From 9837627123fb56716a53d451e60375295018f1d6 Mon Sep 17 00:00:00 2001 From: Adam Green Date: Mon, 28 Oct 2019 11:35:54 -0400 Subject: [PATCH] Added a bunch of typing based PDDL files --- .../pddl12/domain-conditional-effects-td.pddl | 26 +++++++++ .../domain-disjunctive-preconditions-td.pddl | 22 +++++++ pddl/pddl12/domain-domain-axioms-td.pddl | 39 +++++++++++++ pddl/pddl12/domain-equality-td.pddl | 21 +++++++ .../domain-existential-preconditions-td.pddl | 24 ++++++++ .../domain-expression-evaluation-td.pddl | 36 ++++++++++++ pddl/pddl12/domain-open-world-td.pddl | 22 +++++++ pddl/pddl12/domain-safety-constraints-td.pddl | 58 +++++++++++++++++++ .../domain-subgoals--through-axioms-td.pddl | 39 +++++++++++++ .../domain-universal-preconditions-td.pddl | 24 ++++++++ .../problem-conditional-effects-td.pddl | 16 +++++ .../problem-disjunctive-preconditions-td.pddl | 13 +++++ pddl/pddl12/problem-domain-axioms-td.pddl | 13 +++++ pddl/pddl12/problem-equality-td.pddl | 13 +++++ .../problem-existential-preconditions-td.pddl | 14 +++++ .../problem-expression-evaluation-td.pddl | 13 +++++ pddl/pddl12/problem-open-world-td.pddl | 14 +++++ .../pddl12/problem-safety-constraints-td.pddl | 13 +++++ .../problem-subgoals-through-axioms-td.pddl | 13 +++++ .../problem-universal-preconditions-td.pddl | 15 +++++ pddl/pddl21/domain-continuous-effects-td.pddl | 29 ++++++++++ pddl/pddl21/domain-continuous-effects.pddl | 6 +- pddl/pddl21/domain-durative-actions-td.pddl | 26 +++++++++ .../domain-durative-inequalities-td.pddl | 26 +++++++++ .../domain-durative-inequalities-wr-td.pddl | 25 ++++++++ .../domain-durative-inequalities-wr.pddl | 3 +- .../domain-negative-preconditions-td.pddl | 20 +++++++ pddl/pddl21/domain-numeric-fluents-td.pddl | 24 ++++++++ pddl/pddl21/domain-numeric-fluents.pddl | 2 +- .../pddl21/problem-continuous-effects-td.pddl | 14 +++++ pddl/pddl21/problem-durative-actions-td.pddl | 13 +++++ .../problem-durative-inequalities-td.pddl | 13 +++++ .../problem-durative-inequalities-wr-td.pddl | 13 +++++ .../problem-negative-preconditions-td.pddl | 11 ++++ pddl/pddl21/problem-numeric-fluents-td.pddl | 15 +++++ pddl/pddl22/domain-derived-predicates-td.pddl | 34 +++++++++++ .../domain-timed-initial-literals-td.pddl | 26 +++++++++ .../pddl22/problem-derived-predicates-td.pddl | 13 +++++ .../problem-timed-initial-literals-td.pddl | 13 +++++ pddl/pddl3/domain-action-costs-td.pddl | 32 ++++++++++ pddl/pddl3/domain-constraints-td.pddl | 54 +++++++++++++++++ pddl/pddl3/domain-goal-utilities-td.pddl | 20 +++++++ pddl/pddl3/domain-preferences-td.pddl | 51 ++++++++++++++++ pddl/pddl3/problem-action-costs-td.pddl | 13 +++++ pddl/pddl3/problem-constraints-td.pddl | 13 +++++ pddl/pddl3/problem-goal-utilities-td.pddl | 13 +++++ pddl/pddl3/problem-preferences-td.pddl | 22 +++++++ pddl/pddlplus/domain-time-td.pddl | 31 ++++++++++ pddl/pddlplus/problem-time-td.pddl | 13 +++++ 49 files changed, 1030 insertions(+), 6 deletions(-) create mode 100644 pddl/pddl12/domain-conditional-effects-td.pddl create mode 100644 pddl/pddl12/domain-disjunctive-preconditions-td.pddl create mode 100644 pddl/pddl12/domain-domain-axioms-td.pddl create mode 100644 pddl/pddl12/domain-equality-td.pddl create mode 100644 pddl/pddl12/domain-existential-preconditions-td.pddl create mode 100644 pddl/pddl12/domain-expression-evaluation-td.pddl create mode 100644 pddl/pddl12/domain-open-world-td.pddl create mode 100644 pddl/pddl12/domain-safety-constraints-td.pddl create mode 100644 pddl/pddl12/domain-subgoals--through-axioms-td.pddl create