;; Automatically produced by rddl.translate.RDDL2Format
(define (domain crossing_traffic_pomdp)
(:requirements :adl :probabilistic-effects :rewards)
(:predicates
(obstacle_at__x1_y1)
(obstacle_at__x1_y2)
(obstacle_at__x1_y3)
(obstacle_at__x2_y1)
(obstacle_at__x2_y2)
(obstacle_at__x2_y3)
(obstacle_at__x3_y1)
(obstacle_at__x3_y2)
(obstacle_at__x3_y3)
(robot_at__x1_y1)
(robot_at__x1_y2)
(robot_at__x1_y3)
(robot_at__x2_y1)
(robot_at__x2_y2)
(robot_at__x2_y3)
(robot_at__x3_y1)
(robot_at__x3_y2)
(robot_at__x3_y3)
)
(:observations
(arrival_max_xpos__y1)
(arrival_max_xpos__y2)
(arrival_max_xpos__y3)
)
(:action move_east
:effect (and
(probabilistic 1.0 (not (obstacle_at__x1_y1)))
(when (and (not (obstacle_at__x2_y2))) (probabilistic 1.0 (not (obstacle_at__x1_y2))))
(when (and (obstacle_at__x2_y2)) (probabilistic 1.0 (obstacle_at__x1_y2) ))
(probabilistic 1.0 (not (obstacle_at__x1_y3)))
(probabilistic 1.0 (not (obstacle_at__x2_y1)))
(when (and (not (obstacle_at__x3_y2))) (probabilistic 1.0 (not (obstacle_at__x2_y2))))
(when (and (obstacle_at__x3_y2)) (probabilistic 1.0 (obstacle_at__x2_y2) ))
(probabilistic 1.0 (not (obstacle_at__x2_y3)))
(probabilistic 1.0 (not (obstacle_at__x3_y1)))
(probabilistic 0.2 (obstacle_at__x3_y2) 0.8 (not (obstacle_at__x3_y2)))
(probabilistic 1.0 (not (obstacle_at__x3_y3)))
(probabilistic 1.0 (not (robot_at__x1_y1)))
(probabilistic 1.0 (not (robot_at__x1_y2)))
(probabilistic 1.0 (not (robot_at__x1_y3)))
(when (and (not (obstacle_at__x1_y1)) (not (robot_at__x1_y1))) (probabilistic 1.0 (not (robot_at__x2_y1))))
(when (and (not (obstacle_at__x1_y1)) (robot_at__x1_y1) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x2_y1) ))
(when (and (not (obstacle_at__x1_y1)) (robot_at__x1_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y1))))
(when (and (obstacle_at__x1_y1)) (probabilistic 1.0 (not (robot_at__x2_y1))))
(when (and (not (obstacle_at__x1_y2)) (not (robot_at__x1_y2))) (probabilistic 1.0 (not (robot_at__x2_y2))))
(when (and (not (obstacle_at__x1_y2)) (robot_at__x1_y2) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x2_y2) ))
(when (and (not (obstacle_at__x1_y2)) (robot_at__x1_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y2))))
(when (and (obstacle_at__x1_y2)) (probabilistic 1.0 (not (robot_at__x2_y2))))
(when (and (not (obstacle_at__x1_y3)) (not (robot_at__x1_y3))) (probabilistic 1.0 (not (robot_at__x2_y3))))
(when (and (not (obstacle_at__x1_y3)) (robot_at__x1_y3) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x2_y3) ))
(when (and (not (obstacle_at__x1_y3)) (robot_at__x1_y3) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y3))))
(when (and (obstacle_at__x1_y3)) (probabilistic 1.0 (not (robot_at__x2_y3))))
(when (and (not (obstacle_at__x2_y1)) (not (obstacle_at__x3_y1)) (not (robot_at__x2_y1)) (robot_at__x3_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x3_y1))))
(when (and (not (obstacle_at__x2_y1)) (not (obstacle_at__x3_y1)) (robot_at__x2_y1) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x3_y1) ))
(when (and (not (obstacle_at__x2_y1)) (not (obstacle_at__x3_y1)) (robot_at__x2_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x3_y1))))
(when (and (not (obstacle_at__x2_y1)) (obstacle_at__x3_y1) (not (robot_at__x2_y1))) (probabilistic 1.0 (not (robot_at__x3_y1))))
(when (and (not (obstacle_at__x2_y1)) (obstacle_at__x3_y1) (robot_at__x2_y1) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x3_y1) ))
