Added a bunch of typing based PDDL files

pddl/pddl12/domain-conditional-effects-td.pddl

@@ -0,0 +1,26 @@
+(define
+    (domain simple)
+    (:requirements :strips :typing)
+    (:types 
+        abc
+    )
+    (:predicates
+        (object-is-ready ?a - abc)
+        (object-is-quick ?a - abc)
+        (task-complete ?a - abc)
+        (task-finished-early)
+    )
+    (:action action1
+        :parameters (?obj - abc)
+        :precondition (and 
+            (object-is-ready ?obj)
+        )
+        :effect (and
+            (task-complete ?obj)
+            (when
+                (and (object-is-quick ?obj))
+                (and (task-finished-early))
+            )
+        )
+    )
+)

pddl/pddl12/domain-disjunctive-preconditions-td.pddl

@@ -0,0 +1,22 @@
+(define
+    (domain simple)
+    (:requirements :strips :typing :disjunctive-preconditions)
+    (:types 
+        abc
+    )
+    (:predicates
+        (object-is-alpha ?a - abc)
+        (object-is-beta ?a - abc)
+        (task-complete ?a - abc)
+    )
+    (:action action1
+        :parameters (?obj - abc)
+        :precondition (or 
+            (object-is-alpha ?obj)
+            (ovject-is-beta ?obj)
+        )
+        :effect (and
+            (task-complete ?obj)
+        )
+    )
+)

pddl/pddl12/domain-domain-axioms-td.pddl

@@ -0,0 +1,39 @@
+(define
+    (domain simple)
+    (:requirements :strips :typing :domain-axioms)
+    (:types 
+        abc
+    )
+    (:predicates
+        (object-is-ready ?a - abc)
+        (parta-task-complete ?a - abc)
+        (partb-task-complete ?a - abc)
+        (task-complete ?a - abc)
+    )
+    (:action action1
+        :parameters (?obj - abc)
+        :precondition (and 
+            (object-is-ready ?obj)
+        )
+        :effect (and
+            (parta-task-complete ?obj)
+        )
+    )
+    (:action action2
+        :parameters (?obj - abc)
+        :precondition (and 
+            (object-is-ready ?obj)
+        )
+        :effect (and
+            (partb-task-complete ?obj)
+        )
+    )
+    (:axiom
+        :vars (?obj - abc)
+        :context (and
+            (parta-task-complete ?obj)
+            (partb-task-complete ?obj)
+        )
+        :implies (task-complete ?obj)
+    )
+)

pddl/pddl12/domain-equality-td.pddl

@@ -0,0 +1,21 @@
+(define
+    (domain simple)
+    (:requirements :strips :typing :equality)
+    (:types 
+        abc
+    )
+    (:predicates
+        (object-is-ready ?a - abc)
+        (task-complete ?a - abc)
+    )
+    (:action action1
+        :parameters (?obja - abc ?objb - abc)
+        :precondition (and 
+            (not (= ?obja ?objb))
+            (object-is-ready ?obja)
+        )
+        :effect (and
+            (task-complete ?obja)
+        )
+    )
+)

pddl/pddl12/domain-existential-preconditions-td.pddl

@@ -0,0 +1,24 @@
+(define
+    (domain simple)
+    (:requirements :strips :typing :existential-preconditions)
+    (:types 
+        abc
+    )
+    (:predicates
+        (object-is-ready ?a - abc)
+        (object-not-busy ?a - abc)
+        (task-complete ?a - abc)
+    )
+    (:action action1
+        :parameters (?obj - abc)
+        :precondition (and 
+            (object-is-ready ?obj)
+            (exists (?objb)
+                (object-not-busy ?objb)
+            )
+        )
+        :effect (and
+            (task-complete ?obj)
+        )
+    )
+)

pddl/pddl12/domain-expression-evaluation-td.pddl

@@ -0,0 +1,36 @@
+(define
+    (domain simple)
+    (:requirements :strips :typing :domain-axioms)
+    (:types 
+        abc
+    )
+    (:predicates
+        (object-is-ready ?a - abc)
+        (parta-task-complete ?a - abc)
+        (partb-task-complete ?a - abc)
+        (task-complete ?a - abc)
+    )
+    (:action action1
+        :parameters (?obj - abc)
+        :precondition (and 
+            (object-is-ready ?obj)
+        )
+        :effect (and
+            (parta-task-complete ?obj)
+        )
+    )
+    (:action action2
+        :parameters (?obj - abc)
+        :precondition (and 
+            (object-is-ready ?obj)
+        )
+        :effect (and
+            (partb-task-complete ?obj)
+        )
+    )
+    (:axiom
+        :vars (?obj - abc)
+        :context (eval (parta-task-complete ?obj) (partb-task-complete ?obj))
+        :implies (task-complete ?obj)
+    )
+)

pddl/pddl12/domain-open-world-td.pddl

@@ -0,0 +1,22 @@
+(define
+    (domain simple)
+    (:requirements :strips :typing :open-world)
+    (:types 
+        abc
+    )
+    (:predicates
+        (object-is-ready ?a - abc)
+        (task-complete ?a - abc)
+        (task-not-complete ?a - abc)
+    )
+    (:action action1
+        :parameters (?obj - abc)
+        :precondition (and 
+            (object-is-ready ?obj)
+        )
+        :effect (and
+            (task-complete ?obj)
+            (not (task-not-complete ?obj))
+        )
+    )
+)

