Total-order planner

logic.py

@@ -820,7 +820,7 @@ def __init__(self,dimrow):
         wumpus_at_least = list()
         for x in range(1, dimrow+1):
             for y in range(1, dimrow + 1):
-                wumps_at_least.append(wumpus(x, y))
+                wumpus_at_least.append(wumpus(x, y))
 
         self.tell(new_disjunction(wumpus_at_least))
 

pddl_files/aircargo-domain.pddl

@@ -0,0 +1,31 @@
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;; air cargo domain from AIMA book 2nd ed.
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+
+; since the 'at' predicate is used for both cargo and planes, I didn't specify types
+; in this domain to keep things simpler.
+
+(define (domain aircargo)
+  (:requirements :strips)
+  (:predicates (at ?x ?a)
+	       (cargo ?c)
+	       (airport ?a)
+	       (plane ?p)
+	       (in ?x ?p)
+	       )
+
+  (:action load
+	     :parameters (?c ?p ?a)
+	     :precondition (and (cargo ?c) (plane ?p) (airport ?a) (at ?c ?a) (at ?p ?a))
+	     :effect  (and (in ?c ?p) (not (at ?c ?a))))
+
+  (:action unload
+	     :parameters (?c ?p ?a)
+    	 :precondition (and (cargo ?c) (plane ?p) (airport ?a) (in ?c ?p) (at ?p ?a))
+	     :effect (and (at ?c ?a) (not (in ?c ?p))))
+
+  (:action fly
+	     :parameters (?p ?f ?t)
+    	 :precondition (and (at ?p ?f) (plane ?p) (airport ?f) (airport ?t))
+	     :effect (and (at ?p ?t) (not (at ?p ?f))))
+)

pddl_files/aircargo-problem.pddl

@@ -0,0 +1,17 @@
+(define (problem Transport)
+
+(:domain aircargo)
+
+(:init 	(at C1 SFO)
+	(at C2 JFK)
+	(at P1 SFO)
+	(at P2 JFK)
+	(cargo C1)
+	(cargo C2)
+	(plane P1)
+	(plane P2)
+	(airport JFK)
+	(airport SFO))
+
+(:goal (and (at C1 JFK) (at C2 SFO)))
+)

pddl_files/blocks-domain.pddl

@@ -0,0 +1,24 @@
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;; Building block towers
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+
+(define (domain BlocksWorld)
+  (:requirements :strips)
+  (:predicates (on ?x ?y)
+	       (clear ?x)
+	       (block ?x)
+  )
+
+  (:action Move
+	     :parameters (?b ?x ?y)
+	     :precondition (and (on ?b ?x) (clear ?b) (clear ?y) (block ?b))
+	     :effect (and (on ?b ?y) (clear ?x) (not (on ?b ?x)) (not (clear ?y)))
+  )
+
+  (:action Move_To_Table
+         :parameters (?b ?x)
+         :precondition (and (on ?b ?x) (clear ?b) (block ?b))
+         :effect (and (on ?b Table) (clear ?x) (not (on ?b ?x)))
+   )
+)
+

pddl_files/blocks-problem.pddl

@@ -0,0 +1,18 @@
+(define (problem ThreeBlockTower)
+
+   (:domain BlocksWorld)
+
+   (:init
+        (on A Table)
+        (on B Table)
+	    (on C Table)
+	    (block A)
+	    (block B)
+	    (block C)
+	    (clear A)
+	    (clear B)
+	    (clear C)
+    )
+
+    (:goal (and (on A B) (on B C)))
+)

pddl_files/cake-domain.pddl

@@ -0,0 +1,20 @@
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;; Cake domain
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+
+(define (domain Cake)
+  (:requirements :strips)
+
+  (:action Eat
+	     :parameters (Cake)
+	     :precondition (have Cake)
+	     :effect (and (eaten Cake) (not (have Cake)))
+  )
+
+  (:action Bake
+         :parameters (Cake)
+         :precondition (not (have Cake))
+         :effect (have Cake)
+  )
+)
+