(when (and (not (obstacle_at__x2_y1)) (obstacle_at__x3_y1) (robot_at__x2_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x3_y1))))
(when (and (obstacle_at__x2_y1) (not (obstacle_at__x3_y1)) (robot_at__x3_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x3_y1))))
(when (and (obstacle_at__x2_y1) (obstacle_at__x3_y1)) (probabilistic 1.0 (not (robot_at__x3_y1))))
(when (and (not (obstacle_at__x2_y2)) (not (obstacle_at__x3_y2)) (not (robot_at__x2_y2)) (robot_at__x3_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x3_y2))))
(when (and (not (obstacle_at__x2_y2)) (not (obstacle_at__x3_y2)) (robot_at__x2_y2) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x3_y2) ))
(when (and (not (obstacle_at__x2_y2)) (not (obstacle_at__x3_y2)) (robot_at__x2_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x3_y2))))
(when (and (not (obstacle_at__x2_y2)) (obstacle_at__x3_y2) (not (robot_at__x2_y2))) (probabilistic 1.0 (not (robot_at__x3_y2))))
(when (and (not (obstacle_at__x2_y2)) (obstacle_at__x3_y2) (robot_at__x2_y2) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x3_y2) ))
(when (and (not (obstacle_at__x2_y2)) (obstacle_at__x3_y2) (robot_at__x2_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x3_y2))))
(when (and (obstacle_at__x2_y2) (not (obstacle_at__x3_y2)) (robot_at__x3_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x3_y2))))
(when (and (obstacle_at__x2_y2) (obstacle_at__x3_y2)) (probabilistic 1.0 (not (robot_at__x3_y2))))
(when (and (not (obstacle_at__x2_y3)) (robot_at__x2_y3)) (probabilistic 1.0 (robot_at__x3_y3) ))
; Reward
(when (not (robot_at__x3_y3)) (decrease (reward) 1.0))
)
:observation (and
(when (and (not (obstacle_at__x3_y1))) (probabilistic 1.0 (not (arrival_max_xpos__y1))))
(when (and (obstacle_at__x3_y1)) (probabilistic 1.0 (arrival_max_xpos__y1) ))
(when (and (not (obstacle_at__x3_y2))) (probabilistic 1.0 (not (arrival_max_xpos__y2))))
(when (and (obstacle_at__x3_y2)) (probabilistic 1.0 (arrival_max_xpos__y2) ))
(when (and (not (obstacle_at__x3_y3))) (probabilistic 1.0 (not (arrival_max_xpos__y3))))
(when (and (obstacle_at__x3_y3)) (probabilistic 1.0 (arrival_max_xpos__y3) ))
)
)
(:action move_north
:effect (and
(probabilistic 1.0 (not (obstacle_at__x1_y1)))
(when (and (not (obstacle_at__x2_y2))) (probabilistic 1.0 (not (obstacle_at__x1_y2))))
(when (and (obstacle_at__x2_y2)) (probabilistic 1.0 (obstacle_at__x1_y2) ))
(probabilistic 1.0 (not (obstacle_at__x1_y3)))
(probabilistic 1.0 (not (obstacle_at__x2_y1)))
(when (and (not (obstacle_at__x3_y2))) (probabilistic 1.0 (not (obstacle_at__x2_y2))))
(when (and (obstacle_at__x3_y2)) (probabilistic 1.0 (obstacle_at__x2_y2) ))
(probabilistic 1.0 (not (obstacle_at__x2_y3)))
(probabilistic 1.0 (not (obstacle_at__x3_y1)))
(probabilistic 0.2 (obstacle_at__x3_y2) 0.8 (not (obstacle_at__x3_y2)))
(probabilistic 1.0 (not (obstacle_at__x3_y3)))
(probabilistic 1.0 (not (robot_at__x1_y1)))
(when (and (not (obstacle_at__x1_y1)) (not (robot_at__x1_y1))) (probabilistic 1.0 (not (robot_at__x1_y2))))
(when (and (not (obstacle_at__x1_y1)) (robot_at__x1_y1) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x1_y2) ))
(when (and (not (obstacle_at__x1_y1)) (robot_at__x1_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y2))))
(when (and (obstacle_at__x1_y1)) (probabilistic 1.0 (not (robot_at__x1_y2))))
