;; Generated by blocksworld generator
;; http://www.cs.rutgers.edu/~jasmuth/blocksworld.tar.gz
;; by John Asmuth (jasmuth@cs.rutgers.edu)
;; and Dave Weissman
(define (domain bw-nc-pc-15)
(:requirements :adl :probabilistic-effects :fluents :rewards)
(:types block table)
(:constants table – table)
(:predicates
(holding ?block – block)
(on-top-of ?block – block ?obj)
)
(:action pick-up-block-from
:parameters (?top – block ?bottom)
:precondition (and (not (= ?top ?bottom))
(forall (?b – block) (not (holding ?b)))
(on-top-of ?top ?bottom)
(forall (?b – block) (not (on-top-of ?b ?top))))
:effect (and (decrease (reward) 1)
(probabilistic 0.75 (and (holding ?top)
(not (on-top-of ?top ?bottom)))
0.25 (when (not (= ?bottom table))
(and (not (on-top-of ?top ?bottom))
(on-top-of ?top table)))))
)
(:action put-down-block-on
:parameters (?top – block ?bottom)
:precondition (and (not (= ?top ?bottom))
(holding ?top)
(or (= ?bottom table)
(forall (?b – block) (not (on-top-of ?b ?bottom)))))
:effect (and (not (holding ?top))
(probabilistic 0.75 (on-top-of ?top ?bottom)
0.25 (on-top-of ?top table)))
)
)
(define (problem bw-nc-pc-15)
(:domain bw-nc-pc-15)
(:objects block0 block1 block2 block3 block4 block5 block6 block7 block8 block9 block10 block11 block12 block13 block14 – block)
(:init
(on-top-of block0 block1)
(on-top-of block1 block2)
(on-top-of block2 block3)
(on-top-of block3 table)
(on-top-of block4 block5)
(on-top-of block5 block6)
(on-top-of block6 table)
(on-top-of block7 block8)
(on-top-of block8 block9)
(on-top-of block9 block10)
(on-top-of block10 block11)
(on-top-of block11 block12)
(on-top-of block12 table)
(on-top-of block13 table)
(on-top-of block14 table)
)
(:goal
(and
(on-top-of block0 block6)
(on-top-of block6 block4)
(on-top-of block4 block10)
(on-top-of block10 block2)
(on-top-of block2 block13)
(on-top-of block13 block9)
(on-top-of block9 block11)
(on-top-of block11 block1)
(on-top-of block1 block8)
(on-top-of block8 block14)
(on-top-of block14 block3)
(on-top-of block3 block7)
(on-top-of block7 block5)
(on-top-of block5 table)
(on-top-of block12 table)
)
)
(:goal-reward 500)
)