pddl_files/cake-problem.pddl

@@ -0,0 +1,9 @@
+; The "have cake and eat it too" problem.
+
+(define (problem HaveCakeAndEatItToo)
+   (:domain Cake)
+
+   (:init (have Cake) )
+
+   (:goal (and (have Cake) (eaten Cake)))
+)

pddl_files/shoes-domain.pddl

@@ -0,0 +1,37 @@
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;; Putting on a pair of shoes
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+
+(define (domain Shoes)
+  (:requirements :strips)
+  (:predicates (leftfoot ?x)
+           (rightfoot ?x)
+	       (on ?x ?y)
+  )
+
+  (:action RightShoe
+	     :parameters ()
+	     :precondition (and (on RightSock ?x) (rightfoot ?x) (not (on RightShoe ?x)))
+	     :effect (and (on RightShoe ?x))
+  )
+
+  (:action RightSock
+         :parameters ()
+         :precondition (and (clear ?x) (rightfoot ?x))
+         :effect (and (on RightSock ?x) (not (clear ?x)))
+  )
+
+  (:action LeftShoe
+         :parameters ()
+         :precondition (and (on LeftSock ?x) (leftfoot ?x) (not (on LeftShoe ?x)))
+         :effect (and (on LeftShoe ?x))
+  )
+
+  (:action LeftSock
+         :parameters ()
+         :precondition (and (clear ?x) (leftfoot ?x))
+         :effect (and (on LeftSock ?x) (not (clear ?x)))
+  )
+
+)
+

pddl_files/shoes-problem.pddl

@@ -0,0 +1,12 @@
+(define (problem PutOnShoes)
+
+   (:domain Shoes)
+
+   (:init (clear LF)
+          (clear RF)
+          (leftfoot LF)
+          (rightfoot RF)
+   )
+
+   (:goal (and (On RightShoe RF) (on LeftShoe LF)))
+)

pddl_files/shopping-domain.pddl

@@ -0,0 +1,20 @@
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;; Shopping domain
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+
+(define (domain Shopping)
+  (:requirements :strips)
+
+  (:action Buy
+	     :parameters (?x ?store)
+	     :precondition (and (at ?store) (sells ?store ?x))
+	     :effect (have ?x)
+  )
+
+  (:action Go
+         :parameters (?x ?y)
+         :precondition (and (at ?x) (loc ?x) (loc ?y))
+         :effect (and (at ?y) (not (at ?x)))
+  )
+)
+

pddl_files/shopping-problem.pddl

@@ -0,0 +1,17 @@
+;; Going shopping
+
+(define (problem GoingShopping)
+
+   (:domain Shopping)
+
+   (:init (At Home)
+          (Loc Home)
+          (Loc Supermarket)
+          (Loc HardwareStore)
+          (Sells Supermarket Milk)
+          (Sells Supermarket Banana)
+          (Sells HardwareStore Drill)
+   )
+
+   (:goal (and (Have Milk) (Have Banana) (Have Drill) (At Home)))
+)

pddl_files/spare-tire-domain.pddl

@@ -0,0 +1,37 @@
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;; Changing a spare tire on a car
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+
+(define (domain SpareTire)
+  (:requirements :strips)
+  (:predicates (At Spare Trunk)
+               (At Spare Ground)
+               (At Flat Axle)
+               (At Flat Ground)
+               (At Spare Axle))
+
+  (:action remove
+	     :parameters (Spare Trunk)
+	     :precondition (At Spare Trunk)
+	     :effect (and (At Spare Ground) (not (At Spare Trunk))))
+
+  (:action remove
+	     :parameters (Flat Axle)
+	     :precondition (At Flat Axle)
+	     :effect (and (At Flat Ground) (not (At Flat Axle))))
+
+  (:action put_on
+	     :parameters (Spare Axle)
+	     :precondition (and (At Spare Ground) (not (At Flat Axle)))
+	     :effect (and (At Spare Axle) (not (At Spare Ground))))
+
+  (:action leave_overnight
+	     :effect
+	     (and (not (At Spare Ground))
+	          (not (At Spare Axle))
+	          (not (At Spare Trunk))
+	          (not (At Flat Ground))
+	          (not (At Flat Axle))
+	     )
+  )
+)