(when (and (not (obstacle_at__x1_y2)) (not (obstacle_at__x1_y3)) (not (robot_at__x1_y2)) (robot_at__x1_y3) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y3))))
(when (and (not (obstacle_at__x1_y2)) (not (obstacle_at__x1_y3)) (robot_at__x1_y2) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x1_y3) ))
(when (and (not (obstacle_at__x1_y2)) (not (obstacle_at__x1_y3)) (robot_at__x1_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y3))))
(when (and (not (obstacle_at__x1_y2)) (obstacle_at__x1_y3) (not (robot_at__x1_y2))) (probabilistic 1.0 (not (robot_at__x1_y3))))
(when (and (not (obstacle_at__x1_y2)) (obstacle_at__x1_y3) (robot_at__x1_y2) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x1_y3) ))
(when (and (not (obstacle_at__x1_y2)) (obstacle_at__x1_y3) (robot_at__x1_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y3))))
(when (and (obstacle_at__x1_y2) (not (obstacle_at__x1_y3)) (robot_at__x1_y3) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y3))))
(when (and (obstacle_at__x1_y2) (obstacle_at__x1_y3)) (probabilistic 1.0 (not (robot_at__x1_y3))))
(probabilistic 1.0 (not (robot_at__x2_y1)))
(when (and (not (obstacle_at__x2_y1)) (not (robot_at__x2_y1))) (probabilistic 1.0 (not (robot_at__x2_y2))))
(when (and (not (obstacle_at__x2_y1)) (robot_at__x2_y1) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x2_y2) ))
(when (and (not (obstacle_at__x2_y1)) (robot_at__x2_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y2))))
(when (and (obstacle_at__x2_y1)) (probabilistic 1.0 (not (robot_at__x2_y2))))
(when (and (not (obstacle_at__x2_y2)) (not (obstacle_at__x2_y3)) (not (robot_at__x2_y2)) (robot_at__x2_y3) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y3))))
(when (and (not (obstacle_at__x2_y2)) (not (obstacle_at__x2_y3)) (robot_at__x2_y2) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x2_y3) ))
(when (and (not (obstacle_at__x2_y2)) (not (obstacle_at__x2_y3)) (robot_at__x2_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y3))))
(when (and (not (obstacle_at__x2_y2)) (obstacle_at__x2_y3) (not (robot_at__x2_y2))) (probabilistic 1.0 (not (robot_at__x2_y3))))
(when (and (not (obstacle_at__x2_y2)) (obstacle_at__x2_y3) (robot_at__x2_y2) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x2_y3) ))
(when (and (not (obstacle_at__x2_y2)) (obstacle_at__x2_y3) (robot_at__x2_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y3))))
(when (and (obstacle_at__x2_y2) (not (obstacle_at__x2_y3)) (robot_at__x2_y3) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y3))))
(when (and (obstacle_at__x2_y2) (obstacle_at__x2_y3)) (probabilistic 1.0 (not (robot_at__x2_y3))))
(probabilistic 1.0 (not (robot_at__x3_y1)))
(when (and (not (obstacle_at__x3_y1)) (not (robot_at__x3_y1))) (probabilistic 1.0 (not (robot_at__x3_y2))))
(when (and (not (obstacle_at__x3_y1)) (robot_at__x3_y1) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x3_y2) ))
(when (and (not (obstacle_at__x3_y1)) (robot_at__x3_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x3_y2))))
(when (and (obstacle_at__x3_y1)) (probabilistic 1.0 (not (robot_at__x3_y2))))
(when (and (not (obstacle_at__x3_y2)) (robot_at__x3_y2)) (probabilistic 1.0 (robot_at__x3_y3) ))
; Reward
(when (not (robot_at__x3_y3)) (decrease (reward) 1.0))
)
:observation (and
(when (and (not (obstacle_at__x3_y1))) (probabilistic 1.0 (not (arrival_max_xpos__y1))))
(when (and (obstacle_at__x3_y1)) (probabilistic 1.0 (arrival_max_xpos__y1) ))
