Added normalization tests for nested expressions.
These tests ensure that nested expressions in preconditions and effects are correctly flattened via derived predicates.
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05F3611E97A70ABF
@ -300,3 +300,132 @@ TEST_CASE("[normalization] Negations are correctly normalized", "[normalization]
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REQUIRE(do2->declaration->name == "test-predicate-1");
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}
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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TEST_CASE("[normalization] Nested expressions are correctly flattened via derived predicates", "[normalization]")
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{
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pddl::Tokenizer tokenizer;
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pddl::Context context(std::move(tokenizer), ignoreWarnings);
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const auto domainFile = fs::path("data") / "normalization" / "normalization-5.pddl";
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context.tokenizer.read(domainFile);
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auto description = pddl::parseDescription(context);
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const auto normalizedDescription = pddl::normalize(std::move(description));
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const auto &actions = normalizedDescription.domain->actions;
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SECTION("nested expressions in action preconditions are correctly flattened")
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{
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const auto &a = actions[0]->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
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REQUIRE(a->arguments.size() == 3);
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const auto &a1 = a->arguments[0].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::DerivedPredicatePointer>();
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REQUIRE(a1->declaration->parameters.size() == 1);
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CHECK(a1->declaration->existentialParameters.size() == 1);
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const auto &a11 = a1->declaration->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
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REQUIRE(a11->arguments.size() == 2);
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const auto &a111 = a11->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(a111->declaration->name == "p1");
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REQUIRE(a111->arguments.size() == 2);
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CHECK(a111->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[1].get());
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CHECK(a111->arguments[1].get<pddl::normalizedAST::VariablePointer>()->declaration == a1->declaration->existentialParameters[0].get());
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const auto &a112 = a11->arguments[1].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::PredicatePointer>();
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CHECK(a112->declaration->name == "p2");
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const auto &a2 = a->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(a2->declaration->name == "p3");
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REQUIRE(a2->arguments.size() == 2);
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CHECK(a2->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[0].get());
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const auto &a3 = a->arguments[2].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
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REQUIRE(a3->arguments.size() == 2);
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const auto &a31 = a3->declaration->precondition.value().get<pddl::normalizedAST::OrPointer<pddl::normalizedAST::Literal>>();
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REQUIRE(a31->arguments.size() == 2);
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const auto &a311 = a31->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
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const auto &a3111 = a311->declaration->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
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REQUIRE(a3111->arguments.size() == 2);
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const auto &a31111 = a3111->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(a31111->declaration->name == "p4");
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const auto &a31112 = a3111->arguments[1].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::DerivedPredicatePointer>();
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CHECK(a31112->declaration->parameters.size() == 2);
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CHECK(a31112->declaration->existentialParameters.size() == 1);
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const auto &a311121 = a31112->declaration->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
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REQUIRE(a311121->arguments.size() == 2);
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const auto &a3111211 = a311121->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(a3111211->declaration->name == "p5");
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const auto &a3111212 = a311121->arguments[1].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::PredicatePointer>();
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CHECK(a3111212->declaration->name == "p3");
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const auto &a312 = a31->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
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const auto &a3121 = a312->declaration->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
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REQUIRE(a3121->arguments.size() == 2);
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const auto &a31211 = a3121->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(a31111->declaration->name == "p4");
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const auto &a31212 = a3121->arguments[1].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::DerivedPredicatePointer>();
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REQUIRE(a31212->declaration->parameters.size() == 1);
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REQUIRE(a31212->declaration->existentialParameters.size() == 2);
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const auto &a312121 = a31212->declaration->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
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REQUIRE(a312121->arguments.size() == 2);
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const auto &a3121211 = a312121->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(a3121211->declaration->name == "p6");
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REQUIRE(a3121211->arguments.size() == 3);
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CHECK(a3121211->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == a31212->declaration->existentialParameters[0].get());
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CHECK(a3121211->arguments[1].get<pddl::normalizedAST::VariablePointer>()->declaration == a31212->declaration->existentialParameters[1].get());
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CHECK(a3121211->arguments[2].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[1].get());
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const auto &a3121212 = a312121->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(a3121212->declaration->name == "p3");
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REQUIRE(a3121212->arguments.size() == 2);
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CHECK(a3121212->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == a31212->declaration->existentialParameters[0].get());
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CHECK(a3121212->arguments[1].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[1].get());
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}
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SECTION("nested expressions in conditional effect preconditions are correctly flattened")
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{
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const auto &a = actions[0]->effect.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Effect>>();
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REQUIRE(a->arguments.size() == 3);
