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problem1.pddl
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problem1.pddl
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(define (problem problem1) (:domain base)
(:objects
w - waiter
drink1 drink2 - drink
br - bar
table1 table2 table3 table4 - table
)
(:init
(at w br) (free w)
(at drink1 br) (at drink2 br)
(empty drink1) (empty drink2)
(= (dist br table1) 2) (= (dist br table2) 2) (= (dist br table3) 3) (= (dist br table4) 3)
(= (dist table1 br) 2) (= (dist table2 br) 2) (= (dist table3 br) 3) (= (dist table4 br) 3)
(= (dist table1 table2) 1) (= (dist table1 table3) 1) (= (dist table1 table4) 1)
(= (dist table2 table3) 1) (= (dist table2 table4) 1) (= (dist table2 table1) 1)
(= (dist table3 table4) 1) (= (dist table3 table1) 1) (= (dist table3 table2) 1)
(= (dist table4 table1) 1) (= (dist table4 table2) 1) (= (dist table4 table3) 1)
(= (capacity w) 1)
(= (carrying w) 0)
(= (preparation_time) 0)
(= (dist_to_goal w) 0)
(= (size table1) 1) (= (size table2) 1) (= (size table3) 2) (= (size table4) 1)
(= (time_to_clean table1) 0) (= (time_to_clean table2) 0) (= (time_to_clean table3) 0) (= (time_to_clean table4) 0)
(clean table1) (clean table2)
)
(:goal (and
(at drink1 table2) (at drink2 table2)
(clean table3)
(clean table4)
(not (using_tray w))
))
;un-comment the following line if metric is needed
(:metric minimize (total-time))
)