mode 100644 pddl/pddl12/domain-universal-preconditions-td.pddl create mode 100644 pddl/pddl12/problem-conditional-effects-td.pddl create mode 100644 pddl/pddl12/problem-disjunctive-preconditions-td.pddl create mode 100644 pddl/pddl12/problem-domain-axioms-td.pddl create mode 100644 pddl/pddl12/problem-equality-td.pddl create mode 100644 pddl/pddl12/problem-existential-preconditions-td.pddl create mode 100644 pddl/pddl12/problem-expression-evaluation-td.pddl create mode 100644 pddl/pddl12/problem-open-world-td.pddl create mode 100644 pddl/pddl12/problem-safety-constraints-td.pddl create mode 100644 pddl/pddl12/problem-subgoals-through-axioms-td.pddl create mode 100644 pddl/pddl12/problem-universal-preconditions-td.pddl create mode 100644 pddl/pddl21/domain-continuous-effects-td.pddl create mode 100644 pddl/pddl21/domain-durative-actions-td.pddl create mode 100644 pddl/pddl21/domain-durative-inequalities-td.pddl create mode 100644 pddl/pddl21/domain-durative-inequalities-wr-td.pddl create mode 100644 pddl/pddl21/domain-negative-preconditions-td.pddl create mode 100644 pddl/pddl21/domain-numeric-fluents-td.pddl create mode 100644 pddl/pddl21/problem-continuous-effects-td.pddl create mode 100644 pddl/pddl21/problem-durative-actions-td.pddl create mode 100644 pddl/pddl21/problem-durative-inequalities-td.pddl create mode 100644 pddl/pddl21/problem-durative-inequalities-wr-td.pddl create mode 100644 pddl/pddl21/problem-negative-preconditions-td.pddl create mode 100644 pddl/pddl21/problem-numeric-fluents-td.pddl create mode 100644 pddl/pddl22/domain-derived-predicates-td.pddl create mode 100644 pddl/pddl22/domain-timed-initial-literals-td.pddl create mode 100644 pddl/pddl22/problem-derived-predicates-td.pddl create mode 100644 pddl/pddl22/problem-timed-initial-literals-td.pddl create mode 100644 pddl/pddl3/domain-action-costs-td.pddl create mode 100644 pddl/pddl3/domain-constraints-td.pddl create mode 100644 pddl/pddl3/domain-goal-utilities-td.pddl create mode 100644 pddl/pddl3/domain-preferences-td.pddl create mode 100644 pddl/pddl3/problem-action-costs-td.pddl create mode 100644 pddl/pddl3/problem-constraints-td.pddl create mode 100644 pddl/pddl3/problem-goal-utilities-td.pddl create mode 100644 pddl/pddl3/problem-preferences-td.pddl create mode 100644 pddl/pddlplus/domain-time-td.pddl create mode 100644 pddl/pddlplus/problem-time-td.pddl diff --git a/pddl/pddl12/domain-conditional-effects-td.pddl b/pddl/pddl12/domain-conditional-effects-td.pddl new file mode 100644 index 00000000..d313472c --- /dev/null +++ b/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)) + ) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddl12/domain-disjunctive-preconditions-td.pddl b/pddl/pddl12/domain-disjunctive-preconditions-td.pddl new file mode 100644 index 00000000..18998c59 --- /dev/null +++ b/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) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddl12/domain-domain-axioms-td.pddl b/pddl/pddl12/domain-domain-axioms-td.pddl new file mode 100644 index 00000000..e4fe0c90 --- /dev/null +++ b/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) + ) +) \ No newline at end of file diff --git a/pddl/pddl12/domain-equality-td.pddl b/pddl/pddl12/domain-equality-td.pddl new file mode 100644 index 00000000..dab3b85f --- /dev/null +++ b/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) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddl12/domain-existential-preconditions-td.pddl b/pddl/pddl12/domain-existential-preconditions-td.pddl new file