;; Generated by boxworld generator
;; http://www.cs.rutgers.edu/~jasmuth/boxworld.tar.gz
;; by John Asmuth (jasmuth@cs.rutgers.edu)
(define (domain bx-c5-b10-pc)
(:requirements :typing :equality :disjunctive-preconditions
:probabilistic-effects :existential-preconditions
:conditional-effects :negative-preconditions
:universal-preconditions :rewards)
(:types city box truck plane)
(:predicates (box-at-city ?b – box ?c – city)
(truck-at-city ?t – truck ?c – city)
(box-on-truck ?b – box ?t – truck)
(plane-at-city ?p – plane ?c – city)
(box-on-plane ?b – box ?p – plane)
(destination ?b – box ?dst – city)
(can-drive ?src – city ?dst – city)
(wrong-drive1 ?src – city ?wrongdst – city)
(wrong-drive2 ?src – city ?wrongdst – city)
(wrong-drive3 ?src – city ?wrongdst – city)
(can-fly ?src – city ?dst – city))
(:action load-box-on-truck-in-city
:parameters (?b – box ?t – truck ?c – city)
:precondition (and (box-at-city ?b ?c)
(not (destination ?b ?c))
(truck-at-city ?t ?c)
)
:effect (and (decrease (reward) 1)
(box-on-truck ?b ?t)
(not (box-at-city ?b ?c))
)
)
(:action unload-box-from-truck-in-city
:parameters (?b – box ?t – truck ?c – city)
:precondition (and (box-on-truck ?b ?t)
(truck-at-city ?t ?c)
)
:effect (and (box-at-city ?b ?c)
(not (box-on-truck ?b ?t))
)
)
(:action load-box-on-plane-in-city
:parameters (?b – box ?p – plane ?c – city)
:precondition (and (box-at-city ?b ?c)
(not (destination ?b ?c))
(plane-at-city ?p ?c)
)
:effect (and (decrease (reward) 1)
(box-on-plane ?b ?p)
(not (box-at-city ?b ?c))
)
)
(:action unload-box-from-plane-in-city
:parameters (?b – box ?p – plane ?c – city)
:precondition (and (box-on-plane ?b ?p)
(plane-at-city ?p ?c)
)
:effect (and (box-at-city ?b ?c)
(not (box-on-plane ?b ?p))
)
)
(:action drive-truck
:parameters (?t – truck ?src – city ?dst – city)
:precondition (and (truck-at-city ?t ?src)
(can-drive ?src ?dst)
)
:effect (and (decrease (reward) 5)
(not (truck-at-city ?t ?src))
(probabilistic
0.2 (forall (?wrongdst1 – city)
(when (wrong-drive1 ?src ?wrongdst1)
(forall (?wrongdst2 – city)
(when (wrong-drive2 ?src ?wrongdst2)
(forall (?wrongdst3 – city)
(when (wrong-drive3 ?src ?wrongdst3)
(probabilistic
1/3 (truck-at-city ?t ?wrongdst1)
1/3 (truck-at-city ?t ?wrongdst2)
1/3 (truck-at-city ?t ?wrongdst3)
)
))))))
0.8 (truck-at-city ?t ?dst)
)
)
)
(:action fly-plane
:parameters (?p – plane ?src – city ?dst – city)
:precondition (and (plane-at-city ?p ?src)
(can-fly ?src ?dst)
)
:effect (and (decrease (reward) 25)
(not (plane-at-city ?p ?src))
(plane-at-city ?p ?dst)
)
)
)
(define
(problem bx-c5-b10-pc)
(:domain bx-c5-b10-pc)
(:objects box0 – box
box1 – box
box2 – box
box3 – box
box4 – box
box5 – box
box6 – box
box7 – box
box8 – box
box9 – box
truck0 – truck
truck1 – truck
plane0 – plane
truck2 – truck
truck3 – truck
plane1 – plane
city0 – city
city1 – city
city2 – city
city3 – city
city4 – city
)
(:init (box-at-city box0 city0)
(destination box0 city4)
(box-at-city box1 city0)
(destination box1 city4)
(box-at-city box2 city0)
(destination box2 city2)
(box-at-city box3 city1)
(destination box3 city4)
(box-at-city box4 city1)
(destination box4 city3)
(box-at-city box5 city2)
(destination box5 city4)
(box-at-city box6 city4)
(destination box6 city3)
(box-at-city box7 city3)
(destination box7 city1)
(box-at-city box8 city0)
(destination box8 city3)
(box-at-city box9 city1)
(destination box9 city0)
(truck-at-city truck0 city0)
(truck-at-city truck1 city0)
(plane-at-city plane0 city0)
(truck-at-city truck2 city1)
(truck-at-city truck3 city1)
(plane-at-city plane1 city1)
(can-drive city0 city3)
(can-drive city0 city4)
(can-drive city0 city2)
(can-drive city0 city1)
(wrong-drive1 city0 city3)
(wrong-drive2 city0 city4)
(wrong-drive3 city0 city2)
(can-fly city0 city1)
(can-drive city1 city3)
(can-drive city1 city0)
(can-drive city1 city2)
(wrong-drive1 city1 city3)
(wrong-drive2 city1 city0)
(wrong-drive3 city1 city2)
(can-fly city1 city0)
(can-drive city2 city0)
(can-drive city2 city1)
(can-drive city2 city4)
(can-drive city2 city3)
(wrong-drive1 city2 city0)
(wrong-drive2 city2 city1)
(wrong-drive3 city2 city4)
(can-drive city3 city0)
(can-drive city3 city1)
(can-drive city3 city2)
(can-drive city3 city4)
(wrong-drive1 city3 city0)
(wrong-drive2 city3 city1)
(wrong-drive3 city3 city2)
(can-drive city4 city0)
(can-drive city4 city2)
(can-drive city4 city3)
(wrong-drive1 city4 city0)
(wrong-drive2 city4 city2)
(wrong-drive3 city4 city3)
)
(:goal (forall (?b – box)
(exists (?c – city)
(and (destination ?b ?c)
(box-at-city ?b ?c)
)
)
)
)
(:goal-reward 500)
)