;; Automatically produced by rddl.translate.RDDL2Format
(define (domain navigation_mdp)
(:requirements :adl :probabilistic-effects :rewards)
(:predicates
(robot_at__x6_y12)
(robot_at__x6_y20)
(robot_at__x6_y15)
(robot_at__x14_y12)
(robot_at__x14_y20)
(robot_at__x14_y15)
(robot_at__x21_y12)
(robot_at__x21_y20)
(robot_at__x21_y15)
(robot_at__x9_y12)
(robot_at__x9_y20)
(robot_at__x9_y15)
)
(:action move_east
:effect (and
(probabilistic 1.0 (not (robot_at__x6_y12)))
(probabilistic 1.0 (not (robot_at__x6_y20)))
(probabilistic 1.0 (not (robot_at__x6_y15)))
(when (and (not (robot_at__x14_y12)) (not (robot_at__x21_y20)) (robot_at__x9_y12)) (probabilistic 1.0 (robot_at__x14_y12) ))
(when (and (robot_at__x14_y12)) (probabilistic 1.0 (not (robot_at__x14_y12))))
(when (and (not (robot_at__x14_y20)) (not (robot_at__x21_y20)) (robot_at__x9_y20)) (probabilistic 1.0 (robot_at__x14_y20) ))
(when (and (robot_at__x14_y20)) (probabilistic 1.0 (not (robot_at__x14_y20))))
(when (and (not (robot_at__x14_y15)) (not (robot_at__x21_y20)) (robot_at__x9_y15)) (probabilistic 0.36300482104221976 (robot_at__x14_y15) ))
(when (and (robot_at__x14_y15)) (probabilistic 1.0 (not (robot_at__x14_y15))))
(when (and (not (robot_at__x14_y12)) (robot_at__x21_y12) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x21_y12))))
(when (and (robot_at__x14_y12) (not (robot_at__x21_y20))) (probabilistic 1.0 (robot_at__x21_y12) ))
(when (and (robot_at__x14_y12) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x21_y12))))
(when (and (robot_at__x14_y20)) (probabilistic 1.0 (robot_at__x21_y20) ))
(when (and (not (robot_at__x14_y15)) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x21_y15))))
(when (and (robot_at__x14_y15) (not (robot_at__x21_y20))) (probabilistic 0.07184155347446597 (robot_at__x21_y15) 0.928158446525534 (not (robot_at__x21_y15))))
(when (and (robot_at__x14_y15) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x21_y15))))
(when (and (not (robot_at__x6_y12))) (probabilistic 1.0 (not (robot_at__x9_y12))))
(when (and (robot_at__x6_y12) (not (robot_at__x21_y20)) (not (robot_at__x9_y12))) (probabilistic 1.0 (robot_at__x9_y12) ))
(when (and (robot_at__x6_y12) (not (robot_at__x21_y20)) (robot_at__x9_y12)) (probabilistic 1.0 (not (robot_at__x9_y12))))
(when (and (robot_at__x6_y12) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x9_y12))))
(when (and (not (robot_at__x6_y20))) (probabilistic 1.0 (not (robot_at__x9_y20))))
(when (and (robot_at__x6_y20) (not (robot_at__x21_y20)) (not (robot_at__x9_y20))) (probabilistic 1.0 (robot_at__x9_y20) ))
(when (and (robot_at__x6_y20) (not (robot_at__x21_y20)) (robot_at__x9_y20)) (probabilistic 1.0 (not (robot_at__x9_y20))))
(when (and (robot_at__x6_y20) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x9_y20))))
(when (and (not (robot_at__x6_y15))) (probabilistic 1.0 (not (robot_at__x9_y15))))
(when (and (robot_at__x6_y15) (not (robot_at__x21_y20)) (not (robot_at__x9_y15))) (probabilistic 0.6545628601064284 (robot_at__x9_y15) ))
(when (and (robot_at__x6_y15) (not (robot_at__x21_y20)) (robot_at__x9_y15)) (probabilistic 1.0 (not (robot_at__x9_y15))))
(when (and (robot_at__x6_y15) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x9_y15))))
; Reward
(when (not (robot_at__x21_y20)) (decrease (reward) 1.0))
)
)
(:action move_north
:effect (and
(probabilistic 1.0 (not (robot_at__x6_y12)))
(when (and (not (robot_at__x6_y20)) (robot_at__x6_y15) (not (robot_at__x21_y20))) (probabilistic 1.0 (robot_at__x6_y20) ))
(when (and (robot_at__x6_y20) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x6_y20))))
(when (and (not (robot_at__x6_y12))) (probabilistic 1.0 (not (robot_at__x6_y15))))
(when (and (robot_at__x6_y12) (not (robot_at__x6_y15)) (not (robot_at__x21_y20))) (probabilistic 0.9510332886129618 (robot_at__x6_y15) ))
(when (and (robot_at__x6_y12) (robot_at__x6_y15)) (probabilistic 1.0 (not (robot_at__x6_y15))))
(probabilistic 1.0 (not (robot_at__x14_y12)))
(when (and (not (robot_at__x14_y20)) (robot_at__x14_y15) (not (robot_at__x21_y20))) (probabilistic 1.0 (robot_at__x14_y20) ))
