diff --git a/src/translate/regression-tests/README b/src/translate/regression-tests/README deleted file mode 100644 index 05f9654afb..0000000000 --- a/src/translate/regression-tests/README +++ /dev/null @@ -1,7 +0,0 @@ -- issue405: The goal violates a mutex, which the translator should - detect and produce a trivial unsolvable problem. The search code - should then report the problem as unsolvable. (It may be the case - that this example is a bit fragile because it's based on - Blocksworld, and I guess there's no guarantee which of the two major - Blocksworld encodings we get. I think only one of them will detect - that there is a mutex violation.) diff --git a/src/translate/regression-tests/issue34-domain.pddl b/src/translate/regression-tests/issue34-domain.pddl deleted file mode 100644 index bf64ca0477..0000000000 --- a/src/translate/regression-tests/issue34-domain.pddl +++ /dev/null @@ -1,375 +0,0 @@ -;; PipesWorld - -(define (domain pipesworld_strips) - -(:requirements :strips :typing ) - -;; Types -;; pipe: a pipeline segment -;; area: operational areas -;; product: an oil derivative product, such as gasoline, -;; kerosene, etc. -;; batch-atom: an unitary batch - -(:types pipe area product batch-atom ) - -;; Define the products (petroleum derivatives) -(:constants lco gasoleo rat-a oca1 oc1b - product ) -(:predicates - - ;; Indicates that a pipeline segment connects - ;; two areas - (connect ?from ?to - area ?pipe - pipe) - - ;; Special case for unitary pipes - (unitary ?pipe - pipe) - (not-unitary ?pipe - pipe) - - ;; These predicates represent the pipeline segment contents - ;; We define the first (nearest to ``from'' area) and - ;; last (nearest to ``to'' area) batch-atom in a pipeline - ;; segment, and their sequence is represented by the - ;; (follow) predicate - (last ?batch-atom - batch-atom ?pipe - pipe) - (first ?batch-atom - batch-atom ?pipe - pipe) - (follow ?next ?previous - batch-atom) - - ;; An unitary batch product - (is-product ?batch-atom - batch-atom ?product - product) - - ;; Unitary batches that are on areas - (on ?batch-atom - batch-atom ?area - area) - - ;; Indicates that two products may interface in the - ;; pipeline segment - (may-interface ?product-a ?product-b - product) - - ;; to control splitting process (push/pop vs. update) - (normal ?pipe - pipe) - (push-updating ?pipe - pipe) - (pop-updating ?pipe - pipe) -) - -;; PUSH-START action -;; Moves a batch-atom from a tankage to a pipeline segment -;; The PUSH-START action moves the pipeline segment contents towards -;; the ``to-area'' defined in the ``connect'' predicate -;; first part -- initialise the push and turn control -;; over to contents update operators - -(:action PUSH-START - :parameters( - ;; Pipeline segment that will be moved - ?pipe - pipe - ;; Unitary batch that will be inserted into the pipeline - ;; segment - ?batch-atom-in - batch-atom - ?from-area - area - ?to-area - area - ?first-batch-atom - batch-atom - ?product-batch-atom-in - product - ?product-first-batch - product - ) - :precondition - (and - - ;; normal planning mode - (normal ?pipe) - ;; Binds :vars section - (first ?first-batch-atom ?pipe) - (connect ?from-area ?to-area ?pipe) - ;; Inserted batch must be in 'from-area' - (on ?batch-atom-in ?from-area) - ;; Action is applicable only in non-unitary pipeline segments - (not-unitary ?pipe) - ;; Bind batch-atom products - (is-product ?batch-atom-in ?product-batch-atom-in) - (is-product ?first-batch-atom ?product-first-batch) - ;; Interface restriction - (may-interface ?product-batch-atom-in ?product-first-batch) - - ) - :effect - (and - ;; switch into correct update mode for this pipe - (push-updating ?pipe) - (not (normal ?pipe)) - ;; The inserted unitary batch will be the pipeline segment - ;; new first batch - (first ?batch-atom-in ?pipe) - (not (first ?first-batch-atom ?pipe)) - - ;; Updates the follow and last relationship to the new - ;; pipeline segment configuration - (follow ?first-batch-atom ?batch-atom-in) - ;; Inserted batch-atom is removed from area - (not (on ?batch-atom-in ?from-area)) - ;; Batch-atom removed from pipeline segment is inserted - ;; into the destination area -) -) -;; PUSH-END action -;; Moves a batch-atom from a tankage to a pipeline segment -;; The PUSH-END action moves the pipeline segment contents towards -;; the ``to-area'' defined in the ``connect'' predicate -;; second part -- when start of pipe has been done, care about the -;; end of the pipe - -(:action PUSH-END - :parameters( - ;; Pipeline segment that will be moved - ?pipe - pipe - ;; Unitary batch that will be inserted into the pipeline - ;; segment - ?from-area - area - ?to-area - area - ?last-batch-atom - batch-atom - ?next-last-batch-atom - batch-atom - ) - :precondition - (and - - ;; are we in the correct mode? - (push-updating ?pipe) - ;; Binds :vars section - (last ?last-batch-atom ?pipe) - (connect ?from-area ?to-area ?pipe) - ;; Action is applicable only in non-unitary pipeline segments - (not-unitary ?pipe) - (follow ?last-batch-atom ?next-last-batch-atom) - - ) - :effect - (and - ;; back to normal mode - (not (push-updating ?pipe)) - (normal ?pipe) - - ;; Updates the follow and last relationship to the new - ;; pipeline segment configuration - (not (follow ?last-batch-atom ?next-last-batch-atom)) - (last ?next-last-batch-atom ?pipe) - ;; Previous last batch is not last anymore - (not (last ?last-batch-atom ?pipe)) - ;; Batch-atom removed from pipeline segment is inserted - ;; into the destination area - (on ?last-batch-atom ?to-area) -) -) -;; POP-START action -;; Moves a batch-atom from a tankage to a pipeline segment -;; The POP-START action moves the pipeline segment contents towards -;; the ``from-area'' defined in the ``connect'' predicate -;; first part -- initialise the pop and turn control -;; over to contents update operators - -(:action POP-START - :parameters( - ;; Pipeline segment that will be moved - ?pipe - pipe - ;; Unitary batch that will be inserted into the pipeline - ;; segment - ?batch-atom-in - batch-atom - ?from-area - area - ?to-area - area - ?last-batch-atom - batch-atom - ?product-batch-atom-in - product - ?product-last-batch - product - ) - :precondition - (and - - ;; normal planning mode - (normal ?pipe) - ;; Binds :vars section - (last ?last-batch-atom ?pipe) - (connect ?from-area ?to-area ?pipe) - ;; Inserted batch must be in 'to-area' - (on ?batch-atom-in ?to-area) - ;; Action is applicable only in non-unitary pipeline segments - (not-unitary ?pipe) - ;; Bind batch-atom products - (is-product ?batch-atom-in ?product-batch-atom-in) - (is-product ?last-batch-atom ?product-last-batch) - ;; Interface restriction - (may-interface ?product-batch-atom-in ?product-last-batch) - - ) - :effect - (and - ;; switch into correct update mode for this pipe - (pop-updating ?pipe) - (not (normal ?pipe)) - ;; The inserted unitary batch will be the pipeline segment - ;; new last batch - (last ?batch-atom-in ?pipe) - (not (last ?last-batch-atom ?pipe)) - - ;; Updates the follow and first relationship to the new - ;; pipeline segment configuration - (follow ?batch-atom-in ?last-batch-atom) - ;; Inserted batch-atom is removed from area - (not (on ?batch-atom-in ?to-area)) - ;; Batch-atom removed from pipeline segment is inserted - ;; into the destination area -) -) -;; POP-END action -;; Moves a batch-atom from a tankage to a pipeline segment -;; The POP-END action moves the pipeline segment contents towards -;; the ``from-area'' defined in the ``connect'' predicate -;; second part -- when start of pipe has been done, care about the -;; end of the pipe - -(:action POP-END - :parameters( - ;; Pipeline segment that will be moved - ?pipe - pipe - ;; Unitary batch that will be inserted into the pipeline - ;; segment - ?from-area - area - ?to-area - area - ?first-batch-atom - batch-atom - ?next-first-batch-atom - batch-atom - ) - :precondition - (and - - ;; are we in the correct mode? - (pop-updating ?pipe) - ;; Binds :vars section - (first ?first-batch-atom ?pipe) - (connect ?from-area ?to-area ?pipe) - ;; Action is applicable only in non-unitary pipeline segments - (not-unitary ?pipe) - (follow ?next-first-batch-atom ?first-batch-atom) - - ) - :effect - (and - ;; back to normal mode - (not (pop-updating ?pipe)) - (normal ?pipe) - - ;; Updates the follow and first relationship to the new - ;; pipeline segment configuration - (not (follow ?next-first-batch-atom ?first-batch-atom)) - (first ?next-first-batch-atom ?pipe) - ;; Previous first batch is not first anymore - (not (first ?first-batch-atom ?pipe)) - ;; Batch-atom removed from pipeline segment is inserted - ;; into the destination area - (on ?first-batch-atom ?from-area) -) -) -;; PUSH-UNITARYPIPE action -;; Moves a batch-atom from a tankage to a pipeline segment -;; The PUSH-UNITARYPIPE action moves the pipeline segment contents towards -;; the ``to-area'' defined in the ``connect'' predicate -;; first part -- initialise the push and turn control -;; over to contents update operators - -(:action PUSH-UNITARYPIPE - :parameters( - ;; Pipeline segment that will be moved - ?pipe - pipe - ;; Unitary batch that will be inserted into the pipeline - ;; segment - ?batch-atom-in - batch-atom - ?from-area - area - ?to-area - area - ?first-batch-atom - batch-atom - ?product-batch-atom-in - product - ?product-first-batch - product - ) - :precondition - (and - - ;; Binds :vars section - (first ?first-batch-atom ?pipe) - (connect ?from-area ?to-area ?pipe) - ;; Inserted batch must be in 'from-area' - (on ?batch-atom-in ?from-area) - ;; Action is applicable only in unitary pipeline segments - (unitary ?pipe) - ;; Bind batch-atom products - (is-product ?batch-atom-in ?product-batch-atom-in) - (is-product ?first-batch-atom ?product-first-batch) - ;; Interface restriction - (may-interface ?product-batch-atom-in ?product-first-batch) - - ) - :effect - (and - ;; The inserted unitary batch will be the pipeline segment - ;; new first batch - (first ?batch-atom-in ?pipe) - (not (first ?first-batch-atom ?pipe)) - - ;; Updates the follow and last relationship to the new - ;; pipeline segment configuration - (last ?batch-atom-in ?pipe) - (not (last ?first-batch-atom ?pipe)) - ;; Inserted batch-atom is removed from area - (not (on ?batch-atom-in ?from-area)) - ;; Batch-atom removed from pipeline segment is inserted - ;; into the destination area - (on ?first-batch-atom ?to-area) -) -) -;; POP-UNITARYPIPE action -;; Moves a batch-atom from a tankage to a pipeline segment -;; The POP-UNITARYPIPE action moves the pipeline segment contents towards -;; the ``from-area'' defined in the ``connect'' predicate -;; first part -- initialise the pop and turn control -;; over to contents update operators - -(:action POP-UNITARYPIPE - :parameters( - ;; Pipeline segment that will be moved - ?pipe - pipe - ;; Unitary batch that will be inserted into the pipeline - ;; segment - ?batch-atom-in - batch-atom - ?from-area - area - ?to-area - area - ?last-batch-atom - batch-atom - ?product-batch-atom-in - product - ?product-last-batch - product - ) - :precondition - (and - - ;; Binds :vars section - (last ?last-batch-atom ?pipe) - (connect ?from-area ?to-area ?pipe) - ;; Inserted batch must be in 'to-area' - (on ?batch-atom-in ?to-area) - ;; Action is applicable only in unitary pipeline segments - (unitary ?pipe) - ;; Bind batch-atom products - (is-product ?batch-atom-in ?product-batch-atom-in) - (is-product ?last-batch-atom ?product-last-batch) - ;; Interface restriction - (may-interface ?product-batch-atom-in ?product-last-batch) - - ) - :effect - (and - ;; The inserted unitary batch will be the pipeline segment - ;; new last batch - (last ?batch-atom-in ?pipe) - (not (last ?last-batch-atom ?pipe)) - - ;; Updates the follow and first relationship to the new - ;; pipeline segment configuration - (first ?batch-atom-in ?pipe) - (not (first ?last-batch-atom ?pipe)) - ;; Inserted batch-atom is removed from area - (not (on ?batch-atom-in ?to-area)) - ;; Batch-atom removed from pipeline segment is inserted - ;; into the destination area - (on ?last-batch-atom ?from-area) -) -) -) diff --git a/src/translate/regression-tests/issue34-problem.pddl b/src/translate/regression-tests/issue34-problem.pddl deleted file mode 100644 index 154575b02a..0000000000 --- a/src/translate/regression-tests/issue34-problem.pddl +++ /dev/null @@ -1,95 +0,0 @@ - -(define (problem network3new_all_12_2_instance) - (:domain pipesworld_strips) - (:objects - - B10 B0 B1 B4 B6 B7 B9 B3 B8 B2 B11 B5 - batch-atom - A1 A2 A3 A4 - area - S12 S13 S34 - pipe - - - ) - (:init - - ;; All pipelines segments are in normal state - (normal S12) - (normal S13) - (normal S34) - - ;; Interfaces restrictions - (may-interface lco lco) - (may-interface gasoleo gasoleo) - (may-interface rat-a rat-a) - (may-interface oca1 oca1) - (may-interface oc1b oc1b) - (may-interface lco gasoleo) - (may-interface gasoleo lco) - (may-interface lco oca1) - (may-interface oca1 lco) - (may-interface lco oc1b) - (may-interface oc1b lco) - (may-interface lco rat-a) - (may-interface rat-a lco) - (may-interface gasoleo rat-a) - (may-interface rat-a gasoleo) - (may-interface gasoleo oca1) - (may-interface oca1 gasoleo) - (may-interface gasoleo oc1b) - (may-interface oc1b gasoleo) - (may-interface oca1 oc1b) - (may-interface oc1b oca1) - - - ;; Network topology definition - (connect A1 A2 S12) - (connect A1 A3 S13) - (connect A3 A4 S34) - - - ;; Batch-atoms products - (is-product B10 oc1b) - (is-product B0 lco) - (is-product B1 gasoleo) - (is-product B4 rat-a) - (is-product B6 rat-a) - (is-product B7 lco) - (is-product B9 gasoleo) - (is-product B3 gasoleo) - (is-product B8 oca1) - (is-product B2 rat-a) - (is-product B11 gasoleo) - (is-product B5 oc1b) - - - ;; Batch-atoms initially located in areas - (on B10 A4) - (on B1 A1) - (on B6 A1) - (on B3 A4) - (on B8 A4) - (on B2 A2) - (on B11 A2) - - - ;; Batch-atoms initially located in pipes - (first B5 S12) - (follow B0 B5) - (last B0 S12) - (first B7 S13) - (follow B9 B7) - (last B9 S13) - (first B4 S34) - (last B4 S34) - - ;; Unitary pipeline segments - (not-unitary S12) - (not-unitary S13) - (unitary S34) - - ) - (:goal (and - (on B6 A2) - (on B11 A1) - - )) -) diff --git a/src/translate/regression-tests/issue405-domain.pddl b/src/translate/regression-tests/issue405-domain.pddl deleted file mode 100644 index d11e32b522..0000000000 --- a/src/translate/regression-tests/issue405-domain.pddl +++ /dev/null @@ -1,50 +0,0 @@ -(define (domain blocksworld) - (:requirements :strips :typing) - (:types block) - (:predicates (on ?x - block ?y - block) - (ontable ?x - block) - (clear ?x - block) - (handempty) - (holding ?x - block) - ) - - (:action pick-up - :parameters (?x - block) - :precondition (and (clear ?x) (ontable ?x) (handempty)) - :effect - (and (not (ontable ?x)) - (not (clear ?x)) - (not (handempty)) - (holding ?x))) - - (:action put-down - :parameters (?x - block) - :precondition (holding ?x) - :effect - (and (not (holding ?x)) - (clear ?x) - (handempty) - (ontable ?x))) - - (:action stack - :parameters (?x - block ?y - block) - :precondition (and (holding ?x) (clear ?y)) - :effect - (and (not (holding ?x)) - (not (clear ?y)) - (clear ?x) - (handempty) - (on ?x ?y))) - (:action unstack - :parameters (?x - block ?y - block) - :precondition (and (on ?x ?y) (clear ?x) (handempty)) - :effect - (and (holding ?x) - (clear ?y) - (not (clear ?x)) - (not (handempty)) - (not (on ?x ?y)))) - -) - - diff --git a/src/translate/regression-tests/issue405-problem.pddl b/src/translate/regression-tests/issue405-problem.pddl deleted file mode 100644 index 8d24ad1281..0000000000 --- a/src/translate/regression-tests/issue405-problem.pddl +++ /dev/null @@ -1,19 +0,0 @@ -(define (problem BW-rand-50) -(:domain blocksworld) -(:objects b1 b2 b3 - block) -(:init -(handempty) -(on b1 b2) -(on b2 b3) -(ontable b3) -(clear b1) -) -(:goal -(and -(on b1 b2) -(on b1 b3) -) -) -) - - diff --git a/src/translate/regression-tests/issue49-falsegoal-domain.pddl b/src/translate/regression-tests/issue49-falsegoal-domain.pddl deleted file mode 100644 index 526fc2bf7f..0000000000 --- a/src/translate/regression-tests/issue49-falsegoal-domain.pddl +++ /dev/null @@ -1,14 +0,0 @@ -;; Small test domain for the problem of issue49. - -(define (domain issue49) - (:predicates - (A) - (B) - (C) - ) - - (:action action-a - :precondition (A) - :effect (B) - ) -) diff --git a/src/translate/regression-tests/issue49-falsegoal-problem.pddl b/src/translate/regression-tests/issue49-falsegoal-problem.pddl