mode 100644 index 00000000..428cb69e --- /dev/null +++ b/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) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddl12/domain-expression-evaluation-td.pddl b/pddl/pddl12/domain-expression-evaluation-td.pddl new file mode 100644 index 00000000..378c2f06 --- /dev/null +++ b/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) + ) +) \ No newline at end of file diff --git a/pddl/pddl12/domain-open-world-td.pddl b/pddl/pddl12/domain-open-world-td.pddl new file mode 100644 index 00000000..e45f5d14 --- /dev/null +++ b/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)) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddl12/domain-safety-constraints-td.pddl b/pddl/pddl12/domain-safety-constraints-td.pddl new file mode 100644 index 00000000..202bd5d0 --- /dev/null +++ b/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) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddl12/domain-subgoals--through-axioms-td.pddl b/pddl/pddl12/domain-subgoals--through-axioms-td.pddl new file mode 100644 index 00000000..9e6a765a --- /dev/null +++ b/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) + ) +) \ No newline at end of file diff --git a/pddl/pddl12/domain-universal-preconditions-td.pddl b/pddl/pddl12/domain-universal-preconditions-td.pddl new file mode 100644 index 00000000..b3480e35 --- /dev/null +++ b/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) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddl12/problem-conditional-effects-td.pddl b/pddl/pddl12/problem-conditional-effects-td.pddl new file mode 100644 index 00000000..157831d5 --- /dev/null +++ b/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) + )) +) \ No newline at end of file diff --git a/pddl/pddl12/problem-disjunctive-preconditions-td.pddl b/pddl/pddl12/problem-disjunctive-preconditions-td.pddl new file mode 100644 index 00000000..186692b8 --- /dev/null +++ b/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) + )) +) \ No newline at end of file diff --git a/pddl/pddl12/problem-domain-axioms-td.pddl b/pddl/pddl12/problem-domain-axioms-td.pddl new file mode 100644 index 00000000..a7ca3d7c --- /dev/null +++ b/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) + )) +) \ No newline at end of file diff --git a/pddl/pddl12/problem-equality-td.pddl b/pddl/pddl12/problem-equality-td.pddl new file mode 100644 index 00000000..3711b8d7 --- /dev/null +++ b/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) + )) +) \ No newline at end of file diff --git a/pddl/pddl12/problem-existential-preconditions-td.pddl b/pddl/pddl12/problem-existential-preconditions-td.pddl new file mode 100644 index 00000000..06150be2 --- /dev/null +++ b/pddl/pddl12/problem-existential-preconditions-td.pddl @@ -0,0 +1,14 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 obj2 - abc + ) + (:init + (object-is-ready obj1) + (object-not-busy obj2) + ) + (:goal (and + (task-complete obj1) + )) +) \ No newline at end of file diff --git a/pddl/pddl12/problem-expression-evaluation-td.pddl b/pddl/pddl12/problem-expression-evaluation-td.pddl new file mode 100644 index 00000000..a7ca3d7c --- /dev/null +++ b/pddl/pddl12/problem-expression-evaluation-td.pddl @@ -0,0 +1,13 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 - abc + ) + (:init + (object-is-ready obj1) + ) + (:goal (and + (task-complete obj1) + )) +) \ No newline at end of file diff --git a/pddl/pddl12/problem-open-world-td.pddl b/pddl/pddl12/problem-open-world-td.pddl new file mode 100644 index 00000000..b8e4d037 --- /dev/null +++ b/pddl/pddl12/problem-open-world-td.pddl @@ -0,0 +1,14 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 - abc + ) + (:init + (object-is-ready obj1) + ) + (:goal (and + (task-complete obj1) + (not (task-not-complete obj1)) + )) +) \ No newline at end of file diff --git a/pddl/pddl12/problem-safety-constraints-td.pddl b/pddl/pddl12/problem-safety-constraints-td.pddl new file mode 100644 index 00000000..a7ca3d7c --- /dev/null +++ b/pddl/pddl12/problem-safety-constraints-td.pddl @@ -0,0 +1,13 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 - abc + ) + (:init + (object-is-ready obj1) + ) + (:goal (and + (task-complete obj1) + )) +) \ No newline at end of file diff --git a/pddl/pddl12/problem-subgoals-through-axioms-td.pddl b/pddl/pddl12/problem-subgoals-through-axioms-td.pddl new file mode 100644 index 00000000..a7ca3d7c --- /dev/null +++ b/pddl/pddl12/problem-subgoals-through-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) + )) +) \ No newline at end of file diff --git a/pddl/pddl12/problem-universal-preconditions-td.pddl b/pddl/pddl12/problem-universal-preconditions-td.pddl new file mode 100644 index 00000000..54885193 --- /dev/null +++ b/pddl/pddl12/problem-universal-preconditions-td.pddl @@ -0,0 +1,15 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 obj2 - abc + ) + (:init + (object-is-ready obj1) + (object-not-busy obj1) + (object-not-busy obj2) + ) + (:goal (and + (task-complete obj1) + )) +) \ No newline at end of file diff --git a/pddl/pddl21/domain-continuous-effects-td.pddl b/pddl/pddl21/domain-continuous-effects-td.pddl new file mode 100644 index 00000000..e6fb6949 --- /dev/null +++ b/pddl/pddl21/domain-continuous-effects-td.pddl @@ -0,0 +1,29 @@ +(define + (domain simple) + (:requirements :strips :typing :durative-actions :numeric-fluents :continuous-effects) + (:types + abc + ) + (:predicates + (object-is-ready ?a - abc) + (task-complete ?a - abc) + ) + (:functions + (fuel ?a - abc) + ) + (:durative-action action1 + :parameters (?obj - abc) + :duration (= ?duration 10) + :condition (and + (at start (and + (object-is-ready ?obj) + )) + ) + :effect (and + (increase (fuel ?obj) (* #t 2)) + (at end (and + (task-complete ?obj) + )) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddl21/domain-continuous-effects.pddl b/pddl/pddl21/domain-continuous-effects.pddl index f6521124..e046397f 100644 --- a/pddl/pddl21/domain-continuous-effects.pddl +++ b/pddl/pddl21/domain-continuous-effects.pddl @@ -1,13 +1,13 @@ (define (domain simple) (:requirements :strips :durative-actions :numeric-fluents :continuous-effects) - (:functions - (fuel ?a) - ) (:predicates (object-is-ready ?a) (task-complete ?a) ) + (:functions + (fuel ?a) + ) (:durative-action action1 :parameters (?obj) :duration (= ?duration 10) diff --git a/pddl/pddl21/domain-durative-actions-td.pddl b/pddl/pddl21/domain-durative-actions-td.pddl new file mode 100644 index 00000000..2b4143d8 --- /dev/null +++ b/pddl/pddl21/domain-durative-actions-td.pddl @@ -0,0 +1,26 @@ +(define + (domain simple) + (:requirements :strips :durative-actions) + (:types + abc + ) + (:predicates + (object-is-ready ?a - abc) + (task-complete ?a - abc) + ) + (:durative-action action1 + :parameters (?obj - abc) + :duration (= ?duration 10) + :condition (and + (at start (and + (object-is-ready ?obj) + )) + ) + :effect (and + (at end (and + (task-complete ?obj) + )) + ) + ) + +) \ No newline at end of file diff --git a/pddl/pddl21/domain-durative-inequalities-td.pddl b/pddl/pddl21/domain-durative-inequalities-td.pddl