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const auto &a1 = a->arguments[0].get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::PredicatePointer>();
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CHECK(a1->declaration->name == "p3");
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REQUIRE(a1->arguments.size() == 2);
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CHECK(a1->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[0].get());
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CHECK(a1->arguments[1].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[1].get());
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const auto &a2 = a->arguments[1].get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(a2->declaration->name == "p9");
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REQUIRE(a2->arguments.size() == 1);
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CHECK(a2->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[0].get());
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const auto &a3 = a->arguments[2].get<pddl::normalizedAST::WhenPointer<pddl::normalizedAST::Precondition, pddl::normalizedAST::ConditionalEffect>>();
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const auto &a31 = a3->argumentLeft.get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
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REQUIRE(a31->arguments.size() == 2);
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const auto &a311 = a31->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
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CHECK(a311->declaration->parameters.size() == 1);
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CHECK(a311->declaration->existentialParameters.size() == 1);
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const auto &a3111 = a311->declaration->precondition.value().get<pddl::normalizedAST::OrPointer<pddl::normalizedAST::Literal>>();
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REQUIRE(a3111->arguments.size() == 2);
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const auto &a31111 = a3111->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(a31111->declaration->name == "p7");
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REQUIRE(a31111->arguments.size() == 2);
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CHECK(a31111->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == a311->declaration->existentialParameters[0].get());
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CHECK(a31111->arguments[1].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[1].get());
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const auto &a31112 = a3111->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(a31112->declaration->name == "p3");
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REQUIRE(a31112->arguments.size() == 2);
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CHECK(a31112->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[1].get());
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CHECK(a31112->arguments[1].get<pddl::normalizedAST::VariablePointer>()->declaration == a311->declaration->existentialParameters[0].get());
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const auto &a312 = a31->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
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CHECK(a312->declaration->parameters.size() == 0);
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CHECK(a312->declaration->existentialParameters.size() == 2);
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const auto &a3121 = a312->declaration->precondition.value().get<pddl::normalizedAST::OrPointer<pddl::normalizedAST::Literal>>();
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const auto &a31211 = a3121->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(a31211->declaration->name == "p4");
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REQUIRE(a31211->arguments.size() == 2);
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CHECK(a31211->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == a312->declaration->existentialParameters[0].get());
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CHECK(a31211->arguments[1].get<pddl::normalizedAST::VariablePointer>()->declaration == a312->declaration->existentialParameters[1].get());
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const auto &a31212 = a3121->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(a31212->declaration->name == "p3");
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REQUIRE(a31212->arguments.size() == 2);
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CHECK(a31212->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == a312->declaration->existentialParameters[1].get());
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CHECK(a31212->arguments[1].get<pddl::normalizedAST::VariablePointer>()->declaration == a312->declaration->existentialParameters[0].get());
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}
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}
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58
tests/data/normalization/normalization-5.pddl
Normal file
58
tests/data/normalization/normalization-5.pddl
Normal file
@ -0,0 +1,58 @@
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(define (domain test-normalization)
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(:predicates
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(p1 ?x ?y)
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(p2 ?x ?y)
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(p3 ?x ?y)
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(p4 ?x ?y)
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(p5 ?x ?y ?z)
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(p6 ?x ?y ?z)
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(p7 ?x ?y)
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(p8 ?x)
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(p9 ?x))
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(:action test-action-1
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:parameters
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(?x
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?y)
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:precondition
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(and
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(forall
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(?z)
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(imply
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(p1 ?y ?z)
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(p2 ?z ?y)))
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(p3 ?x ?y)
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(or
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(and
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(p4 ?x ?y)
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(forall
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(?z)
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(imply
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(p5 ?z ?x ?y)
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(p3 ?z ?y))))
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(and
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(p7 ?x ?y)
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(not (exists
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(?z ?a)
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(and
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(p6 ?z ?a ?y)
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(p3 ?z ?y)))))))
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:effect
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(and
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(not (p3 ?x ?y))
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(p9 ?x)
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(when
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(and
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(not (forall
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(?p)
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(and
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(not (p7 ?p ?y))
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(not (p3 ?y ?p)))))
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(exists
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(?z ?a)
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(or
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(p4 ?z ?a)
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(p3 ?a ?z))))
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(and
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(p8 ?y)
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(p9 ?y))))))
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