101 lines
3.0 KiB
Plaintext
101 lines
3.0 KiB
Plaintext
;; PARC's modular printer domain
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;; compiled into PDDL by Rong Zhou
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;; To report a problem, send email to rzhou@parc.com
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;; Papers:
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;; 1. Planning for Modular Printers: Beyond Productivity
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;; Minh B. Do, Wheeler Ruml, and Rong Zhou. ICAPS'08
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;; 2. On-line Planning and Scheduling: An Application to Controlling Modular Printers
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;; Minh B. Do, Wheeler Ruml, and Rong Zhou. AAAI'08
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;; 3. On-line Planning and Scheduling for High-speed Manufacturing
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;; Wheeler Ruml, Minh B. Do, and Markus P.J. Fromherz. ICAPS'05
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(define (domain upp)
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(:requirements :typing :durative-actions)
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(:types size_t location_t side_t color_t image_t timepoint_t resource_t action_t sheet_t)
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(:constants
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Letter - size_t
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Black
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Color - color_t
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Front
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Back - side_t
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Some_Feeder_Tray
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Some_Finisher_Tray
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EndCap_Entry-BlackContainer_Exit
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HtmOverBlack_Entry-EndCap_Exit
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HtmOverBlack_Exit-Down_TopEntry
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ColorContainer_Entry-Down_BottomExit
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ColorContainer_ExitToIME-ColorPrinter_Entry
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ColorPrinter_Exit-ColorContainer_EntryFromIME
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ColorContainer_Exit-Up_BottomEntry
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Down_BottomEntry-ColorFeeder_Exit
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BlackContainer_Entry-BlackFeeder_Exit
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Down_TopExit-HtmOverColor_Entry
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HtmOverColor_Exit-Up_TopEntry
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BlackContainer_ExitToIME-BlackPrinter_Entry
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BlackPrinter_Exit-BlackContainer_EntryFromIME
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Finisher1_Entry-Up_TopExit
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Finisher2_Entry-Finisher1_Exit
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Finisher1_Tray
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Finisher2_Exit
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Finisher2_Tray - location_t
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ColorContainer-ToIME-Letter-T0
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ColorPrinter-Simplex-Letter-T0
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ColorPrinter-SimplexMono-Letter-T0
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ColorFeeder-Feed-Letter-T0
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BlackFeeder-Feed-Letter-T0
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Down-MoveBottom-Letter-T1
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Down-MoveDown-Letter-T1
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BlackPrinter-Simplex-Letter-T0
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BlackPrinter-SimplexAndInvert-Letter-T0
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Up-MoveTop-Letter-T1
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Up-MoveUp-Letter-T1
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Finisher1-Stack-Letter-T0
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Finisher2-Stack-Letter-T0 - timepoint_t
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ColorContainer_Roller-RSRC
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ColorPrinter_Drum-RSRC
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ColorFeeder_ExitNip-RSRC
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BlackFeeder_ExitNip-RSRC
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Down_BottomExitNip-RSRC
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BlackPrinter_Drum-RSRC
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Up_TopExitNip-RSRC
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Finisher1_EntryNip-RSRC
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Finisher2_EntryNip-RSRC - resource_t
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ColorContainer-ToIME-Letter
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ColorPrinter-Simplex-Letter
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ColorPrinter-SimplexMono-Letter
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ColorFeeder-Feed-Letter
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BlackFeeder-Feed-Letter
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Down-MoveBottom-Letter
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Down-MoveDown-Letter
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BlackPrinter-Simplex-Letter
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BlackPrinter-SimplexAndInvert-Letter
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Up-MoveTop-Letter
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Up-MoveUp-Letter
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Finisher1-Stack-Letter
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Finisher2-Stack-Letter - action_t
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)
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(:predicates
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(Sheetsize ?sheet - sheet_t ?size - size_t)
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(Location ?sheet - sheet_t ?location - location_t)
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(Hasimage ?sheet - sheet_t ?side - side_t ?image - image_t)
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(Sideup ?sheet - sheet_t ?side - side_t)
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(Stackedin ?sheet - sheet_t ?location - location_t)
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(Imagecolor ?image - image_t ?color - color_t)
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(Notprintedwith ?sheet - sheet_t ?side - side_t ?color - color_t)
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(Oppositeside ?side1 - side_t ?side2 - side_t)
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(Timepoint ?sheet - sheet_t ?timepoint - timepoint_t)
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(Hasallrsrcs ?sheet - sheet_t ?action - action_t)
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(Available ?resource - resource_t)
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(Prevsheet ?sheet1 - sheet_t ?sheet2 - sheet_t)
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(Uninitialized)
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)
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)
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