(when (and (not (obstacle_at__x3_y2))) (probabilistic 1.0 (not (arrival_max_xpos__y2))))
(when (and (obstacle_at__x3_y2)) (probabilistic 1.0 (arrival_max_xpos__y2) ))
(when (and (not (obstacle_at__x3_y3))) (probabilistic 1.0 (not (arrival_max_xpos__y3))))
(when (and (obstacle_at__x3_y3)) (probabilistic 1.0 (arrival_max_xpos__y3) ))
)
)
(:action move_south
:effect (and
(probabilistic 1.0 (not (obstacle_at__x1_y1)))
(when (and (not (obstacle_at__x2_y2))) (probabilistic 1.0 (not (obstacle_at__x1_y2))))
(when (and (obstacle_at__x2_y2)) (probabilistic 1.0 (obstacle_at__x1_y2) ))
(probabilistic 1.0 (not (obstacle_at__x1_y3)))
(probabilistic 1.0 (not (obstacle_at__x2_y1)))
(when (and (not (obstacle_at__x3_y2))) (probabilistic 1.0 (not (obstacle_at__x2_y2))))
(when (and (obstacle_at__x3_y2)) (probabilistic 1.0 (obstacle_at__x2_y2) ))
(probabilistic 1.0 (not (obstacle_at__x2_y3)))
(probabilistic 1.0 (not (obstacle_at__x3_y1)))
(probabilistic 0.2 (obstacle_at__x3_y2) 0.8 (not (obstacle_at__x3_y2)))
(probabilistic 1.0 (not (obstacle_at__x3_y3)))
(when (and (not (obstacle_at__x1_y1)) (not (obstacle_at__x1_y2)) (not (robot_at__x1_y1)) (robot_at__x1_y2) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x1_y1) ))
(when (and (not (obstacle_at__x1_y1)) (not (obstacle_at__x1_y2)) (robot_at__x1_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y1))))
(when (and (not (obstacle_at__x1_y1)) (obstacle_at__x1_y2) (robot_at__x1_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y1))))
(when (and (obstacle_at__x1_y1) (not (obstacle_at__x1_y2)) (not (robot_at__x1_y2))) (probabilistic 1.0 (not (robot_at__x1_y1))))
(when (and (obstacle_at__x1_y1) (not (obstacle_at__x1_y2)) (robot_at__x1_y2) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x1_y1) ))
(when (and (obstacle_at__x1_y1) (not (obstacle_at__x1_y2)) (robot_at__x1_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y1))))
(when (and (obstacle_at__x1_y1) (obstacle_at__x1_y2)) (probabilistic 1.0 (not (robot_at__x1_y1))))
(when (and (not (obstacle_at__x1_y3)) (not (robot_at__x1_y3))) (probabilistic 1.0 (not (robot_at__x1_y2))))
(when (and (not (obstacle_at__x1_y3)) (robot_at__x1_y3) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x1_y2) ))
(when (and (not (obstacle_at__x1_y3)) (robot_at__x1_y3) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y2))))
(when (and (obstacle_at__x1_y3)) (probabilistic 1.0 (not (robot_at__x1_y2))))
(probabilistic 1.0 (not (robot_at__x1_y3)))
(when (and (not (obstacle_at__x2_y1)) (not (obstacle_at__x2_y2)) (not (robot_at__x2_y1)) (robot_at__x2_y2) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x2_y1) ))
(when (and (not (obstacle_at__x2_y1)) (not (obstacle_at__x2_y2)) (robot_at__x2_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y1))))
(when (and (not (obstacle_at__x2_y1)) (obstacle_at__x2_y2) (robot_at__x2_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y1))))
(when (and (obstacle_at__x2_y1) (not (obstacle_at__x2_y2)) (not (robot_at__x2_y2))) (probabilistic 1.0 (not (robot_at__x2_y1))))
(when (and (obstacle_at__x2_y1) (not (obstacle_at__x2_y2)) (robot_at__x2_y2) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x2_y1) ))
(when (and (obstacle_at__x2_y1) (not (obstacle_at__x2_y2)) (robot_at__x2_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y1))))
(when (and (obstacle_at__x2_y1) (obstacle_at__x2_y2)) (probabilistic 1.0 (not (robot_at__x2_y1))))
