From 136f9ed00a1eb0bfeb00afb3c18e3b2715c1518d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Patrick=20L=C3=BChne?= <patrick-github@luehne.de>
Date: Thu, 18 Aug 2016 14:40:06 +0200
Subject: [PATCH] Added IPC 1998 Gripper example instances.

---
 instances/ipc-1998-gripper/domain.pddl | 34 ++++++++++++++++++++++++++
 instances/ipc-1998-gripper/prob01.pddl | 22 +++++++++++++++++
 instances/ipc-1998-gripper/prob02.pddl | 28 +++++++++++++++++++++
 instances/ipc-1998-gripper/solutions   |  4 +++
 4 files changed, 88 insertions(+)
 create mode 100644 instances/ipc-1998-gripper/domain.pddl
 create mode 100644 instances/ipc-1998-gripper/prob01.pddl
 create mode 100644 instances/ipc-1998-gripper/prob02.pddl
 create mode 100644 instances/ipc-1998-gripper/solutions

diff --git a/instances/ipc-1998-gripper/domain.pddl b/instances/ipc-1998-gripper/domain.pddl
new file mode 100644
index 0000000..4fa3829
--- /dev/null
+++ b/instances/ipc-1998-gripper/domain.pddl
@@ -0,0 +1,34 @@
+(define (domain gripper-strips)
+   (:predicates (room ?r)
+		(ball ?b)
+		(gripper ?g)
+		(at-robby ?r)
+		(at ?b ?r)
+		(free ?g)
+		(carry ?o ?g))
+
+   (:action move
+       :parameters  (?from ?to)
+       :precondition (and  (room ?from) (room ?to) (at-robby ?from))
+       :effect (and  (at-robby ?to)
+		     (not (at-robby ?from))))
+
+
+
+   (:action pick
+       :parameters (?obj ?room ?gripper)
+       :precondition  (and  (ball ?obj) (room ?room) (gripper ?gripper)
+			    (at ?obj ?room) (at-robby ?room) (free ?gripper))
+       :effect (and (carry ?obj ?gripper)
+		    (not (at ?obj ?room)) 
+		    (not (free ?gripper))))
+
+
+   (:action drop
+       :parameters  (?obj  ?room ?gripper)
+       :precondition  (and  (ball ?obj) (room ?room) (gripper ?gripper)
+			    (carry ?obj ?gripper) (at-robby ?room))
+       :effect (and (at ?obj ?room)
+		    (free ?gripper)
+		    (not (carry ?obj ?gripper)))))
+
diff --git a/instances/ipc-1998-gripper/prob01.pddl b/instances/ipc-1998-gripper/prob01.pddl
new file mode 100644
index 0000000..c518fed
--- /dev/null
+++ b/instances/ipc-1998-gripper/prob01.pddl
@@ -0,0 +1,22 @@
+(define (problem strips-gripper-x-1)
+   (:domain gripper-strips)
+   (:objects rooma roomb ball4 ball3 ball2 ball1 left right)
+   (:init (room rooma)
+          (room roomb)
+          (ball ball4)
+          (ball ball3)
+          (ball ball2)
+          (ball ball1)
+          (at-robby rooma)
+          (free left)
+          (free right)
+          (at ball4 rooma)
+          (at ball3 rooma)
+          (at ball2 rooma)
+          (at ball1 rooma)
+          (gripper left)
+          (gripper right))
+   (:goal (and (at ball4 roomb)
+               (at ball3 roomb)
+               (at ball2 roomb)
+               (at ball1 roomb))))
\ No newline at end of file
diff --git a/instances/ipc-1998-gripper/prob02.pddl b/instances/ipc-1998-gripper/prob02.pddl
new file mode 100644
index 0000000..ea494f4
--- /dev/null
+++ b/instances/ipc-1998-gripper/prob02.pddl
@@ -0,0 +1,28 @@
+(define (problem strips-gripper-x-2)
+   (:domain gripper-strips)
+   (:objects rooma roomb ball6 ball5 ball4 ball3 ball2 ball1 left right)
+   (:init (room rooma)
+          (room roomb)
+          (ball ball6)
+          (ball ball5)
+          (ball ball4)
+          (ball ball3)
+          (ball ball2)
+          (ball ball1)
+          (at-robby rooma)
+          (free left)
+          (free right)
+          (at ball6 rooma)
+          (at ball5 rooma)
+          (at ball4 rooma)
+          (at ball3 rooma)
+          (at ball2 rooma)
+          (at ball1 rooma)
+          (gripper left)
+          (gripper right))
+   (:goal (and (at ball6 roomb)
+               (at ball5 roomb)
+               (at ball4 roomb)
+               (at ball3 roomb)
+               (at ball2 roomb)
+               (at ball1 roomb))))
\ No newline at end of file
diff --git a/instances/ipc-1998-gripper/solutions b/instances/ipc-1998-gripper/solutions
new file mode 100644
index 0000000..9a4318f
--- /dev/null
+++ b/instances/ipc-1998-gripper/solutions
@@ -0,0 +1,4 @@
+instance | minimal horizon | #solutions with minimal horizon
+============================================================
+prob01.pddl | 11 | 384
+prob02.pddl | 17 | 46080