deleted file mode 100644 index addac806b9..0000000000 --- a/src/translate/regression-tests/issue49-falsegoal-problem.pddl +++ /dev/null @@ -1,9 +0,0 @@ -(define (problem issue49-statically-false-goal) - (:domain issue49) - - (:objects) - - (:init (A)) - - (:goal (and (A) (B) (C))) -) diff --git a/src/translate/regression-tests/issue49-orig-domain.pddl b/src/translate/regression-tests/issue49-orig-domain.pddl deleted file mode 100644 index 201f338aa3..0000000000 --- a/src/translate/regression-tests/issue49-orig-domain.pddl +++ /dev/null @@ -1,4159 +0,0 @@ -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; -;;; SeedSet -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - - (define (domain SeedSet) - (:requirements :strips :typing :action-costs) - - (:predicates - (C00022) - (C00024) - (C00031) - (C00033) - (C00036) - (C00068) - (C00074) - (C00084) - (C00103) - (C00111) - (C00118) - (C00186) - (C00197) - (C00221) - (C00236) - (C00267) - (C00469) - (C00631) - (C00668) - (C01159) - (C01172) - (C01451) - (C05125) - (C05345) - (C05378) - (C06186) - (C06187) - (C06188) - (C15972) - (C15973) - (C16255) - (C00026) - (C00042) - (C00091) - (C00122) - (C00149) - (C00158) - (C00311) - (C00417) - (C05379) - (C05381) - (C16254) - (C00117) - (C00119) - (C00121) - (C00198) - (C00199) - (C00204) - (C00231) - (C00257) - (C00258) - (C00279) - (C00345) - (C00577) - (C00620) - (C00672) - (C00673) - (C01151) - (C01218) - (C01236) - (C01801) - (C03752) - (C04442) - (C05382) - (C06473) - (C00029) - (C00085) - (C00167) - (C00181) - (C00191) - (C00259) - (C00266) - (C00309) - (C00310) - (C00312) - (C00333) - (C00379) - (C00470) - (C00474) - (C00476) - (C00502) - (C00508) - (C00514) - (C00532) - (C00558) - (C00618) - (C00714) - (C00789) - (C00800) - (C00817) - (C00905) - (C01068) - (C01101) - (C01508) - (C01904) - (C02266) - (C02273) - (C03033) - (C03291) - (C03826) - (C04053) - (C04349) - (C04575) - (C05385) - (C05411) - (C05412) - (C06019) - (C06118) - (C06441) - (C14899) - (C00095) - (C00096) - (C00159) - (C00247) - (C00275) - (C00325) - (C00392) - (C00424) - (C00464) - (C00507) - (C00636) - (C00644) - (C00665) - (C00794) - (C00861) - (C00937) - (C00976) - (C01019) - (C01094) - (C01096) - (C01099) - (C01131) - (C01222) - (C01355) - (C01680) - (C01721) - (C01768) - (C01934) - (C02431) - (C02492) - (C02888) - (C02977) - (C02985) - (C02991) - (C03117) - (C03267) - (C03979) - (C05392) - (C06159) - (C06192) - (C11516) - (C11544) - (C00052) - (C00089) - (C00116) - (C00124) - (C00137) - (C00243) - (C00446) - (C00492) - (C00795) - (C00880) - (C01097) - (C01113) - (C01132) - (C01216) - (C01235) - (C01286) - (C01613) - (C01697) - (C02262) - (C03383) - (C03785) - (C05396) - (C05399) - (C05400) - (C05401) - (C05402) - (C05404) - (C05796) - (C06311) - (C06376) - (C06377) - (C00072) - (C00433) - (C00545) - (C00679) - (C00684) - (C00818) - (C00879) - (C01040) - (C01041) - (C01114) - (C01115) - (C01146) - (C01620) - (C01825) - (C02280) - (C02670) - (C03064) - (C03289) - (C03921) - (C05406) - (C05422) - (C15923) - (C15924) - (C15925) - (C15926) - (C15930) - (C16186) - (C00083) - (C00229) - (C00249) - (C00712) - (C01203) - (C01209) - (C01530) - (C01571) - (C02679) - (C03939) - (C04088) - (C04246) - (C04419) - (C04618) - (C04619) - (C04620) - (C04633) - (C04688) - (C05223) - (C05744) - (C05745) - (C05746) - (C05747) - (C05748) - (C05749) - (C05750) - (C05751) - (C05752) - (C05753) - (C05754) - (C05755) - (C05756) - (C05757) - (C05758) - (C05759) - (C05760) - (C05761) - (C05762) - (C05763) - (C05764) - (C06250) - (C06423) - (C06424) - (C08362) - (C16219) - (C16220) - (C16221) - (C16520) - (C00136) - (C00154) - (C01832) - (C01944) - (C02593) - (C03221) - (C05258) - (C05259) - (C05260) - (C05261) - (C05262) - (C05263) - (C05264) - (C05265) - (C05266) - (C05267) - (C05268) - (C05269) - (C05270) - (C05271) - (C05272) - (C05273) - (C05274) - (C05275) - (C05276) - (C00010) - (C00071) - (C00162) - (C00173) - (C00226) - (C00332) - (C00340) - (C00435) - (C00489) - (C00517) - (C00527) - (C00638) - (C00823) - (C00877) - (C01144) - (C01371) - (C02990) - (C03547) - (C03561) - (C05102) - (C05279) - (C05280) - ) - - (:functions (total-cost) - number) - - (:action insert_C00022 - :effect - (and (C00022) - (increase (total-cost) 10))) - - (:action insert_C00024 - :effect - (and (C00024) - (increase (total-cost) 10))) - - (:action insert_C00031 - :effect - (and (C00031) - (increase (total-cost) 10))) - - (:action insert_C00033 - :effect - (and (C00033) - (increase (total-cost) 10))) - - (:action insert_C00036 - :effect - (and (C00036) - (increase (total-cost) 10))) - - (:action insert_C00068 - :effect - (and (C00068) - (increase (total-cost) 10))) - - (:action insert_C00074 - :effect - (and (C00074) - (increase (total-cost) 10))) - - (:action insert_C00084 - :effect - (and (C00084) - (increase (total-cost) 10))) - - (:action insert_C00103 - :effect - (and (C00103) - (increase (total-cost) 10))) - - (:action insert_C00111 - :effect - (and (C00111) - (increase (total-cost) 10))) - - (:action insert_C00118 - :effect - (and (C00118) - (increase (total-cost) 10))) - - (:action insert_C00197 - :effect - (and (C00197) - (increase (total-cost) 10))) - - (:action insert_C00236 - :effect - (and (C00236) - (increase (total-cost) 10))) - - (:action insert_C00267 - :effect - (and (C00267) - (increase (total-cost) 10))) - - (:action insert_C00469 - :effect - (and (C00469) - (increase (total-cost) 10))) - - (:action insert_C00631 - :effect - (and (C00631) - (increase (total-cost) 10))) - - (:action insert_C00668 - :effect - (and (C00668) - (increase (total-cost) 10))) - - (:action insert_C01159 - :effect - (and (C01159) - (increase (total-cost) 10))) - - (:action insert_C01172 - :effect - (and (C01172) - (increase (total-cost) 10))) - - (:action insert_C05125 - 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(and - (C05757) - ) - :effect - (and - (C05758) - (increase (total-cost) 1))) - - (:action reaction_R04965right - :precondition - (and - (C05758) - ) - :effect - (and - (C05757) - (increase (total-cost) 1))) - - (:action reaction_R04966left - :precondition - (and - (C05760) - ) - :effect - (and - (C05761) - (increase (total-cost) 1))) - - (:action reaction_R04966right - :precondition - (and - (C05761) - ) - :effect - (and - (C05760) - (increase (total-cost) 1))) - - (:action reaction_R04968left - :precondition - (and - (C01209) - (C05761) - ) - :effect - (and - (C05762) - (increase (total-cost) 1))) - - (:action reaction_R04969left - :precondition - (and - (C05763) - ) - :effect - (and - (C05764) - (increase (total-cost) 1))) - - (:action reaction_R04969right - :precondition - (and - (C05764) - ) - :effect - (and - (C05763) - (increase (total-cost) 1))) - - (:action reaction_R07762left - :precondition - (and - (C01209) - (C05764) - ) - :effect - (and - (C16219) - (increase (total-cost) 1))) - - (:action reaction_R07762right - :precondition - (and - (C16219) - ) - :effect - (and - (C01209) - (C05764) - (increase (total-cost) 1))) - - (:action reaction_R07763left - :precondition - (and - (C16219) - ) - :effect - (and - (C16220) - (increase (total-cost) 1))) - - (:action reaction_R07763right - :precondition - (and - (C16220) - ) - :effect - (and - (C16219) - (increase (total-cost) 1))) - - (:action reaction_R07764left - :precondition - (and - (C16220) - ) - :effect - (and - (C16221) - (increase (total-cost) 1))) - - (:action reaction_R07764right - :precondition - (and - (C16221) - ) - :effect - (and - (C16220) - (increase (total-cost) 1))) - - (:action reaction_R04170left - :precondition - (and - (C05262) - ) - :effect - (and - (C03221) - (increase (total-cost) 1))) - - (:action reaction_R04170right - :precondition - (and - (C03221) - ) - :effect - (and - (C05262) - (increase (total-cost) 1))) - - (:action reaction_R04737left - :precondition - (and - (C05259) - ) - :effect - (and - (C05258) - (increase (total-cost) 1))) - - (:action reaction_R04737right - :precondition - (and - (C05258) - ) - :effect - (and - (C05259) - (increase (total-cost) 1))) - - (:action reaction_R04738left - :precondition - (and - (C05258) - ) - :effect - (and - (C05272) - (increase (total-cost) 1))) - - (:action reaction_R04738right - :precondition - (and - (C05272) - ) - :effect - (and - (C05258) - (increase (total-cost) 1))) - - (:action reaction_R04739left - :precondition - (and - (C05261) - ) - :effect - (and - (C05260) - (increase (total-cost) 1))) - - (:action reaction_R04739right - :precondition - (and - (C05260) - ) - :effect - (and - (C05261) - (increase (total-cost) 1))) - - (:action reaction_R04740left - :precondition - (and - (C05260) - ) - :effect - (and - (C05273) - (increase (total-cost) 1))) - - (:action reaction_R04740right - :precondition - (and - (C05273) - ) - :effect - (and - (C05260) - (increase (total-cost) 1))) - - (:action reaction_R04741left - :precondition - (and - (C05263) - ) - :effect - (and - (C05262) - (increase (total-cost) 1))) - - (:action reaction_R04741right - :precondition - (and - (C05262) - ) - :effect - (and - (C05263) - (increase (total-cost) 1))) - - (:action reaction_R04743left - :precondition - (and - (C05265) - ) - :effect - (and - (C05264) - (increase (total-cost) 1))) - - (:action reaction_R04743right - :precondition - (and - (C05264) - ) - :effect - (and - (C05265) - (increase (total-cost) 1))) - - (:action reaction_R04744left - :precondition - (and - (C05264) - ) - :effect - (and - (C05275) - (increase (total-cost) 1))) - - (:action reaction_R04744right - :precondition - (and - (C05275) - ) - :effect - (and - (C05264) - (increase (total-cost) 1))) - - (:action reaction_R04745left - :precondition - (and - (C05267) - ) - :effect - (and - (C05266) - (increase (total-cost) 1))) - - (:action reaction_R04745right - :precondition - (and - (C05266) - ) - :effect - (and - (C05267) - (increase (total-cost) 1))) - - (:action reaction_R04746left - :precondition - (and - (C05266) - ) - :effect - (and - (C05276) - (increase (total-cost) 1))) - - (:action reaction_R04746right - :precondition - (and - (C05276) - ) - :effect - (and - (C05266) - (increase (total-cost) 1))) - - (:action reaction_R04748left - :precondition - (and - (C05269) - ) - :effect - (and - (C05268) - (increase (total-cost) 1))) - - (:action reaction_R04748right - :precondition - (and - (C05268) - ) - :effect - (and - (C05269) - (increase (total-cost) 1))) - - (:action reaction_R04749left - :precondition - (and - (C05268) - ) - :effect - (and - (C05271) - (increase (total-cost) 1))) - - (:action reaction_R04749right - :precondition - (and - (C05271) - ) - :effect - (and - (C05268) - (increase (total-cost) 1))) - - (:action reaction_R00238left - :precondition - (and - (C00024) - ) - :effect - (and - (C00332) - (increase (total-cost) 1))) - - (:action reaction_R00238right - :precondition - (and - (C00332) - ) - :effect - (and - (C00024) - (increase (total-cost) 1))) - - (:action reaction_R00623left - :precondition - (and - (C00226) - ) - :effect - (and - (C00071) - (increase (total-cost) 1))) - - (:action reaction_R00623right - :precondition - (and - (C00071) - ) - :effect - (and - (C00226) - (increase (total-cost) 1))) - - (:action reaction_R00631left - :precondition - (and - (C00162) - ) - :effect - (and - (C00071) - (increase (total-cost) 1))) - - (:action reaction_R01175left - :precondition - (and - (C00136) - ) - :effect - (and - (C00877) - (increase (total-cost) 1))) - - (:action reaction_R01177left - :precondition - (and - (C00136) - (C00024) - ) - :effect - (and - (C05269) - (C00010) - (increase (total-cost) 1))) - - (:action reaction_R01177right - :precondition - (and - (C05269) - (C00010) - ) - :effect - (and - (C00136) - (C00024) - (increase (total-cost) 1))) - - (:action reaction_R01279left - :precondition - (and - (C00154) - ) - :effect - (and - (C05272) - (increase (total-cost) 1))) - - (:action reaction_R01406left - :precondition - (and - (C00638) - (C00229) - ) - :effect - (and - (C00173) - (increase (total-cost) 1))) - - (:action reaction_R01406right - :precondition - (and - (C00173) - ) - :effect - (and - (C00638) - (C00229) - (increase (total-cost) 1))) - - (:action reaction_R01975left - :precondition - (and - (C01144) - ) - :effect - (and - (C00332) - (increase (total-cost) 1))) - - (:action reaction_R01975right - :precondition - (and - (C00332) - ) - :effect - (and - (C01144) - (increase (total-cost) 1))) - - (:action reaction_R02487left - :precondition - (and - (C00527) - ) - :effect - (and - (C00877) - (increase (total-cost) 1))) - - (:action reaction_R03026left - :precondition - (and - (C01144) - ) - :effect - (and - (C00877) - (increase (total-cost) 1))) - - (:action reaction_R03026right - :precondition - (and - (C00877) - ) - :effect - (and - (C01144) - (increase (total-cost) 1))) - - (:action reaction_R03276left - :precondition - (and - (C01144) - ) - :effect - (and - (C03561) - (increase (total-cost) 1))) - - (:action reaction_R03276right - :precondition - (and - (C03561) - ) - :effect - (and - (C01144) - (increase (total-cost) 1))) - - (:action reaction_R03777left - :precondition - (and - (C01944) - ) - :effect - (and - (C05276) - (increase (total-cost) 1))) - - (:action reaction_R03778left - :precondition - (and - (C00024) - (C01944) - ) - :effect - (and - (C05265) - (C00010) - (increase (total-cost) 1))) - - (:action reaction_R03778right - :precondition - (and - (C05265) - (C00010) - ) - :effect - (and - (C00024) - (C01944) - (increase (total-cost) 1))) - - (:action reaction_R03857left - :precondition - (and - (C01832) - ) - :effect - (and - (C03221) - (increase (total-cost) 1))) - - (:action reaction_R03858left - :precondition - (and - (C01832) - (C00024) - ) - :effect - (and - (C00010) - (C05261) - (increase (total-cost) 1))) - - (:action reaction_R03858right - :precondition - (and - (C00010) - (C05261) - ) - :effect - (and - (C01832) - (C00024) - (increase (total-cost) 1))) - - (:action reaction_R03990left - :precondition - (and - (C02593) - ) - :effect - (and - (C05273) - (increase (total-cost) 1))) - - (:action reaction_R03991left - :precondition - (and - (C02593) - (C00024) - ) - :effect - (and - (C05259) - (C00010) - (increase (total-cost) 1))) - - (:action reaction_R03991right - :precondition - (and - (C05259) - (C00010) - ) - :effect - (and - (C02593) - (C00024) - (increase (total-cost) 1))) - - (:action reaction_R04170left - :precondition - (and - (C05262) - ) - :effect - (and - (C03221) - (increase (total-cost) 1))) - - (:action reaction_R04170right - :precondition - (and - (C03221) - ) - :effect - (and - (C05262) - (increase (total-cost) 1))) - - (:action reaction_R04737left - :precondition - (and - (C05258) - ) - :effect - (and - (C05259) - (increase (total-cost) 1))) - - (:action reaction_R04737right - :precondition - (and - (C05259) - ) - :effect - (and - (C05258) - (increase (total-cost) 1))) - - (:action reaction_R04738left - :precondition - (and - (C05258) - ) - :effect - (and - (C05272) - (increase (total-cost) 1))) - - (:action reaction_R04738right - :precondition - (and - (C05272) - ) - :effect - (and - (C05258) - (increase (total-cost) 1))) - - (:action reaction_R04739left - :precondition - (and - (C05260) - ) - :effect - (and - (C05261) - (increase (total-cost) 1))) - - (:action reaction_R04739right - :precondition - (and - (C05261) - ) - :effect - (and - (C05260) - (increase (total-cost) 1))) - - (:action reaction_R04740left - :precondition - (and - (C05260) - ) - :effect - (and - (C05273) - (increase (total-cost) 1))) - - (:action reaction_R04740right - :precondition - (and - (C05273) - ) - :effect - (and - (C05260) - (increase (total-cost) 1))) - - (:action reaction_R04741left - :precondition - (and - (C05262) - ) - :effect - (and - (C05263) - (increase (total-cost) 1))) - - (:action reaction_R04741right - :precondition - (and - (C05263) - ) - :effect - (and - (C05262) - (increase (total-cost) 1))) - - (:action reaction_R04742left - :precondition - (and - (C00024) - (C05274) - ) - :effect - (and - (C00010) - (C05263) - (increase (total-cost) 1))) - - (:action reaction_R04742right - :precondition - (and - (C00010) - (C05263) - ) - :effect - (and - (C00024) - (C05274) - (increase (total-cost) 1))) - - (:action reaction_R04743left - :precondition - (and - (C05264) - ) - :effect - (and - (C05265) - (increase (total-cost) 1))) - - (:action reaction_R04743right - :precondition - (and - (C05265) - ) - :effect - (and - (C05264) - (increase (total-cost) 1))) - - (:action reaction_R04744left - :precondition - (and - (C05264) - ) - :effect - (and - (C05275) - (increase (total-cost) 1))) - - (:action reaction_R04744right - :precondition - (and - (C05275) - ) - :effect - (and - (C05264) - (increase (total-cost) 1))) - - (:action reaction_R04745left - :precondition - (and - (C05266) - ) - :effect - (and - (C05267) - (increase (total-cost) 1))) - - (:action reaction_R04745right - :precondition - (and - (C05267) - ) - :effect - (and - (C05266) - (increase (total-cost) 1))) - - (:action reaction_R04746left - :precondition - (and - (C05266) - ) - :effect - (and - (C05276) - (increase (total-cost) 1))) - - (:action reaction_R04746right - :precondition - (and - (C05276) - ) - :effect - (and - (C05266) - (increase (total-cost) 1))) - - (:action reaction_R04747left - :precondition - (and - (C05270) - (C00024) - ) - :effect - (and - (C05267) - (C00010) - (increase (total-cost) 1))) - - (:action reaction_R04747right - :precondition - (and - (C05267) - (C00010) - ) - :effect - (and - (C05270) - (C00024) - (increase (total-cost) 1))) - - (:action reaction_R04748left - :precondition - (and - (C05268) - ) - :effect - (and - (C05269) - (increase (total-cost) 1))) - - (:action reaction_R04748right - :precondition - (and - (C05269) - ) - :effect - (and - (C05268) - (increase (total-cost) 1))) - - (:action reaction_R04749left - :precondition - (and - (C05268) - ) - :effect - (and - (C05271) - (increase (total-cost) 1))) - - (:action reaction_R04749right - :precondition - (and - (C05271) - ) - :effect - (and - (C05268) - (increase (total-cost) 1))) - - (:action reaction_R04754left - :precondition - (and - (C05274) - ) - :effect - (and - (C05275) - (increase (total-cost) 1))) - - (:action reaction_R04756left - :precondition - (and - (C05280) - ) - :effect - (and - (C05279) - (increase (total-cost) 1))) - - (:action reaction_R04756right - :precondition - (and - (C05279) - ) - :effect - (and - (C05280) - (increase (total-cost) 1))) - - -) diff --git a/src/translate/regression-tests/issue49-orig-problem.pddl b/src/translate/regression-tests/issue49-orig-problem.pddl deleted file mode 100644 index 5b10047628..0000000000 --- a/src/translate/regression-tests/issue49-orig-problem.pddl +++ /dev/null @@ -1,470 +0,0 @@ -(define (problem SeedSet-small) - -(:domain SeedSet) - -(:objects ) - -(:INIT - (C00186) - (C00221) - (C01451) - (C06186) - (C06187) - (C06188) - (C00121) - (C00198) - (C00257) - (C00258) - (C00620) - (C00672) - (C00673) - (C01151) - (C01218) - (C01801) - (C03752) - (C00085) - (C00181) - (C00191) - (C00259) - (C00266) - (C00309) - (C00312) - (C00333) - (C00379) - (C00470) - (C00474) - (C00476) - (C00502) - (C00508) - (C00532) - (C00558) - (C00618) - (C00714) - (C00789) - (C00800) - (C00817) - (C01068) - (C01101) - (C01508) - (C01904) - (C02266) - (C02273) - (C03033) - (C03291) - (C03826) - (C04053) - (C04349) - (C04575) - (C05385) - (C05411) - (C05412) - (C06019) - (C06118) - (C06441) - (C14899) - (C00095) - (C00096) - (C00247) - (C00325) - (C00392) - (C00424) - (C00464) - (C00507) - (C00636) - (C00665) - (C00861) - (C00937) - (C00976) - (C01019) - (C01099) - (C01131) - (C01222) - (C01355) - (C01680) - (C01721) - (C01768) - (C02431) - (C02492) - (C02977) - (C02985) - (C02991) - (C03117) - (C03267) - (C05392) - (C06159) - (C06192) - (C11516) - (C11544) - (C00243) - (C00446) - (C00795) - (C00880) - (C01113) - (C01132) - (C01613) - (C01697) - (C02262) - (C03383) - (C05396) - (C05796) - (C06311) - (C06376) - (C06377) - (C00072) - (C00545) - (C00684) - (C01040) - (C01041) - (C01114) - (C01146) - (C01620) - (C01825) - (C02280) - (C03064) - (C03289) - (C03921) - (C05406) - (C05422) - (C15923) - (C15924) - (C15925) - (C15926) - (C15930) - (C16186) - (C00249) - (C00712) - (C01203) - (C01530) - (C01571) - (C02679) - (C03939) - (C04088) - (C06423) - (C06424) - (C08362) - (C16520) - (C00154) - (C00162) - (C00340) - (C00435) - (C00489) - (C00517) - (C00527) - (C00823) - (C01371) - (C02990) - (C03547) - (C05102) - (= (total-cost) 0)) - -(:goal (AND - (C00022) - (C00024) - (C00031) - (C00033) - (C00036) - (C00068) - (C00074) - (C00084) - (C00103) - (C00111) - (C00118) - (C00186) - (C00197) - (C00221) - (C00236) - (C00267) - (C00469) - (C00631) - (C00668) - (C01159) - (C01172) - (C01451) - (C05125) - (C05345) - (C05378) - (C06186) - (C06187) - (C06188) - (C15972) - (C15973) - (C16255) - (C00026) - (C00042) - (C00091) - (C00122) - (C00149) - (C00158) - (C00311) - (C00417) - (C05379) - (C05381) - (C16254) - (C00117) - (C00119) - (C00121) - 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(C01768) - (C01934) - (C02431) - (C02492) - (C02888) - (C02977) - (C02985) - (C02991) - (C03117) - (C03267) - (C03979) - (C05392) - (C06159) - (C06192) - (C11516) - (C11544) - (C00052) - (C00089) - (C00116) - (C00124) - (C00137) - (C00243) - (C00446) - (C00492) - (C00795) - (C00880) - (C01097) - (C01113) - (C01132) - (C01216) - (C01235) - (C01286) - (C01613) - (C01697) - (C02262) - (C03383) - (C03785) - (C05396) - (C05399) - (C05400) - (C05401) - (C05402) - (C05404) - (C05796) - (C06311) - (C06376) - (C06377) - (C00072) - (C00433) - (C00545) - (C00679) - (C00684) - (C00818) - (C00879) - (C01040) - (C01041) - (C01114) - (C01115) - (C01146) - (C01620) - (C01825) - (C02280) - (C02670) - (C03064) - (C03289) - (C03921) - (C05406) - (C05422) - (C15923) - (C15924) - (C15925) - (C15926) - (C15930) - (C16186) - (C00083) - (C00229) - (C00249) - (C00712) - (C01203) - (C01209) - (C01530) - (C01571) - (C02679) - (C03939) - (C04088) - (C04246) - (C04419) - (C04618) - (C04619) - (C04620) - (C04633) - (C04688) - (C05223) - (C05744) - (C05745) - (C05746) - (C05747) - (C05748) - (C05749) - (C05750) - (C05751) - (C05752) - (C05753) - (C05754) - (C05755) - (C05756) - (C05757) - (C05758) - (C05759) - (C05760) - (C05761) - (C05762) - (C05763) - (C05764) - (C06250) - (C06423) - (C06424) - (C08362) - (C16219) - (C16220) - (C16221) - (C16520) - (C00136) - (C00154) - (C01832) - (C01944) - (C02593) - (C03221) - (C05258) - (C05259) - (C05260) - (C05261) - (C05262) - (C05263) - (C05264) - (C05265) - (C05266) - (C05267) - (C05268) - (C05269) - (C05270) - (C05271) - (C05272) - (C05273) - (C05274) - (C05275) - (C05276) - (C00010) - (C00071) - (C00162) - (C00173) - (C00226) - (C00332) - (C00340) - (C00435) - (C00489) - (C00517) - (C00527) - (C00638) - (C00823) - (C00877) - (C01144) - (C01371) - (C02990) - (C03547) - (C03561) - (C05102) - (C05279) - (C05280) -)) - -(:metric minimize (total-cost)) -) - diff --git a/src/translate/regression-tests/issue49-truegoal-domain.pddl b/src/translate/regression-tests/issue49-truegoal-domain.pddl deleted file mode 100644 index 526fc2bf7f..0000000000 --- a/src/translate/regression-tests/issue49-truegoal-domain.pddl +++ /dev/null @@ -1,14 +0,0 @@ -;; Small test domain for the problem of issue49. - -(define (domain issue49) - (:predicates - (A) - (B) - (C) - ) - - (:action action-a - :precondition (A) - :effect (B) - ) -) diff --git a/src/translate/regression-tests/issue49-truegoal-problem.pddl b/src/translate/regression-tests/issue49-truegoal-problem.pddl deleted file mode 100644 index 868db20b9b..0000000000 --- a/src/translate/regression-tests/issue49-truegoal-problem.pddl +++ /dev/null @@ -1,9 +0,0 @@ -(define (problem issue49-statically-true-goal) - (:domain issue49) - - (:objects) - - (:init (A)) - - (:goal (and (A) (B))) -) diff --git a/src/translate/regression-tests/issue58-domain.pddl b/src/translate/regression-tests/issue58-domain.pddl deleted file mode 100644 index 63f44d73da..0000000000 --- a/src/translate/regression-tests/issue58-domain.pddl +++ /dev/null @@ -1,17 +0,0 @@ -(define (domain desire) -(:types robot location - object) -(:constants unknown - object - desiree - robot) -(:predicates (loc ?o - object ?val - location)) - -(:action move - :parameters (?from - location ?to - location) - :precondition (loc desiree ?from) - :effect (and (not (loc desiree ?from)) - (loc desiree ?to))) - -(:action set-loc-init - :parameters (?o - robot) - :precondition (loc ?o unknown) - :effect (not (loc ?o unknown))) -) diff --git a/src/translate/regression-tests/issue58-problem.pddl b/src/translate/regression-tests/issue58-problem.pddl deleted file mode 100644 index 2693e92a8e..0000000000 --- a/src/translate/regression-tests/issue58-problem.pddl +++ /dev/null @@ -1,6 +0,0 @@ -(define (problem desire-prob) -(:domain