;; Cave Diving ADL
;; Authors: Nathan Robinson,
;; Christian Muise, and
;; Charles Gretton
(define (problem cave-diving-adl-01)
(:domain cave-diving-adl)
(:objects
l0 l1 l2 – location
d0 d1 – diver
t0 t1 t2 t3 t4 t5 t6 dummy – tank
zero one two three four – quantity
)
(:init
(available d0)
(available d1)
(capacity d0 four)
(capacity d1 four)
(in-storage t0)
(next-tank t0 t1)
(next-tank t1 t2)
(next-tank t2 t3)
(next-tank t3 t4)
(next-tank t4 t5)
(next-tank t5 t6)
(next-tank t6 dummy)
(cave-entrance l0)
(connected l0 l1)
(connected l1 l0)
(connected l1 l2)
(connected l2 l1)
(next-quantity zero one)
(next-quantity one two)
(next-quantity two three)
(next-quantity three four)
(precludes d0 d1)
)
(:goal
(and
(have-photo l2)
(decompressing d0)
(decompressing d1)
)
)
)