(when (and (robot_at__x14_y20) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x14_y20))))
(when (and (not (robot_at__x14_y12))) (probabilistic 1.0 (not (robot_at__x14_y15))))
(when (and (robot_at__x14_y12) (not (robot_at__x14_y15)) (not (robot_at__x21_y20))) (probabilistic 0.36300482104221976 (robot_at__x14_y15) ))
(when (and (robot_at__x14_y12) (robot_at__x14_y15)) (probabilistic 1.0 (not (robot_at__x14_y15))))
(probabilistic 1.0 (not (robot_at__x21_y12)))
(when (and (not (robot_at__x21_y20)) (robot_at__x21_y15)) (probabilistic 1.0 (robot_at__x21_y20) ))
(when (and (not (robot_at__x21_y12))) (probabilistic 1.0 (not (robot_at__x21_y15))))
(when (and (robot_at__x21_y12) (not (robot_at__x21_y20)) (not (robot_at__x21_y15))) (probabilistic 0.07184155347446597 (robot_at__x21_y15) ))
(when (and (robot_at__x21_y12) (not (robot_at__x21_y20)) (robot_at__x21_y15)) (probabilistic 1.0 (not (robot_at__x21_y15))))
(when (and (robot_at__x21_y12) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x21_y15))))
(probabilistic 1.0 (not (robot_at__x9_y12)))
(when (and (not (robot_at__x21_y20)) (not (robot_at__x9_y20)) (robot_at__x9_y15)) (probabilistic 1.0 (robot_at__x9_y20) ))
(when (and (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x9_y20))))
(when (and (not (robot_at__x21_y20)) (not (robot_at__x9_y12))) (probabilistic 1.0 (not (robot_at__x9_y15))))
(when (and (not (robot_at__x21_y20)) (robot_at__x9_y12) (not (robot_at__x9_y15))) (probabilistic 0.6545628601064284 (robot_at__x9_y15) ))
(when (and (not (robot_at__x21_y20)) (robot_at__x9_y12) (robot_at__x9_y15)) (probabilistic 1.0 (not (robot_at__x9_y15))))
(when (and (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x9_y15))))
; Reward
(when (not (robot_at__x21_y20)) (decrease (reward) 1.0))
)
)
(:action move_south
:effect (and
(when (and (not (robot_at__x6_y12)) (robot_at__x6_y15) (not (robot_at__x21_y20))) (probabilistic 1.0 (robot_at__x6_y12) ))
(when (and (robot_at__x6_y12) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x6_y12))))
(probabilistic 1.0 (not (robot_at__x6_y20)))
(when (and (not (robot_at__x6_y20))) (probabilistic 1.0 (not (robot_at__x6_y15))))
(when (and (robot_at__x6_y20) (not (robot_at__x6_y15)) (not (robot_at__x21_y20))) (probabilistic 0.9510332886129618 (robot_at__x6_y15) ))
(when (and (robot_at__x6_y20) (robot_at__x6_y15)) (probabilistic 1.0 (not (robot_at__x6_y15))))
(when (and (not (robot_at__x14_y12)) (robot_at__x14_y15) (not (robot_at__x21_y20))) (probabilistic 1.0 (robot_at__x14_y12) ))
(when (and (robot_at__x14_y12) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x14_y12))))
(probabilistic 1.0 (not (robot_at__x14_y20)))
(when (and (not (robot_at__x14_y20))) (probabilistic 1.0 (not (robot_at__x14_y15))))
(when (and (robot_at__x14_y20) (not (robot_at__x14_y15)) (not (robot_at__x21_y20))) (probabilistic 0.36300482104221976 (robot_at__x14_y15) ))
(when (and (robot_at__x14_y20) (robot_at__x14_y15)) (probabilistic 1.0 (not (robot_at__x14_y15))))
(when (and (not (robot_at__x21_y12)) (not (robot_at__x21_y20)) (robot_at__x21_y15)) (probabilistic 1.0 (robot_at__x21_y12) ))
(when (and (robot_at__x21_y12) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x21_y12))))
(probabilistic 1.0 (not (robot_at__x21_y15)))
(when (and (not (robot_at__x21_y20)) (not (robot_at__x9_y12)) (robot_at__x9_y15)) (probabilistic 1.0 (robot_at__x9_y12) ))
(when (and (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x9_y12))))
(probabilistic 1.0 (not (robot_at__x9_y20)))
(when (and (not (robot_at__x21_y20)) (not (robot_at__x9_y20))) (probabilistic 1.0 (not (robot_at__x9_y15))))
(when (and (not (robot_at__x21_y20)) (robot_at__x9_y20) (not (robot_at__x9_y15))) (probabilistic 0.6545628601064284 (robot_at__x9_y15) ))
(when (and (not (robot_at__x21_y20)) (robot_at__x9_y20) (robot_at__x9_y15)) (probabilistic 1.0 (not (robot_at__x9_y15))))
(when (and (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x9_y15))))
; Reward
(when (not (robot_at__x21_y20)) (decrease (reward) 1.0))
