Benchmarking: AIPlan4EU - visitall, spanner, miconic, gripper, satell…

…ite (strips)

domains/strips/gripper/1.txt

@@ -0,0 +1,18 @@
+[INSTANCE]: gripper_1
+[DOMAIN]: gripper_strips
+
+[OBJECTS]:
+left:gripper
+right:gripper
+rooma:room
+roomb:room
+ball1:ball
+
+[INIT]:
+(at_robby(rooma)=1)
+(free(right)=1)
+(free(left)=1)
+(at(ball1,rooma)=1)
+
+[GOAL]:
+(at(ball1,roomb)=1)

domains/strips/gripper/2.txt

@@ -0,0 +1,27 @@
+[INSTANCE]: gripper_4
+[DOMAIN]: gripper_strips
+
+[OBJECTS]:
+left:gripper
+right:gripper
+rooma:room
+roomb:room
+ball1:ball
+ball2:ball
+ball3:ball
+ball4:ball
+
+[INIT]:
+(at_robby(rooma)=1)
+(free(left)=1)
+(free(right)=1)
+(at(ball3,rooma)=1)
+(at(ball1,rooma)=1)
+(at(ball4,rooma)=1)
+(at(ball2,rooma)=1)
+
+[GOAL]:
+(at(ball1,roomb)=1)
+(at(ball2,roomb)=1)
+(at(ball3,roomb)=1)
+(at(ball4,roomb)=1)

domains/strips/gripper/3.txt

@@ -0,0 +1,36 @@
+[INSTANCE]: gripper_7
+[DOMAIN]: gripper_strips
+
+[OBJECTS]:
+left:gripper
+right:gripper
+rooma:room
+roomb:room
+ball1:ball
+ball2:ball
+ball3:ball
+ball4:ball
+ball5:ball
+ball6:ball
+ball7:ball
+
+[INIT]:
+(at_robby(rooma)=1)
+(free(right)=1)
+(free(left)=1)
+(at(ball5,rooma)=1)
+(at(ball2,rooma)=1)
+(at(ball4,rooma)=1)
+(at(ball7,rooma)=1)
+(at(ball6,rooma)=1)
+(at(ball1,rooma)=1)
+(at(ball3,rooma)=1)
+
+[GOAL]:
+(at(ball1,roomb)=1)
+(at(ball2,roomb)=1)
+(at(ball3,roomb)=1)
+(at(ball4,roomb)=1)
+(at(ball5,roomb)=1)
+(at(ball6,roomb)=1)
+(at(ball7,roomb)=1)

domains/strips/gripper/domain.txt

@@ -0,0 +1,42 @@
+[DOMAIN]: gripper_strips
+
+[TYPES]:
+room:object
+gripper:object
+ball:object
+
+[FUNCTIONS]:
+at_robby(?x0:room)
+at(?x1:ball,?x2:room)
+free(?x3:gripper)
+carry(?x4:ball,?x5:gripper)
+
+[ACTIONS]:
+[ACTION]: move(?from:room,?to:room)
+[TYPE]: memory
+[PRECONDITIONS]:
+(at_robby(?from)=1)
+[EFFECTS]:
+(at_robby(?to)=1)
+(at_robby(?from)=0)
+
+[ACTION]: pick(?b:ball,?r:room,?g:gripper)
+[TYPE]: memory
+[PRECONDITIONS]:
+(at(?b,?r)=1)
+(at_robby(?r)=1)
+(free(?g)=1)
+[EFFECTS]:
+(carry(?b,?g)=1)
+(at(?b,?r)=0)
+(free(?g)=0)
+
+[ACTION]: drop(?b:ball,?r:room,?g:gripper)
+[TYPE]: memory
+[PRECONDITIONS]:
+(carry(?b,?g)=1)
+(at_robby(?r)=1)
+[EFFECTS]:
+(at(?b,?r)=1)
+(free(?g)=1)
+(carry(?b,?g)=0)