(when (and (not (obstacle_at__x2_y3)) (not (robot_at__x2_y3))) (probabilistic 1.0 (not (robot_at__x2_y2))))
(when (and (not (obstacle_at__x2_y3)) (robot_at__x2_y3) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x2_y2) ))
(when (and (not (obstacle_at__x2_y3)) (robot_at__x2_y3) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y2))))
(when (and (obstacle_at__x2_y3)) (probabilistic 1.0 (not (robot_at__x2_y2))))
(probabilistic 1.0 (not (robot_at__x2_y3)))
(when (and (not (obstacle_at__x3_y1)) (not (obstacle_at__x3_y2)) (not (robot_at__x3_y1)) (robot_at__x3_y2) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x3_y1) ))
(when (and (not (obstacle_at__x3_y1)) (not (obstacle_at__x3_y2)) (robot_at__x3_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x3_y1))))
(when (and (not (obstacle_at__x3_y1)) (obstacle_at__x3_y2) (robot_at__x3_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x3_y1))))
(when (and (obstacle_at__x3_y1) (not (obstacle_at__x3_y2)) (not (robot_at__x3_y2))) (probabilistic 1.0 (not (robot_at__x3_y1))))
(when (and (obstacle_at__x3_y1) (not (obstacle_at__x3_y2)) (robot_at__x3_y2) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x3_y1) ))
(when (and (obstacle_at__x3_y1) (not (obstacle_at__x3_y2)) (robot_at__x3_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x3_y1))))
(when (and (obstacle_at__x3_y1) (obstacle_at__x3_y2)) (probabilistic 1.0 (not (robot_at__x3_y1))))
(probabilistic 1.0 (not (robot_at__x3_y2)))
; Reward
(when (not (robot_at__x3_y3)) (decrease (reward) 1.0))
)
:observation (and
(when (and (not (obstacle_at__x3_y1))) (probabilistic 1.0 (not (arrival_max_xpos__y1))))
(when (and (obstacle_at__x3_y1)) (probabilistic 1.0 (arrival_max_xpos__y1) ))
(when (and (not (obstacle_at__x3_y2))) (probabilistic 1.0 (not (arrival_max_xpos__y2))))
(when (and (obstacle_at__x3_y2)) (probabilistic 1.0 (arrival_max_xpos__y2) ))
(when (and (not (obstacle_at__x3_y3))) (probabilistic 1.0 (not (arrival_max_xpos__y3))))
(when (and (obstacle_at__x3_y3)) (probabilistic 1.0 (arrival_max_xpos__y3) ))
)
)
(:action move_west
:effect (and
(probabilistic 1.0 (not (obstacle_at__x1_y1)))
(when (and (not (obstacle_at__x2_y2))) (probabilistic 1.0 (not (obstacle_at__x1_y2))))
(when (and (obstacle_at__x2_y2)) (probabilistic 1.0 (obstacle_at__x1_y2) ))
(probabilistic 1.0 (not (obstacle_at__x1_y3)))
(probabilistic 1.0 (not (obstacle_at__x2_y1)))
(when (and (not (obstacle_at__x3_y2))) (probabilistic 1.0 (not (obstacle_at__x2_y2))))
(when (and (obstacle_at__x3_y2)) (probabilistic 1.0 (obstacle_at__x2_y2) ))
(probabilistic 1.0 (not (obstacle_at__x2_y3)))
(probabilistic 1.0 (not (obstacle_at__x3_y1)))
(probabilistic 0.2 (obstacle_at__x3_y2) 0.8 (not (obstacle_at__x3_y2)))
(probabilistic 1.0 (not (obstacle_at__x3_y3)))
(when (and (not (obstacle_at__x1_y1)) (not (obstacle_at__x2_y1)) (not (robot_at__x1_y1)) (robot_at__x2_y1) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x1_y1) ))
(when (and (not (obstacle_at__x1_y1)) (not (obstacle_at__x2_y1)) (robot_at__x1_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y1))))
(when (and (not (obstacle_at__x1_y1)) (obstacle_at__x2_y1) (robot_at__x1_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y1))))
(when (and (obstacle_at__x1_y1) (not (obstacle_at__x2_y1)) (not (robot_at__x2_y1))) (probabilistic 1.0 (not (robot_at__x1_y1))))
(when (and (obstacle_at__x1_y1) (not (obstacle_at__x2_y1)) (robot_at__x2_y1) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x1_y1) ))