pddl_files/spare-tire-problem.pddl

@@ -0,0 +1,9 @@
+(define (problem ChangeFlatTire)
+
+(:domain SpareTire)
+
+(:init 	(At Flat Axle)
+	(At Spare Trunk))
+
+(:goal (At Spare Axle))
+)

pddl_files/sussman-anomaly-problem.pddl

@@ -0,0 +1,15 @@
+(define (problem SussmanAnomaly)
+
+(:domain BlocksWorld)
+
+(:init 	(clear C)
+	(clear B)
+	(on A Table)
+	(on B Table)
+	(on C A)
+	(block A)
+	(block B)
+	(block C))
+
+(:goal (and (on A B) (on B C)))
+)

pddl_files/tpp-domain.pddl

@@ -0,0 +1,65 @@
+; IPC5 Domain: TPP Propositional
+; Authors: Alfonso Gerevini and Alessandro Saetti 
+
+(define (domain TPP-Propositional)
+(:requirements :strips :typing)
+(:types place locatable level - object
+	depot market - place
+	truck goods - locatable)
+
+(:predicates (loaded ?g - goods ?t - truck ?l - level)
+	     (ready-to-load ?g - goods ?m - market ?l - level) 
+	     (stored ?g - goods ?l - level) 
+	     (on-sale ?g - goods ?m -  market ?l - level)
+	     (next ?l1 ?l2 - level)
+	     (at ?t - truck ?p - place)
+	     (connected ?p1 ?p2 - place))
+
+(:action drive
+ :parameters (?t - truck ?frm ?to - place)
+ :precondition (and (at ?t ?frm) (connected ?frm ?to))
+ :effect (and (not (at ?t ?frm)) (at ?t ?to)))
+
+
+; ### LOAD ###
+; ?l1 is the level of ?g ready to be loaded at ?m before loading
+; ?l2 is the level of ?g ready to be loaded at ?m after loading
+; ?l3 is the level of ?g in ?t before loading
+; ?l4 is the level of ?g in ?t after loading
+
+(:action load
+ :parameters (?g - goods ?t - truck ?m - market ?l1 ?l2 ?l3 ?l4 - level)
+ :precondition (and (at ?t ?m) (loaded ?g ?t ?l3)
+		    (ready-to-load ?g ?m ?l2) (next ?l2 ?l1) (next ?l4 ?l3))
+ :effect (and (loaded ?g ?t ?l4) (not (loaded ?g ?t ?l3)) 
+	      (ready-to-load ?g ?m ?l1) (not (ready-to-load ?g ?m ?l2))))
+
+
+; ### UNLOAD ###
+; ?l1 is the level of ?g in ?t before unloading
+; ?l2 is the level of ?g in ?t after unloading
+; ?l3 is the level of ?g in ?d before unloading
+; ?l4 is the level of ?g in ?d after unloading
+
+(:action unload
+ :parameters (?g - goods ?t - truck ?d - depot ?l1 ?l2 ?l3 ?l4 - level)
+ :precondition (and (at ?t ?d) (loaded ?g ?t ?l2)
+		    (stored ?g ?l3) (next ?l2 ?l1) (next ?l4 ?l3))
+ :effect (and (loaded ?g ?t ?l1) (not (loaded ?g ?t ?l2)) 
+	      (stored ?g ?l4) (not (stored ?g ?l3))))
+
+
+; ### BUY ###
+; ?l1 is the level of ?g on sale at ?m before buying
+; ?l2 is the level of ?g on sale at ?m after buying 
+; ?l3 is the level of ?g ready to be loaded at ?m before buying
+; ?l4 is the level of ?g ready to be loaded at ?m after buying
+
+(:action buy
+ :parameters (?t - truck ?g - goods ?m - market ?l1 ?l2 ?l3 ?l4 - level)
+ :precondition (and (at ?t ?m) (on-sale ?g ?m ?l2) (ready-to-load ?g ?m ?l3)
+		    (next ?l2 ?l1) (next ?l4 ?l3))
+ :effect (and (on-sale ?g ?m ?l1) (not (on-sale ?g ?m ?l2)) 
+	      (ready-to-load ?g ?m ?l4) (not (ready-to-load ?g ?m ?l3))))
+
+)