domains/strips/miconic/domain.pddl

@@ -0,0 +1,62 @@
+; Source: https://github.com/AI-Planning/pddl-generators/tree/main/miconic
+; Fix: prevent the elevator from boarding served passengers => (not (origin ?p ?f)) effect added to board action
+(define (domain miconic)
+  (:requirements :strips :typing)
+  (:types passenger - object
+          floor - object
+         )
+
+(:predicates 
+(origin ?person - passenger ?floor - floor)
+;; entry of ?person is ?floor
+;; inertia
+
+(destin ?person - passenger ?floor - floor)
+;; exit of ?person is ?floor
+;; inertia
+
+(above ?floor1 - floor  ?floor2 - floor)
+;; ?floor2 is located above of ?floor1
+
+(boarded ?person - passenger)
+;; true if ?person has boarded the lift
+
+(served ?person - passenger)
+;; true if ?person has alighted as her destination
+
+(lift-at ?floor - floor)
+;; current position of the lift is at ?floor
+)
+
+
+;;stop and allow boarding
+
+(:action board
+  :parameters (?f - floor ?p - passenger)
+  :precondition (and (lift-at ?f) (origin ?p ?f))
+  :effect (and (boarded ?p) (not (origin ?p ?f))))
+
+(:action depart
+  :parameters (?f - floor ?p - passenger)
+  :precondition (and (lift-at ?f) (destin ?p ?f)
+		     (boarded ?p))
+  :effect (and (not (boarded ?p))
+	       (served ?p)))
+;;drive up
+
+(:action up
+  :parameters (?f1 - floor ?f2 - floor)
+  :precondition (and (lift-at ?f1) (above ?f1 ?f2))
+  :effect (and (lift-at ?f2) (not (lift-at ?f1))))
+
+
+;;drive down
+
+(:action down
+  :parameters (?f1 - floor ?f2 - floor)
+  :precondition (and (lift-at ?f1) (above ?f2 ?f1))
+  :effect (and (lift-at ?f2) (not (lift-at ?f1))))
+)
+
+
+

domains/strips/miconic/training/easy/p01.pddl

@@ -0,0 +1,13 @@
+(define (problem miconic-01)
+ (:domain miconic)
+ (:objects 
+    p1 - passenger
+    f1 f2 - floor
+    )
+ (:init 
+    (lift-at f2)
+    (origin p1 f1)
+    (destin p1 f2)
+    (above f1 f2)
+)
+ (:goal  (and (served p1))))

domains/strips/miconic/training/easy/p02.pddl

@@ -0,0 +1,13 @@
+(define (problem miconic-01)
+ (:domain miconic)
+ (:objects
+    p1 - passenger
+    f1 f2 - floor
+    )
+ (:init
+    (lift-at f1)
+    (origin p1 f2)
+    (destin p1 f1)
+    (above f1 f2)
+)
+ (:goal  (and (served p1))))

domains/strips/miconic/training/easy/p03.pddl

@@ -0,0 +1,18 @@
+(define (problem miconic-03)
+(:domain miconic)
+(:objects
+    p1 p2 - passenger
+    f1 f2 - floor
+)
+(:init
+    (lift-at f1)
+    (origin p1 f1)
+    (origin p2 f1)
+    (destin p1 f2)
+    (destin p2 f2)
+    (above f1 f2)
+)
+(:goal  (and
+    (served p1)
+    (served p2)
+)))

domains/strips/miconic/training/easy/p04.pddl

@@ -0,0 +1,18 @@
+(define (problem miconic-04)
+(:domain miconic)
+(:objects
+    p1 p2 - passenger
+    f1 f2 - floor
+)
+(:init
+    (lift-at f2)
+    (origin p1 f1)
+    (origin p2 f2)
+    (destin p1 f2)
+    (destin p2 f1)
+    (above f1 f2)
+)
+(:goal  (and
+    (served p1)
+    (served p2)
+)))