new file mode 100644 index 00000000..c7b564f9 --- /dev/null +++ b/pddl/pddl21/domain-durative-inequalities-td.pddl @@ -0,0 +1,26 @@ +(define + (domain simple) + (:requirements :strips :durative-actions :duration-inequalities) + (:types + abc + ) + (:predicates + (object-is-ready ?a - abc) + (task-complete ?a - abc) + ) + (:durative-action action1 + :parameters (?obj - abc) + :duration (>= ?duration 10) + :condition (and + (at start (and + (object-is-ready ?obj) + )) + ) + :effect (and + (at end (and + (task-complete ?obj) + )) + ) + ) + +) \ No newline at end of file diff --git a/pddl/pddl21/domain-durative-inequalities-wr-td.pddl b/pddl/pddl21/domain-durative-inequalities-wr-td.pddl new file mode 100644 index 00000000..239886bc --- /dev/null +++ b/pddl/pddl21/domain-durative-inequalities-wr-td.pddl @@ -0,0 +1,25 @@ +(define + (domain simple) + (:requirements :strips :durative-actions) + (:types + abc + ) + (:predicates + (object-is-ready ?a - abc) + (task-complete ?a - abc) + ) + (:durative-action action1 + :parameters (?obj - abc) + :duration (>= ?duration 10) + :condition (and + (at start (and + (object-is-ready ?obj) + )) + ) + :effect (and + (at end (and + (task-complete ?obj) + )) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddl21/domain-durative-inequalities-wr.pddl b/pddl/pddl21/domain-durative-inequalities-wr.pddl index 5e91377a..0b8f4703 100644 --- a/pddl/pddl21/domain-durative-inequalities-wr.pddl +++ b/pddl/pddl21/domain-durative-inequalities-wr.pddl @@ -18,6 +18,5 @@ (task-complete ?obj) )) ) - ) - + ) ) \ No newline at end of file diff --git a/pddl/pddl21/domain-negative-preconditions-td.pddl b/pddl/pddl21/domain-negative-preconditions-td.pddl new file mode 100644 index 00000000..9d71a8e3 --- /dev/null +++ b/pddl/pddl21/domain-negative-preconditions-td.pddl @@ -0,0 +1,20 @@ +(define + (domain simple) + (:requirements :strips :negative-preconditions) + (:types + abc + ) + (:predicates + (object-is-ready ?a - abc) + (task-complete ?a - abc) + ) + (:action action1 + :parameters (?obj - abc) + :precondition (and + (not (object-is-ready ?obj)) + ) + :effect (and + (task-complete ?obj) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddl21/domain-numeric-fluents-td.pddl b/pddl/pddl21/domain-numeric-fluents-td.pddl new file mode 100644 index 00000000..e3c538be --- /dev/null +++ b/pddl/pddl21/domain-numeric-fluents-td.pddl @@ -0,0 +1,24 @@ +(define + (domain simple) + (:requirements :strips :numeric-fluents) + (:types + abc + ) + (:functions + (fuel ?a - abc) + ) + (:predicates + (object-is-ready ?a - abc) + (task-complete ?a - abc) + ) + (:action action1 + :parameters (?obj - abc) + :precondition (and + (object-is-ready ?obj) + ) + :effect (and + (task-complete ?obj) + (increase (fuel ?obj) 100) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddl21/domain-numeric-fluents.pddl b/pddl/pddl21/domain-numeric-fluents.pddl index f3561d75..881fc433 100644 --- a/pddl/pddl21/domain-numeric-fluents.pddl +++ b/pddl/pddl21/domain-numeric-fluents.pddl @@ -1,6 +1,6 @@ (define (domain simple) - (:requirements :strips :fluents) + (:requirements :strips :numeric-fluents) (:functions (fuel ?a) ) diff --git a/pddl/pddl21/problem-continuous-effects-td.pddl b/pddl/pddl21/problem-continuous-effects-td.pddl new file mode 100644 index 00000000..e1fbb200 --- /dev/null +++ b/pddl/pddl21/problem-continuous-effects-td.pddl @@ -0,0 +1,14 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 - abc + ) + (:init + (object-is-ready obj1) + (= (fuel obj1) 0) + ) + (:goal (and + (task-complete