location ?sheet Finisher1_Entry-Up_TopExit))
|
||
|
|
(Available Finisher1-RSRC)
|
||
|
|
(increase (total-cost) 8000))
|
||
|
|
)
|
||
|
|
(:action Finisher2-PassThrough-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available Finisher2-RSRC)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet Finisher2_Entry-Finisher1_Exit))
|
||
|
|
:effect (and
|
||
|
|
(not (Available Finisher2-RSRC))
|
||
|
|
(Location ?sheet Finisher2_Exit)
|
||
|
|
(not (Location ?sheet Finisher2_Entry-Finisher1_Exit))
|
||
|
|
(Available Finisher2-RSRC)
|
||
|
|
(increase (total-cost) 8000))
|
||
|
|
)
|
||
|
|
(:action Finisher2-Stack-Letter
|
||
|
|
:parameters ( ?sheet - sheet_t ?prevsheet - sheet_t)
|
||
|
|
:precondition (and
|
||
|
|
(Available Finisher2-RSRC)
|
||
|
|
(Prevsheet ?sheet ?prevsheet)
|
||
|
|
(Location ?prevsheet Some_Finisher_Tray)
|
||
|
|
(Sheetsize ?sheet Letter)
|
||
|
|
(Location ?sheet Finisher2_Entry-Finisher1_Exit))
|
||
|
|
:effect (and
|
||
|
|
(not (Available Finisher2-RSRC))
|
||
|
|
(Location ?sheet Some_Finisher_Tray)
|
||
|
|
(Stackedin ?sheet Finisher2_Tray)
|
||
|
|
(not (Location ?sheet Finisher2_Entry-Finisher1_Exit))
|
||
|
|
(Available Finisher2-RSRC)
|
||
|
|
(increase (total-cost) 8000))
|
||
|
|
)
|
||
|
|
)
|
||
|
|
|
||
|
|
|