domains/strips/miconic/training/easy/p05.pddl

@@ -0,0 +1,18 @@
+(define (problem miconic-05)
+(:domain miconic)
+(:objects
+    p1 p2 - passenger
+    f1 f2 - floor
+)
+(:init
+    (lift-at f2)
+    (origin p1 f2)
+    (origin p2 f1)
+    (destin p1 f1)
+    (destin p2 f2)
+    (above f1 f2)
+)
+(:goal  (and
+    (served p1)
+    (served p2)
+)))

domains/strips/miconic/training/easy/p06.pddl

@@ -0,0 +1,18 @@
+(define (problem miconic-06)
+(:domain miconic)
+(:objects
+    p1 p2 - passenger
+    f1 f2 - floor
+)
+(:init
+    (lift-at f1)
+    (origin p1 f2)
+    (origin p2 f2)
+    (destin p1 f1)
+    (destin p2 f1)
+    (above f1 f2)
+)
+(:goal  (and
+    (served p1)
+    (served p2)
+)))

domains/strips/miconic/training/easy/p07.pddl

@@ -0,0 +1,15 @@
+(define (problem miconic-07)
+ (:domain miconic)
+ (:objects
+    p1 - passenger
+    f1 f2 f3 - floor
+    )
+ (:init
+    (lift-at f2)
+    (origin p1 f3)
+    (destin p1 f1)
+    (above f1 f2)
+    (above f1 f3)
+    (above f2 f3)
+)
+ (:goal  (and (served p1))))

domains/strips/miconic/training/easy/p08.pddl

@@ -0,0 +1,15 @@
+(define (problem miconic-08)
+ (:domain miconic)
+ (:objects
+    p1 - passenger
+    f1 f2 f3 - floor
+    )
+ (:init
+    (lift-at f2)
+    (origin p1 f2)
+    (destin p1 f1)
+    (above f1 f2)
+    (above f1 f3)
+    (above f2 f3)
+)
+ (:goal  (and (served p1))))

domains/strips/miconic/training/easy/p09.pddl

@@ -0,0 +1,15 @@
+(define (problem miconic-09)
+ (:domain miconic)
+ (:objects
+    p1 - passenger
+    f1 f2 f3 - floor
+    )
+ (:init
+    (lift-at f2)
+    (origin p1 f3)
+    (destin p1 f2)
+    (above f1 f2)
+    (above f1 f3)
+    (above f2 f3)
+)
+ (:goal  (and (served p1))))

domains/strips/miconic/training/easy/p10.pddl

@@ -0,0 +1,15 @@
+(define (problem miconic-10)
+ (:domain miconic)
+ (:objects
+    p1 - passenger
+    f1 f2 f3 - floor
+    )
+ (:init
+    (lift-at f2)
+    (origin p1 f2)
+    (destin p1 f3)
+    (above f1 f2)
+    (above f1 f3)
+    (above f2 f3)
+)
+ (:goal  (and (served p1))))

domains/strips/miconic/training/easy/p11.pddl

@@ -0,0 +1,15 @@
+(define (problem miconic-11)
+ (:domain miconic)
+ (:objects
+    p1 - passenger
+    f1 f2 f3 - floor
+    )
+ (:init
+    (lift-at f2)
+    (origin p1 f1)
+    (destin p1 f2)
+    (above f1 f2)
+    (above f1 f3)
+    (above f2 f3)
+)
+ (:goal  (and (served p1))))

domains/strips/miconic/training/easy/p12.pddl

@@ -0,0 +1,15 @@
+(define (problem miconic-12)
+ (:domain miconic)
+ (:objects
+    p1 - passenger
+    f1 f2 f3 - floor
+    )
+ (:init
+    (lift-at f2)
+    (origin p1 f1)
+    (destin p1 f3)
+    (above f1 f2)
+    (above f1 f3)
+    (above f2 f3)
+)
+ (:goal  (and (served p1))))