pddl/pddl12/domain-safety-constraints-td.pddl

@@ -0,0 +1,58 @@
+(define
+    (domain simple)
+    (:requirements :strips :typing :safety-constraints)
+    (:types 
+        abc
+    )
+    (:predicates
+        (object-is-ready ?a - abc)
+        (parta-task-complete ?a - abc)
+        (partb-task-complete ?a - abc)
+        (broken ?a - abc)
+        (task-complete ?a - abc)
+    )
+    (:safety
+        (forall (?obj - abc)
+            (not (broken ?a))
+        )
+    )
+    (:action action1
+        :parameters (?obj - abc)
+        :precondition (and 
+            (object-is-ready ?obj)
+        )
+        :effect (and
+            (parta-task-complete ?obj)
+        )
+    )
+    (:action action2
+        :parameters (?obj - abc)
+        :precondition (and 
+            (object-is-ready ?obj)
+        )
+        :effect (and
+            (partb-task-complete ?obj)
+        )
+    )
+    (:action action3
+        :parameters (?obj - abc)
+        :precondition (and 
+            (object-is-ready ?obj)
+        )
+        :effect (and
+            (broken ?obj)
+            (parta-task-complete ?obj)
+            (partb-task-complete ?obj)
+        )
+    )
+    (:action action4
+        :parameters (?obj - abc)
+        :precondition (and 
+            (parta-task-complete ?obj)
+            (partb-task-complete ?obj)
+        )
+        :effect (and
+            (task-complete ?obj)
+        )
+    )
+)

pddl/pddl12/domain-subgoals--through-axioms-td.pddl

@@ -0,0 +1,39 @@
+(define
+    (domain simple)
+    (:requirements :strips :typing :domain-axioms :subgoals-through-axioms)
+    (:types 
+        abc
+    )
+    (:predicates
+        (object-is-ready ?a - abc)
+        (parta-task-complete ?a - abc)
+        (partb-task-complete ?a - abc)
+        (task-complete ?a - abc)
+    )
+    (:action action1
+        :parameters (?obj - abc)
+        :precondition (and 
+            (object-is-ready ?obj)
+        )
+        :effect (and
+            (parta-task-complete ?obj)
+        )
+    )
+    (:action action2
+        :parameters (?obj - abc)
+        :precondition (and 
+            (object-is-ready ?obj)
+        )
+        :effect (and
+            (partb-task-complete ?obj)
+        )
+    )
+    (:axiom
+        :vars (?obj - abc)
+        :context (and
+            (parta-task-complete ?obj)
+            (partb-task-complete ?obj)
+        )
+        :implies (task-complete ?obj)
+    )
+)

pddl/pddl12/domain-universal-preconditions-td.pddl

@@ -0,0 +1,24 @@
+(define
+    (domain simple)
+    (:requirements :strips :typing :universal-preconditions)
+    (:types 
+        abc
+    )
+    (:predicates
+        (object-is-ready ?a - abc)
+        (object-not-busy ?a - abc)
+        (task-complete ?a - abc)
+    )
+    (:action action1
+        :parameters (?obj - abc)
+        :precondition (and 
+            (object-is-ready ?obj)
+            (forall (?objb)
+                (object-not-busy ?objb)
+            )
+        )
+        :effect (and
+            (task-complete ?obj)
+        )
+    )
+)

pddl/pddl12/problem-conditional-effects-td.pddl

@@ -0,0 +1,16 @@
+(define
+    (problem simpleproblem)
+    (:domain simple)
+    (:objects
+        obj1 obj2 - abc
+    )
+    (:init
+        (object-is-ready obj1)
+        (object-is-ready obj2)
+        (object-is-quick obj2)
+    )
+    (:goal (and
+        (task-complete obj1)
+        (task-finished-early)
+    ))
+)

pddl/pddl12/problem-disjunctive-preconditions-td.pddl

@@ -0,0 +1,13 @@
+(define
+    (problem simpleproblem)
+    (:domain simple)
+    (:objects
+        obj1 - abc
+    )
+    (:init
+        (object-is-alpha obj1)
+    )
+    (:goal (and
+        (task-complete obj1)
+    ))
+)

pddl/pddl12/problem-domain-axioms-td.pddl

@@ -0,0 +1,13 @@
+(define
+    (problem simpleproblem)
+    (:domain simple)
+    (:objects
+        obj1 - abc
+    )
+    (:init
+        (object-is-ready obj1)
+    )
+    (:goal (and
+        (task-complete obj1)
+    ))
+)

pddl/pddl12/problem-equality-td.pddl

@@ -0,0 +1,13 @@
+(define
+    (problem simpleproblem)
+    (:domain simple)
+    (:objects
+        obj1 obj2 - abc
+    )
+    (:init
+        (object-is-ready obj1)
+    )
+    (:goal (and
+        (task-complete obj1)
+    ))
+)