(when (and (obstacle_at__x1_y1) (not (obstacle_at__x2_y1)) (robot_at__x2_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y1))))
(when (and (obstacle_at__x1_y1) (obstacle_at__x2_y1)) (probabilistic 1.0 (not (robot_at__x1_y1))))
(when (and (not (obstacle_at__x1_y2)) (not (obstacle_at__x2_y2)) (not (robot_at__x1_y2)) (robot_at__x2_y2) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x1_y2) ))
(when (and (not (obstacle_at__x1_y2)) (not (obstacle_at__x2_y2)) (robot_at__x1_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y2))))
(when (and (not (obstacle_at__x1_y2)) (obstacle_at__x2_y2) (robot_at__x1_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y2))))
(when (and (obstacle_at__x1_y2) (not (obstacle_at__x2_y2)) (not (robot_at__x2_y2))) (probabilistic 1.0 (not (robot_at__x1_y2))))
(when (and (obstacle_at__x1_y2) (not (obstacle_at__x2_y2)) (robot_at__x2_y2) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x1_y2) ))
(when (and (obstacle_at__x1_y2) (not (obstacle_at__x2_y2)) (robot_at__x2_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y2))))
(when (and (obstacle_at__x1_y2) (obstacle_at__x2_y2)) (probabilistic 1.0 (not (robot_at__x1_y2))))
(when (and (not (obstacle_at__x1_y3)) (not (obstacle_at__x2_y3)) (not (robot_at__x1_y3)) (robot_at__x2_y3) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x1_y3) ))
(when (and (not (obstacle_at__x1_y3)) (not (obstacle_at__x2_y3)) (robot_at__x1_y3) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y3))))
(when (and (not (obstacle_at__x1_y3)) (obstacle_at__x2_y3) (robot_at__x1_y3) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y3))))
(when (and (obstacle_at__x1_y3) (not (obstacle_at__x2_y3)) (not (robot_at__x2_y3))) (probabilistic 1.0 (not (robot_at__x1_y3))))
(when (and (obstacle_at__x1_y3) (not (obstacle_at__x2_y3)) (robot_at__x2_y3) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x1_y3) ))
(when (and (obstacle_at__x1_y3) (not (obstacle_at__x2_y3)) (robot_at__x2_y3) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y3))))
(when (and (obstacle_at__x1_y3) (obstacle_at__x2_y3)) (probabilistic 1.0 (not (robot_at__x1_y3))))
(when (and (not (obstacle_at__x3_y1)) (not (robot_at__x3_y1))) (probabilistic 1.0 (not (robot_at__x2_y1))))
(when (and (not (obstacle_at__x3_y1)) (robot_at__x3_y1) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x2_y1) ))
(when (and (not (obstacle_at__x3_y1)) (robot_at__x3_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y1))))
(when (and (obstacle_at__x3_y1)) (probabilistic 1.0 (not (robot_at__x2_y1))))
(when (and (not (obstacle_at__x3_y2)) (not (robot_at__x3_y2))) (probabilistic 1.0 (not (robot_at__x2_y2))))
(when (and (not (obstacle_at__x3_y2)) (robot_at__x3_y2) (not (robot_at__x3_y3))) (probabilistic 1.0 (robot_at__x2_y2) ))
(when (and (not (obstacle_at__x3_y2)) (robot_at__x3_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y2))))
(when (and (obstacle_at__x3_y2)) (probabilistic 1.0 (not (robot_at__x2_y2))))
(probabilistic 1.0 (not (robot_at__x2_y3)))
(probabilistic 1.0 (not (robot_at__x3_y1)))
(probabilistic 1.0 (not (robot_at__x3_y2)))
; Reward
(when (not (robot_at__x3_y3)) (decrease (reward) 1.0))
)
:observation (and
(when (and (not (obstacle_at__x3_y1))) (probabilistic 1.0 (not (arrival_max_xpos__y1))))
(when (and (obstacle_at__x3_y1)) (probabilistic 1.0 (arrival_max_xpos__y1) ))
