; (c) 1993,1994 Copyright (c) University of Washington ; Written by students in UW CS. ; ; All rights reserved. Use of this software is permitted for non-commercial ; research purposes, and it may be copied only for that use. All copies must ; include this copyright message. This software is made available AS IS, and ; neither the authors nor the University of Washington make any warranty about ; the software or its performance. ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;; Strips version ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; (define (domain woodshop-adl) (:requirements :adl :universal-preconditions :conditional-effects) (:predicates (boxed ?o) (in-spray-hood ?o) (dusty ?o) (surface ?o ?s) (color ?c) (painted ?o ?c) (shape ?o ?s) (has-hole ?o ?d) (physobj ?o) ) (:constants round ; from the drill rough) ; from the saw (:action sand :parameters (?o ?s) :precondition (and (not (boxed ?o)) (not (in-spray-hood ?o))) :effect (and (dusty ?o) (surface ?o ?s) (forall (?c) (when (color ?c) (not (painted ?o ?c)))))) (:action vacuum :parameters (?o) :precondition (and (not (boxed ?o)) (not (in-spray-hood ?o))) :effect (not (dusty ?o))) ;; (:action paint ;; :parameters (?newcol) ;; :precondition (color ?newcol) ;; :effect (and (forall ((object ?o)) ;; (when (and (in-spray-hood ?o) (not (boxed ?o))) ;; (painted ?o ?newcol))) ;; (forall ((object ?o)) ;; (when (and (in-spray-hood ?o) (not (boxed ?o)) ;; (:exists (color ?c) ;; (and (painted ?o ?c) ;; (not (= ?newcol ?c))))) ;; (and (not (painted ?o ?oldcol))))))) ;; (:action paint :parameters (?newcol) :precondition (color ?newcol) :effect (and (forall (?o) (when (and (physobj ?o) (in-spray-hood ?o) (not (boxed ?o))) (painted ?o ?newcol))) (forall (?o) (when (and (physobj ?o) (in-spray-hood ?o)(not (boxed ?o))) (forall (?c) (when (and (color ?c) (not (= ?c ?newcol))) (not (painted ?o ?c)))) )))) (:action forklift :parameters (?o) :precondition (not (boxed ?o)) :effect (and (when (not (in-spray-hood ?o)) (in-spray-hood ?o)) (when (in-spray-hood ?o) (not (in-spray-hood ?o))))) (:action drill :parameters (?o ?diam) :precondition (and (not (boxed ?o)) (not (shape ?o round)) (not (in-spray-hood ?o))) :effect (and (has-hole ?o ?diam) (dusty ?o))) (:action saw :parameters (?o ?newshape ?oldshape) :precondition (and (not (boxed ?o)) (not (in-spray-hood ?o)) (shape ?o ?oldshape) (not (= ?newshape ?oldshape))) :effect (and (shape ?o ?newshape) (surface ?o rough) (not (shape ?o ?oldshape)) (dusty ?o))) (:action put-in-box :parameters (?o) :precondition (and (not (boxed ?o)) (not (in-spray-hood ?o))) :effect (boxed ?o)))