)
)
(:action move_west
:effect (and
(when (and (not (robot_at__x6_y12)) (not (robot_at__x21_y20)) (robot_at__x9_y12)) (probabilistic 1.0 (robot_at__x6_y12) ))
(when (and (robot_at__x6_y12) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x6_y12))))
(when (and (not (robot_at__x6_y20)) (not (robot_at__x21_y20)) (robot_at__x9_y20)) (probabilistic 1.0 (robot_at__x6_y20) ))
(when (and (robot_at__x6_y20) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x6_y20))))
(when (and (not (robot_at__x6_y15)) (not (robot_at__x21_y20)) (robot_at__x9_y15)) (probabilistic 0.9510332886129618 (robot_at__x6_y15) ))
(when (and (robot_at__x6_y15) (not (robot_at__x21_y20)) (robot_at__x9_y15)) (probabilistic 0.04896671138703823 (not (robot_at__x6_y15))))
(when (and (robot_at__x6_y15) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x6_y15))))
(when (and (not (robot_at__x14_y12)) (robot_at__x21_y12) (not (robot_at__x21_y20))) (probabilistic 1.0 (robot_at__x14_y12) ))
(when (and (robot_at__x14_y12)) (probabilistic 1.0 (not (robot_at__x14_y12))))
(probabilistic 1.0 (not (robot_at__x14_y20)))
(when (and (not (robot_at__x14_y15)) (not (robot_at__x21_y20)) (robot_at__x21_y15)) (probabilistic 0.36300482104221976 (robot_at__x14_y15) ))
(when (and (robot_at__x14_y15)) (probabilistic 1.0 (not (robot_at__x14_y15))))
(probabilistic 1.0 (not (robot_at__x21_y12)))
(probabilistic 1.0 (not (robot_at__x21_y15)))
(when (and (not (robot_at__x14_y12))) (probabilistic 1.0 (not (robot_at__x9_y12))))
(when (and (robot_at__x14_y12) (not (robot_at__x21_y20)) (not (robot_at__x9_y12))) (probabilistic 1.0 (robot_at__x9_y12) ))
(when (and (robot_at__x14_y12) (not (robot_at__x21_y20)) (robot_at__x9_y12)) (probabilistic 1.0 (not (robot_at__x9_y12))))
(when (and (robot_at__x14_y12) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x9_y12))))
(when (and (not (robot_at__x14_y20))) (probabilistic 1.0 (not (robot_at__x9_y20))))
(when (and (robot_at__x14_y20) (not (robot_at__x21_y20)) (not (robot_at__x9_y20))) (probabilistic 1.0 (robot_at__x9_y20) ))
(when (and (robot_at__x14_y20) (not (robot_at__x21_y20)) (robot_at__x9_y20)) (probabilistic 1.0 (not (robot_at__x9_y20))))
(when (and (robot_at__x14_y20) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x9_y20))))
(when (and (not (robot_at__x14_y15))) (probabilistic 1.0 (not (robot_at__x9_y15))))
(when (and (robot_at__x14_y15) (not (robot_at__x21_y20)) (not (robot_at__x9_y15))) (probabilistic 0.6545628601064284 (robot_at__x9_y15) ))
(when (and (robot_at__x14_y15) (not (robot_at__x21_y20)) (robot_at__x9_y15)) (probabilistic 1.0 (not (robot_at__x9_y15))))
(when (and (robot_at__x14_y15) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x9_y15))))
; Reward
(when (not (robot_at__x21_y20)) (decrease (reward) 1.0))
)
)
(:action noop
:effect (and
(when (and (robot_at__x6_y12) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x6_y12))))
(when (and (robot_at__x6_y20) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x6_y20))))
(when (and (robot_at__x6_y15) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x6_y15))))
(when (and (robot_at__x14_y12) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x14_y12))))
(when (and (robot_at__x14_y20) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x14_y20))))
(when (and (robot_at__x14_y15) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x14_y15))))
(when (and (robot_at__x21_y12) (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x21_y12))))
(when (and (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x21_y15))))
(when (and (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x9_y12))))
(when (and (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x9_y20))))
(when (and (robot_at__x21_y20)) (probabilistic 1.0 (not (robot_at__x9_y15))))
; Reward
(when (not (robot_at__x21_y20)) (decrease (reward) 1.0))
)
)
)
(define (problem navigation_inst_mdp__1)
(:domain navigation_mdp)
(:init
(robot_at__x21_y12)
)
(:metric maximize (reward))
;; (:horizon 40)
;; (:discount 1.0)
)