(when (and (not (obstacle_at__x3_y2))) (probabilistic 1.0 (not (arrival_max_xpos__y2))))
(when (and (obstacle_at__x3_y2)) (probabilistic 1.0 (arrival_max_xpos__y2) ))
(when (and (not (obstacle_at__x3_y3))) (probabilistic 1.0 (not (arrival_max_xpos__y3))))
(when (and (obstacle_at__x3_y3)) (probabilistic 1.0 (arrival_max_xpos__y3) ))
)
)
(:action noop
:effect (and
(probabilistic 1.0 (not (obstacle_at__x1_y1)))
(when (and (not (obstacle_at__x2_y2))) (probabilistic 1.0 (not (obstacle_at__x1_y2))))
(when (and (obstacle_at__x2_y2)) (probabilistic 1.0 (obstacle_at__x1_y2) ))
(probabilistic 1.0 (not (obstacle_at__x1_y3)))
(probabilistic 1.0 (not (obstacle_at__x2_y1)))
(when (and (not (obstacle_at__x3_y2))) (probabilistic 1.0 (not (obstacle_at__x2_y2))))
(when (and (obstacle_at__x3_y2)) (probabilistic 1.0 (obstacle_at__x2_y2) ))
(probabilistic 1.0 (not (obstacle_at__x2_y3)))
(probabilistic 1.0 (not (obstacle_at__x3_y1)))
(probabilistic 0.2 (obstacle_at__x3_y2) 0.8 (not (obstacle_at__x3_y2)))
(probabilistic 1.0 (not (obstacle_at__x3_y3)))
(when (and (not (obstacle_at__x1_y1)) (robot_at__x1_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y1))))
(when (and (obstacle_at__x1_y1)) (probabilistic 1.0 (not (robot_at__x1_y1))))
(when (and (not (obstacle_at__x1_y2)) (robot_at__x1_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y2))))
(when (and (obstacle_at__x1_y2)) (probabilistic 1.0 (not (robot_at__x1_y2))))
(when (and (not (obstacle_at__x1_y3)) (robot_at__x1_y3) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x1_y3))))
(when (and (obstacle_at__x1_y3)) (probabilistic 1.0 (not (robot_at__x1_y3))))
(when (and (not (obstacle_at__x2_y1)) (robot_at__x2_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y1))))
(when (and (obstacle_at__x2_y1)) (probabilistic 1.0 (not (robot_at__x2_y1))))
(when (and (not (obstacle_at__x2_y2)) (robot_at__x2_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y2))))
(when (and (obstacle_at__x2_y2)) (probabilistic 1.0 (not (robot_at__x2_y2))))
(when (and (not (obstacle_at__x2_y3)) (robot_at__x2_y3) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x2_y3))))
(when (and (obstacle_at__x2_y3)) (probabilistic 1.0 (not (robot_at__x2_y3))))
(when (and (not (obstacle_at__x3_y1)) (robot_at__x3_y1) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x3_y1))))
(when (and (obstacle_at__x3_y1)) (probabilistic 1.0 (not (robot_at__x3_y1))))
(when (and (not (obstacle_at__x3_y2)) (robot_at__x3_y2) (robot_at__x3_y3)) (probabilistic 1.0 (not (robot_at__x3_y2))))
(when (and (obstacle_at__x3_y2)) (probabilistic 1.0 (not (robot_at__x3_y2))))
; Reward
(when (not (robot_at__x3_y3)) (decrease (reward) 1.0))
)
:observation (and
(when (and (not (obstacle_at__x3_y1))) (probabilistic 1.0 (not (arrival_max_xpos__y1))))
(when (and (obstacle_at__x3_y1)) (probabilistic 1.0 (arrival_max_xpos__y1) ))
(when (and (not (obstacle_at__x3_y2))) (probabilistic 1.0 (not (arrival_max_xpos__y2))))
(when (and (obstacle_at__x3_y2)) (probabilistic 1.0 (arrival_max_xpos__y2) ))
(when (and (not (obstacle_at__x3_y3))) (probabilistic 1.0 (not (arrival_max_xpos__y3))))
(when (and (obstacle_at__x3_y3)) (probabilistic 1.0 (arrival_max_xpos__y3) ))
)
)
)
(define (problem crossing_traffic_inst_pomdp__1)
(:domain crossing_traffic_pomdp)
(:init
(obstacle_at__x1_y2)
(obstacle_at__x2_y2)
(obstacle_at__x3_y2)
(robot_at__x3_y1)
)
(:metric maximize (reward))
;; (:horizon 40)
;; (:discount 1.0)
)