obj1) + )) +) \ No newline at end of file diff --git a/pddl/pddl21/problem-durative-actions-td.pddl b/pddl/pddl21/problem-durative-actions-td.pddl new file mode 100644 index 00000000..a7ca3d7c --- /dev/null +++ b/pddl/pddl21/problem-durative-actions-td.pddl @@ -0,0 +1,13 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 - abc + ) + (:init + (object-is-ready obj1) + ) + (:goal (and + (task-complete obj1) + )) +) \ No newline at end of file diff --git a/pddl/pddl21/problem-durative-inequalities-td.pddl b/pddl/pddl21/problem-durative-inequalities-td.pddl new file mode 100644 index 00000000..a7ca3d7c --- /dev/null +++ b/pddl/pddl21/problem-durative-inequalities-td.pddl @@ -0,0 +1,13 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 - abc + ) + (:init + (object-is-ready obj1) + ) + (:goal (and + (task-complete obj1) + )) +) \ No newline at end of file diff --git a/pddl/pddl21/problem-durative-inequalities-wr-td.pddl b/pddl/pddl21/problem-durative-inequalities-wr-td.pddl new file mode 100644 index 00000000..a7ca3d7c --- /dev/null +++ b/pddl/pddl21/problem-durative-inequalities-wr-td.pddl @@ -0,0 +1,13 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 - abc + ) + (:init + (object-is-ready obj1) + ) + (:goal (and + (task-complete obj1) + )) +) \ No newline at end of file diff --git a/pddl/pddl21/problem-negative-preconditions-td.pddl b/pddl/pddl21/problem-negative-preconditions-td.pddl new file mode 100644 index 00000000..301cf655 --- /dev/null +++ b/pddl/pddl21/problem-negative-preconditions-td.pddl @@ -0,0 +1,11 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 - abc + ) + (:init) + (:goal (and + (task-complete obj1) + )) +) \ No newline at end of file diff --git a/pddl/pddl21/problem-numeric-fluents-td.pddl b/pddl/pddl21/problem-numeric-fluents-td.pddl new file mode 100644 index 00000000..09aedfb8 --- /dev/null +++ b/pddl/pddl21/problem-numeric-fluents-td.pddl @@ -0,0 +1,15 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 - abc + ) + (:init + (object-is-ready obj1) + (= (fuel obj1) 0) + ) + (:goal (and + (task-complete obj1) + (= (fuel obj1) 100) + )) +) \ No newline at end of file diff --git a/pddl/pddl22/domain-derived-predicates-td.pddl b/pddl/pddl22/domain-derived-predicates-td.pddl new file mode 100644 index 00000000..567d46f4 --- /dev/null +++ b/pddl/pddl22/domain-derived-predicates-td.pddl @@ -0,0 +1,34 @@ +(define + (domain simple) + (:requirements :strips :derived-predicates) + (: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) + ) + ) + (:derived + (task-complete ?obj) (and (parta-task-complete ?obj) (partb-task-complete ?obj)) + ) +) \ No newline at end of file diff --git a/pddl/pddl22/domain-timed-initial-literals-td.pddl b/pddl/pddl22/domain-timed-initial-literals-td.pddl new file mode 100644 index 00000000..2ff33782 --- /dev/null +++ b/pddl/pddl22/domain-timed-initial-literals-td.pddl @@ -0,0 +1,26 @@ +(define + (domain simple) + (:requirements :strips :durative-actions :timed-initial-literals) + (:types + abc + ) + (:predicates + (object-is-ready ?a - abc) + (task-complete ?a - abc) + ) + (:durative-action action1 + :parameters (?obj - abc) + :duration (= ?duration 10) + :condition (and + (at start (and + (object-is-ready ?obj) + )) + ) + :effect (and + (at end (and + (task-complete ?obj) + )) + ) + ) + +) \ No newline at end of file diff --git a/pddl/pddl22/problem-derived-predicates-td.pddl b/pddl/pddl22/problem-derived-predicates-td.pddl new file mode 100644 index 00000000..a7ca3d7c --- /dev/null +++ b/pddl/pddl22/problem-derived-predicates-td.pddl @@ -0,0 +1,13 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 - abc + ) + (:init + (object-is-ready obj1) + ) + (:goal (and + (task-complete obj1) + )) +) \ No newline at end of file diff --git a/pddl/pddl22/problem-timed-initial-literals-td.pddl b/pddl/pddl22/problem-timed-initial-literals-td.pddl new file mode 100644 index 00000000..cd836376 --- /dev/null +++ b/pddl/pddl22/problem-timed-initial-literals-td.pddl @@ -0,0 +1,13 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 - abc + ) + (:init + (at 10 (object-is-ready obj1)) + ) + (:goal (and + (task-complete obj1) + )) +) \ No newline at end of file diff --git a/pddl/pddl3/domain-action-costs-td.pddl b/pddl/pddl3/domain-action-costs-td.pddl new file mode 100644 index 00000000..c4fc6313 --- /dev/null +++ b/pddl/pddl3/domain-action-costs-td.pddl @@ -0,0 +1,32 @@ +(define + (domain simple) + (:requirements :strips :action-costs) + (:types + abc + ) + (:predicates + (object-is-ready ?a - abc) + (task-complete ?a - abc) + ) + (:functions (total-cost) - number) + (:action action1 + :parameters (?obj - abc) + :precondition (and + (object-is-ready ?obj) + ) + :effect (and + (increase (total-cost) 10) + (task-complete ?obj) + ) + ) + (:action action2 + :parameters (?obj - abc) + :precondition (and + (object-is-ready ?obj) + ) + :effect (and + (increase (total-cost) 5) + (task-complete ?obj) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddl3/domain-constraints-td.pddl b/pddl/pddl3/domain-constraints-td.pddl new file mode 100644 index 00000000..0dd9944e --- /dev/null +++ b/pddl/pddl3/domain-constraints-td.pddl @@ -0,0 +1,54 @@ +(define + (domain simple) + (:requirements :strips :constraints) + (:types + abc + ) + (:predicates + (object-is-ready ?a - abc) + (taska-complete ?a - abc) + (taskb-complete ?a - abc) + (task-complete ?a - abc) + ) + (:constraints + (forall (?obj - abc) (always (object-is-ready ?obj))) + ) + (:action action1 + :parameters (?obj - abc) + :precondition (and + (object-is-ready ?obj) + ) + :effect (and + (not (object-is-ready ?obj)) + (task-complete ?obj) + ) + ) + (:action action2 + :parameters (?obj - abc) + :precondition (and + (object-is-ready ?obj) + ) + :effect (and + (taska-complete ?obj) + ) + ) + (:action action3 + :parameters (?obj - abc) + :precondition (and + (object-is-ready ?obj) + ) + :effect (and + (taskb-complete ?obj) + ) + ) + (:action action4 + :parameters (?obj - abc) + :precondition (and + (taska-complete ?obj) + (taskb-complete ?obj) + ) + :effect (and + (task-complete ?obj) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddl3/domain-goal-utilities-td.pddl b/pddl/pddl3/domain-goal-utilities-td.pddl new file mode 100644 index 00000000..1466aadb --- /dev/null +++ b/pddl/pddl3/domain-goal-utilities-td.pddl @@ -0,0 +1,20 @@ +(define + (domain simple) + (:requirements :strips :goal-utilities) + (:types + abc + ) + (:predicates + (object-is-ready ?a - abc) + (task-complete ?a - abc) + ) + (:action action1 + :parameters (?obj - abc) + :precondition (and + (object-is-ready ?obj) + ) + :effect (and + (task-complete ?obj) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddl3/domain-preferences-td.pddl b/pddl/pddl3/domain-preferences-td.pddl new file mode 100644 index 00000000..5020b59a --- /dev/null +++ b/pddl/pddl3/domain-preferences-td.pddl @@ -0,0 +1,51 @@ +(define + (domain simple) + (:requirements :strips :preferences) + (:types + abc + ) + (:predicates + (object-is-ready ?a - abc) + (taska-complete ?a - abc) + (taskb-complete ?a - abc) + (task-complete ?a - abc) + ) + (:action action1 + :parameters (?obj - abc) + :precondition (and + (object-is-ready ?obj) + ) + :effect (and + (not (object-is-ready ?obj)) + (task-complete ?obj) + ) + ) + (:action action2 + :parameters (?obj - abc) + :precondition (and + (object-is-ready ?obj) + ) + :effect (and + (taska-complete ?obj) + ) + ) + (:action action3 + :parameters (?obj - abc) + :precondition (and + (object-is-ready ?obj) + ) + :effect (and + (taskb-complete ?obj) + ) + ) + (:action action4 + :parameters (?obj - abc) + :precondition (and + (taska-complete ?obj) + (taskb-complete ?obj) + ) + :effect (and + (task-complete ?obj) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddl3/problem-action-costs-td.pddl b/pddl/pddl3/problem-action-costs-td.pddl new file mode 100644 index 00000000..a7ca3d7c --- /dev/null +++ b/pddl/pddl3/problem-action-costs-td.pddl @@ -0,0 +1,13 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 - abc + ) + (:init + (object-is-ready obj1) + ) + (:goal (and + (task-complete obj1) + )) +) \ No newline at end of file diff --git a/pddl/pddl3/problem-constraints-td.pddl b/pddl/pddl3/problem-constraints-td.pddl new file mode 100644 index 00000000..a7ca3d7c --- /dev/null +++ b/pddl/pddl3/problem-constraints-td.pddl @@ -0,0 +1,13 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 - abc + ) + (:init + (object-is-ready obj1) + ) + (:goal (and + (task-complete obj1) + )) +) \ No newline at end of file diff --git a/pddl/pddl3/problem-goal-utilities-td.pddl b/pddl/pddl3/problem-goal-utilities-td.pddl new file mode 100644 index 00000000..a7ca3d7c --- /dev/null +++ b/pddl/pddl3/problem-goal-utilities-td.pddl @@ -0,0 +1,13 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 - abc + ) + (:init + (object-is-ready obj1) + ) + (:goal (and + (task-complete obj1) + )) +) \ No newline at end of file diff --git a/pddl/pddl3/problem-preferences-td.pddl b/pddl/pddl3/problem-preferences-td.pddl new file mode 100644 index 00000000..414bfbf4 --- /dev/null +++ b/pddl/pddl3/problem-preferences-td.pddl @@ -0,0 +1,22 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 - abc + ) + (:init + (object-is-ready obj1) + ) + (:goal (and + (preference p1 (taska-complete obj1)) + (preference p2 (taskb-complete obj1)) + (preference p3 (object-is-ready obj1)) + (task-complete obj1) + )) + (:metric minimize (+ + (* 10 (is-violated p1)) + (* 15 (is-violated p2)) + (* 20 (is-violated p3)) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddlplus/domain-time-td.pddl b/pddl/pddlplus/domain-time-td.pddl new file mode 100644 index 00000000..a13230e0 --- /dev/null +++ b/pddl/pddlplus/domain-time-td.pddl @@ -0,0 +1,31 @@ +(define + (domain simple) + (:requirements :strips :time) + (:types + abc + ) + (:predicates + (object-is-ready ?a - abc) + (task-complete ?a - abc) + (person-happy) + ) + (:action action1 + :parameters (?obj - abc) + :precondition (and + (object-is-ready ?obj) + ) + :effect (and + (task-complete ?obj) + ) + ) + (:event action2 + :parameters (?obj - abc) + :precondition (and + (task-complete ?obj) + ) + :effect (and + (not (task-complete ?obj)) + (person-happy) + ) + ) +) \ No newline at end of file diff --git a/pddl/pddlplus/problem-time-td.pddl b/pddl/pddlplus/problem-time-td.pddl new file mode 100644 index 00000000..f36c6c61 --- /dev/null +++ b/pddl/pddlplus/problem-time-td.pddl @@ -0,0 +1,13 @@ +(define + (problem simpleproblem) + (:domain simple) + (:objects + obj1 - abc + ) + (:init + (object-is-ready obj1) + ) + (:goal (and + (person-happy) + )) +) \ No newline at end of file