desire) -(:objects pos1 pos2 - location) -(:init (loc desiree pos1)) -(:goal (loc desiree pos2)) -) diff --git a/src/translate/regression-tests/issue7-domain.pddl b/src/translate/regression-tests/issue7-domain.pddl deleted file mode 100644 index 7a6b17a3db..0000000000 --- a/src/translate/regression-tests/issue7-domain.pddl +++ /dev/null @@ -1,243 +0,0 @@ -;; See problem file for a description of what this is about. - -(define (domain GROUNDED-TRUCKS) - -(:requirements -:strips -) - -(:predicates -(at-destination_package1_l1) -(at-destination_package1_l2) -(at_package1_l1) -(at_package1_l2) -(at_truck1_l1) -(at_truck1_l2) -(delivered_package1_l1_t1) -(delivered_package1_l1_t2) -(delivered_package1_l2_t1) -(delivered_package1_l2_t2) -(free_a1_truck1) -(in_package1_truck1_a1) -(time-now_t0) -(time-now_t1) -(time-now_t2) -) - -(:action LOAD_PACKAGE1_TRUCK1_A1_L1 -:parameters () -:precondition -(and -(at_truck1_l1) -(at_package1_l1) -(free_a1_truck1) -) -:effect -(and -(in_package1_truck1_a1) -(not (free_a1_truck1)) -(not (at_package1_l1)) -) -) - -(:action LOAD_PACKAGE1_TRUCK1_A1_L2 -:parameters () -:precondition -(and -(at_truck1_l2) -(at_package1_l2) -(free_a1_truck1) -) -:effect -(and -(in_package1_truck1_a1) -(not (free_a1_truck1)) -(not (at_package1_l2)) -) -) - -(:action UNLOAD_PACKAGE1_TRUCK1_A1_L1 -:parameters () -:precondition -(and -(at_truck1_l1) -(in_package1_truck1_a1) -) -:effect -(and -(at_package1_l1) -(free_a1_truck1) -(not (in_package1_truck1_a1)) -) -) - -(:action UNLOAD_PACKAGE1_TRUCK1_A1_L2 -:parameters () -:precondition -(and -(at_truck1_l2) -(in_package1_truck1_a1) -) -:effect -(and -(at_package1_l2) -(free_a1_truck1) -(not (in_package1_truck1_a1)) -) -) - -(:action DELIVER_PACKAGE1_L1_T1_T1 -:parameters () -:precondition -(and -(time-now_t1) -(at_package1_l1) -) -:effect -(and -(delivered_package1_l1_t1) -(at-destination_package1_l1) -(not (at_package1_l1)) -) -) - -(:action DELIVER_PACKAGE1_L1_T1_T2 -:parameters () -:precondition -(and -(time-now_t1) -(at_package1_l1) -) -:effect -(and -(delivered_package1_l1_t2) -(at-destination_package1_l1) -(not (at_package1_l1)) -) -) - -(:action DELIVER_PACKAGE1_L1_T2_T2 -:parameters () -:precondition -(and -(time-now_t2) -(at_package1_l1) -) -:effect -(and -(delivered_package1_l1_t2) -(at-destination_package1_l1) -(not (at_package1_l1)) -) -) - -(:action DELIVER_PACKAGE1_L2_T1_T1 -:parameters () -:precondition -(and -(time-now_t1) -(at_package1_l2) -) -:effect -(and -(delivered_package1_l2_t1) -(at-destination_package1_l2) -(not (at_package1_l2)) -) -) - -(:action DELIVER_PACKAGE1_L2_T1_T2 -:parameters () -:precondition -(and -(time-now_t1) -(at_package1_l2) -) -:effect -(and -(delivered_package1_l2_t2) -(at-destination_package1_l2) -(not (at_package1_l2)) -) -) - -(:action DELIVER_PACKAGE1_L2_T2_T2 -:parameters () -:precondition -(and -(time-now_t2) -(at_package1_l2) -) -:effect -(and -(delivered_package1_l2_t2) -(at-destination_package1_l2) -(not (at_package1_l2)) -) -) - -(:action DRIVE_TRUCK1_L1_L2_T0_T1 -:parameters () -:precondition -(and -(time-now_t0) -(at_truck1_l1) -) -:effect -(and -(time-now_t1) -(at_truck1_l2) -(not (at_truck1_l1)) -(not (time-now_t0)) -) -) - -(:action DRIVE_TRUCK1_L1_L2_T1_T2 -:parameters () -:precondition -(and -(time-now_t1) -(at_truck1_l1) -) -:effect -(and -(time-now_t2) -(at_truck1_l2) -(not (at_truck1_l1)) -(not (time-now_t1)) -) -) - -(:action DRIVE_TRUCK1_L2_L1_T0_T1 -:parameters () -:precondition -(and -(time-now_t0) -(at_truck1_l2) -) -:effect -(and -(time-now_t1) -(at_truck1_l1) -(not (at_truck1_l2)) -(not (time-now_t0)) -) -) - -(:action DRIVE_TRUCK1_L2_L1_T1_T2 -:parameters () -:precondition -(and -(time-now_t1) -(at_truck1_l2) -) -:effect -(and -(time-now_t2) -(at_truck1_l1) -(not (at_truck1_l2)) -(not (time-now_t1)) -) -) - -) diff --git a/src/translate/regression-tests/issue7-problem.pddl b/src/translate/regression-tests/issue7-problem.pddl deleted file mode 100644 index 9dfd1b0750..0000000000 --- a/src/translate/regression-tests/issue7-problem.pddl +++ /dev/null @@ -1,34 +0,0 @@ -;; Problem to test issue75. If we add the implied preconditions, the -;; preprocessor cannot prune any variables; if we do, it can prune lots. -;; -;; Pruning the variables is safe and should be done: the variables -;; that are pruned are ones that are only set by effects, but not -;; mentioned in the goal or used as preconditions. (Adding the implied -;; preconditions causes them to be mentioned in the preconditions, -;; which means that relevance analysis can't detect them as useless -;; any more.) -;; -;; This is based on Trucks-Strips #1, with the following modifications: -;; -;; - Removed everything pertaining to packages 2 and 3. -;; - Removed atom (foo). -;; - Changed goal deadline from t3 to t2. -;; - Removed storage space (if that's what it is) a2. -;; - Removed everything pertaining to timesteps t3, t4, t5 and t6. -;; - Changed truck init location and package goal location to l2. -;; - Removed everything pertaining to location l3. - -(define (problem GROUNDED-TRUCK-1) -(:domain GROUNDED-TRUCKS) -(:init -(at_package1_l2) -(at_truck1_l1) -(free_a1_truck1) -(time-now_t0) -) -(:goal -(and -(delivered_package1_l1_t2) -) -) -) diff --git a/src/translate/regression-tests/issue73-domain.pddl b/src/translate/regression-tests/issue73-domain.pddl deleted file mode 100644 index fc153719b7..0000000000 --- a/src/translate/regression-tests/issue73-domain.pddl +++ /dev/null @@ -1,979 +0,0 @@ -(define (domain rover) - - (:predicates (at_rover0_waypoint0) (at_rover0_waypoint3) - (at_rover0_waypoint1) (at_rover0_waypoint2) - (at_soil_sample_waypoint0) (empty_rover0store) (full_rover0store) - (have_soil_analysis_rover0_waypoint0) (at_soil_sample_waypoint2) - (have_soil_analysis_rover0_waypoint2) (at_soil_sample_waypoint3) - (have_soil_analysis_rover0_waypoint3) (at_rock_sample_waypoint1) - (have_rock_analysis_rover0_waypoint1) (at_rock_sample_waypoint2) - (have_rock_analysis_rover0_waypoint2) (at_rock_sample_waypoint3) - (have_rock_analysis_rover0_waypoint3) (calibrated_camera0_rover0) - (have_image_rover0_objective0_colour) - (have_image_rover0_objective0_high_res) - (have_image_rover0_objective1_colour) - (have_image_rover0_objective1_high_res) - (communicated_soil_data_waypoint0) (communicated_soil_data_waypoint2) - (communicated_soil_data_waypoint3) (communicated_rock_data_waypoint1) - (communicated_rock_data_waypoint2) (communicated_rock_data_waypoint3) - (communicated_image_data_objective0_colour) - (communicated_image_data_objective0_high_res) - (communicated_image_data_objective1_colour) - (communicated_image_data_objective1_high_res) (ok_a0) (ok_a1) (ok_e0) - (ok_e1) (ok_e2) (ok_o0) (once_o0) (negof_once_o0) (ok_o1) (once_o1) - (negof_once_o1) (ok_o2) (once_o2) (negof_once_o2) (ok_o3) (once_o3) - (negof_once_o3) (safe_sb3) (ok_sb3) (safe_sb7) (ok_sb7) (safe_sb8) - (ok_sb8) (safe_sb11) (ok_sb11) (safe_sb12) (ok_sb12) (safe_sb13) - (ok_sb13) (safe_sb16) (ok_sb16) (safe_sb17) (ok_sb17) (safe_sb19) - (ok_sb19) (safe_sb20) (ok_sb20) (normal-mode) (a0) (a1) (e0) (e1) - (e2) (o0) (o1) (o2) (o3) (sb3) (sb7) (sb8) (sb11) (sb12) (sb13) - (sb16) (sb17) (sb19) (sb20)) - - (:functions (total-cost)) - - (:action copy_0_navigate_rover0_waypoint1_waypoint2 :parameters () - :precondition (and (at_rover0_waypoint1) (safe_sb3) (normal-mode)) - :effect (and (at_rover0_waypoint2) (once_o1) (safe_sb12) (not - (at_rover0_waypoint1)) (not (negof_once_o1)) (increase (total-cost) - 0)) ) - - (:action copy_0_navigate_rover0_waypoint3_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint3) (normal-mode)) - :effect (and (at_rover0_waypoint0) (ok_e0) (once_o0) (safe_sb11) (not (at_rover0_waypoint3)) (not (negof_once_o0)) (increase (total-cost) 0)) - ) - (:action copy_0_navigate_rover0_waypoint3_waypoint1 - :parameters () - :precondition (and (at_rover0_waypoint3) (negof_once_o1) (normal-mode)) - :effect (and (at_rover0_waypoint1) (once_o0) (not (at_rover0_waypoint3)) (not (negof_once_o0)) (increase (total-cost) 0)) - ) - (:action copy_0_sample_soil_rover0_rover0store_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint0) (at_soil_sample_waypoint0) (empty_rover0store) (negof_once_o3) (normal-mode)) - :effect (and (full_rover0store) (have_soil_analysis_rover0_waypoint0) (ok_e1) (once_o2) (safe_sb3) (safe_sb7) (safe_sb8) (safe_sb13) (safe_sb19) (not (at_soil_sample_waypoint0)) (not (empty_rover0store)) (not (ok_a0)) (not (negof_once_o2)) (increase (total-cost) 0)) - ) - (:action copy_0_sample_soil_rover0_rover0store_waypoint2 - :parameters () - :precondition (and (at_rover0_waypoint2) (empty_rover0store) (at_soil_sample_waypoint2) (negof_once_o3) (safe_sb7) (safe_sb8) (normal-mode)) - :effect (and (full_rover0store) (have_soil_analysis_rover0_waypoint2) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (not (empty_rover0store)) (not (at_soil_sample_waypoint2)) (not (negof_once_o2)) (increase (total-cost) 0)) - ) - (:action copy_0_sample_soil_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_soil_sample_waypoint3) (negof_once_o3) (normal-mode)) - :effect (and (full_rover0store) (have_soil_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (not (empty_rover0store)) (not (at_soil_sample_waypoint3)) (not (negof_once_o2)) (increase (total-cost) 0)) - ) - (:action copy_0_sample_rock_rover0_rover0store_waypoint1 - :parameters () - :precondition (and (at_rover0_waypoint1) (empty_rover0store) (at_rock_sample_waypoint1) (negof_once_o3) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint1) (ok_e2) (once_o2) (safe_sb7) (safe_sb13) (safe_sb16) (safe_sb19) (not (empty_rover0store)) (not (at_rock_sample_waypoint1)) (not (ok_a1)) (not (negof_once_o2)) (increase (total-cost) 0)) - ) - (:action copy_0_sample_rock_rover0_rover0store_waypoint2 - :parameters () - :precondition (and (at_rover0_waypoint2) (empty_rover0store) (at_rock_sample_waypoint2) (negof_once_o3) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint2) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (not (empty_rover0store)) (not (at_rock_sample_waypoint2)) (not (negof_once_o2)) (increase (total-cost) 0)) - ) - (:action copy_0_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb11) (safe_sb12) (safe_sb13) (safe_sb16) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (increase (total-cost) 0)) - ) - (:action copy_0_calibrate_rover0_camera0_objective1_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint0) (normal-mode)) - :effect (and (calibrated_camera0_rover0) (increase (total-cost) 0)) - ) - (:action copy_0_calibrate_rover0_camera0_objective1_waypoint1 - :parameters () - :precondition (and (at_rover0_waypoint1) (normal-mode)) - :effect (and (calibrated_camera0_rover0) (increase (total-cost) 0)) - ) - (:action copy_0_calibrate_rover0_camera0_objective1_waypoint2 - :parameters () - :precondition (and (at_rover0_waypoint2) (normal-mode)) - :effect (and (calibrated_camera0_rover0) (increase (total-cost) 0)) - ) - (:action copy_0_calibrate_rover0_camera0_objective1_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (normal-mode)) - :effect (and (calibrated_camera0_rover0) (increase (total-cost) 0)) - ) - (:action copy_0_take_image_rover0_waypoint0_objective0_camera0_colour - :parameters () - :precondition (and (at_rover0_waypoint0) (calibrated_camera0_rover0) (normal-mode)) - :effect (and (have_image_rover0_objective0_colour) (not (calibrated_camera0_rover0)) (increase (total-cost) 0)) - ) - (:action copy_0_take_image_rover0_waypoint0_objective0_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint0) (calibrated_camera0_rover0) (normal-mode)) - :effect (and (have_image_rover0_objective0_high_res) (not (calibrated_camera0_rover0)) (increase (total-cost) 0)) - ) - (:action copy_0_take_image_rover0_waypoint0_objective1_camera0_colour - :parameters () - :precondition (and (at_rover0_waypoint0) (calibrated_camera0_rover0) (normal-mode)) - :effect (and (have_image_rover0_objective1_colour) (not (calibrated_camera0_rover0)) (increase (total-cost) 0)) - ) - (:action copy_0_take_image_rover0_waypoint0_objective1_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint0) (calibrated_camera0_rover0) (safe_sb19) (safe_sb20) (normal-mode)) - :effect (and (have_image_rover0_objective1_high_res) (safe_sb17) (not (calibrated_camera0_rover0)) (increase (total-cost) 0)) - ) - (:action copy_0_take_image_rover0_waypoint1_objective0_camera0_colour - :parameters () - :precondition (and (at_rover0_waypoint1) (calibrated_camera0_rover0) (normal-mode)) - :effect (and (have_image_rover0_objective0_colour) (not (calibrated_camera0_rover0)) (increase (total-cost) 0)) - ) - (:action copy_0_take_image_rover0_waypoint1_objective0_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint1) (calibrated_camera0_rover0) (normal-mode)) - :effect (and (have_image_rover0_objective0_high_res) (not (calibrated_camera0_rover0)) (increase (total-cost) 0)) - ) - (:action copy_0_take_image_rover0_waypoint1_objective1_camera0_colour - :parameters () - :precondition (and (at_rover0_waypoint1) (calibrated_camera0_rover0) (normal-mode)) - :effect (and (have_image_rover0_objective1_colour) (not (calibrated_camera0_rover0)) (increase (total-cost) 0)) - ) - (:action copy_0_take_image_rover0_waypoint1_objective1_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint1) (calibrated_camera0_rover0) (safe_sb19) (safe_sb20) (normal-mode)) - :effect (and (have_image_rover0_objective1_high_res) (safe_sb17) (not (calibrated_camera0_rover0)) (increase (total-cost) 0)) - ) - (:action copy_0_take_image_rover0_waypoint2_objective0_camera0_colour - :parameters () - :precondition (and (at_rover0_waypoint2) (calibrated_camera0_rover0) (normal-mode)) - :effect (and (have_image_rover0_objective0_colour) (not (calibrated_camera0_rover0)) (increase (total-cost) 0)) - ) - (:action copy_0_take_image_rover0_waypoint2_objective0_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint2) (calibrated_camera0_rover0) (normal-mode)) - :effect (and (have_image_rover0_objective0_high_res) (not (calibrated_camera0_rover0)) (increase (total-cost) 0)) - ) - (:action copy_0_take_image_rover0_waypoint2_objective1_camera0_colour - :parameters () - :precondition (and (at_rover0_waypoint2) (calibrated_camera0_rover0) (normal-mode)) - :effect (and (have_image_rover0_objective1_colour) (not (calibrated_camera0_rover0)) (increase (total-cost) 0)) - ) - (:action copy_0_take_image_rover0_waypoint2_objective1_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint2) (calibrated_camera0_rover0) (safe_sb19) (safe_sb20) (normal-mode)) - :effect (and (have_image_rover0_objective1_high_res) (safe_sb17) (not (calibrated_camera0_rover0)) (increase (total-cost) 0)) - ) - (:action copy_0_take_image_rover0_waypoint3_objective0_camera0_colour - :parameters () - :precondition (and (at_rover0_waypoint3) (calibrated_camera0_rover0) (normal-mode)) - :effect (and (have_image_rover0_objective0_colour) (not (calibrated_camera0_rover0)) (increase (total-cost) 0)) - ) - (:action copy_0_take_image_rover0_waypoint3_objective0_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint3) (calibrated_camera0_rover0) (normal-mode)) - :effect (and (have_image_rover0_objective0_high_res) (not (calibrated_camera0_rover0)) (increase (total-cost) 0)) - ) - (:action copy_0_take_image_rover0_waypoint3_objective1_camera0_colour - :parameters () - :precondition (and (at_rover0_waypoint3) (calibrated_camera0_rover0) (normal-mode)) - :effect (and (have_image_rover0_objective1_colour) (not (calibrated_camera0_rover0)) (increase (total-cost) 0)) - ) - (:action copy_0_take_image_rover0_waypoint3_objective1_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint3) (calibrated_camera0_rover0) (safe_sb19) (safe_sb20) (normal-mode)) - :effect (and (have_image_rover0_objective1_high_res) (safe_sb17) (not (calibrated_camera0_rover0)) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_soil_data_rover0_general_waypoint0_waypoint1_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint1) (have_soil_analysis_rover0_waypoint0) (normal-mode)) - :effect (and (communicated_soil_data_waypoint0) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_soil_data_rover0_general_waypoint0_waypoint2_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint2) (have_soil_analysis_rover0_waypoint0) (normal-mode)) - :effect (and (communicated_soil_data_waypoint0) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_soil_data_rover0_general_waypoint0_waypoint3_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint3) (have_soil_analysis_rover0_waypoint0) (normal-mode)) - :effect (and (communicated_soil_data_waypoint0) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_soil_data_rover0_general_waypoint2_waypoint1_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint1) (have_soil_analysis_rover0_waypoint2) (normal-mode)) - :effect (and (communicated_soil_data_waypoint2) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_soil_data_rover0_general_waypoint2_waypoint2_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint2) (have_soil_analysis_rover0_waypoint2) (normal-mode)) - :effect (and (communicated_soil_data_waypoint2) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_soil_data_rover0_general_waypoint2_waypoint3_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint3) (have_soil_analysis_rover0_waypoint2) (normal-mode)) - :effect (and (communicated_soil_data_waypoint2) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_soil_data_rover0_general_waypoint3_waypoint1_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint1) (have_soil_analysis_rover0_waypoint3) (normal-mode)) - :effect (and (communicated_soil_data_waypoint3) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_soil_data_rover0_general_waypoint3_waypoint2_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint2) (have_soil_analysis_rover0_waypoint3) (normal-mode)) - :effect (and (communicated_soil_data_waypoint3) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_soil_data_rover0_general_waypoint3_waypoint3_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint3) (have_soil_analysis_rover0_waypoint3) (normal-mode)) - :effect (and (communicated_soil_data_waypoint3) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_rock_data_rover0_general_waypoint1_waypoint1_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint1) (have_rock_analysis_rover0_waypoint1) (normal-mode)) - :effect (and (communicated_rock_data_waypoint1) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_rock_data_rover0_general_waypoint1_waypoint2_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint2) (have_rock_analysis_rover0_waypoint1) (normal-mode)) - :effect (and (communicated_rock_data_waypoint1) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_rock_data_rover0_general_waypoint1_waypoint3_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint3) (have_rock_analysis_rover0_waypoint1) (normal-mode)) - :effect (and (communicated_rock_data_waypoint1) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_rock_data_rover0_general_waypoint2_waypoint1_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint1) (have_rock_analysis_rover0_waypoint2) (normal-mode)) - :effect (and (communicated_rock_data_waypoint2) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_rock_data_rover0_general_waypoint2_waypoint2_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint2) (have_rock_analysis_rover0_waypoint2) (normal-mode)) - :effect (and (communicated_rock_data_waypoint2) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_rock_data_rover0_general_waypoint2_waypoint3_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint3) (have_rock_analysis_rover0_waypoint2) (normal-mode)) - :effect (and (communicated_rock_data_waypoint2) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_rock_data_rover0_general_waypoint3_waypoint1_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint1) (have_rock_analysis_rover0_waypoint3) (normal-mode)) - :effect (and (communicated_rock_data_waypoint3) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_rock_data_rover0_general_waypoint3_waypoint2_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint2) (have_rock_analysis_rover0_waypoint3) (normal-mode)) - :effect (and (communicated_rock_data_waypoint3) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_rock_data_rover0_general_waypoint3_waypoint3_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint3) (have_rock_analysis_rover0_waypoint3) (normal-mode)) - :effect (and (communicated_rock_data_waypoint3) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_image_data_rover0_general_objective0_colour_waypoint1_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint1) (have_image_rover0_objective0_colour) (normal-mode)) - :effect (and (communicated_image_data_objective0_colour) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_image_data_rover0_general_objective0_colour_waypoint2_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint2) (have_image_rover0_objective0_colour) (normal-mode)) - :effect (and (communicated_image_data_objective0_colour) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_image_data_rover0_general_objective0_colour_waypoint3_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint3) (have_image_rover0_objective0_colour) (normal-mode)) - :effect (and (communicated_image_data_objective0_colour) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_image_data_rover0_general_objective0_high_res_waypoint1_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint1) (have_image_rover0_objective0_high_res) (normal-mode)) - :effect (and (communicated_image_data_objective0_high_res) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_image_data_rover0_general_objective0_high_res_waypoint2_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint2) (have_image_rover0_objective0_high_res) (normal-mode)) - :effect (and (communicated_image_data_objective0_high_res) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_image_data_rover0_general_objective0_high_res_waypoint3_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint3) (have_image_rover0_objective0_high_res) (normal-mode)) - :effect (and (communicated_image_data_objective0_high_res) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_image_data_rover0_general_objective1_colour_waypoint1_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint1) (have_image_rover0_objective1_colour) (normal-mode)) - :effect (and (communicated_image_data_objective1_colour) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_image_data_rover0_general_objective1_colour_waypoint2_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint2) (have_image_rover0_objective1_colour) (normal-mode)) - :effect (and (communicated_image_data_objective1_colour) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_image_data_rover0_general_objective1_colour_waypoint3_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint3) (have_image_rover0_objective1_colour) (normal-mode)) - :effect (and (communicated_image_data_objective1_colour) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_image_data_rover0_general_objective1_high_res_waypoint1_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint1) (have_image_rover0_objective1_high_res) (normal-mode)) - :effect (and (communicated_image_data_objective1_high_res) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_image_data_rover0_general_objective1_high_res_waypoint2_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint2) (have_image_rover0_objective1_high_res) (normal-mode)) - :effect (and (communicated_image_data_objective1_high_res) (increase (total-cost) 0)) - ) - (:action copy_0_communicate_image_data_rover0_general_objective1_high_res_waypoint3_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint3) (have_image_rover0_objective1_high_res) (normal-mode)) - :effect (and (communicated_image_data_objective1_high_res) (increase (total-cost) 0)) - ) - (:action copy_0_navigate_rover0_waypoint0_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint0) (once_o0) (normal-mode)) - :effect (and (at_rover0_waypoint3) (not (at_rover0_waypoint0)) (not (ok_o0)) (increase (total-cost) 0)) - ) - (:action copy_0_navigate_rover0_waypoint1_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint1) (once_o0) (normal-mode)) - :effect (and (at_rover0_waypoint3) (once_o1) (not (at_rover0_waypoint1)) (not (ok_o0)) (not (negof_once_o1)) (increase (total-cost) 0)) - ) - (:action copy_0_navigate_rover0_waypoint2_waypoint1 - :parameters () - :precondition (and (at_rover0_waypoint2) (once_o1) (normal-mode)) - :effect (and (at_rover0_waypoint1) (not (at_rover0_waypoint2)) (not (ok_o1)) (increase (total-cost) 0)) - ) - (:action copy_1_navigate_rover0_waypoint3_waypoint1 - :parameters () - :precondition (and (at_rover0_waypoint3) (once_o1) (normal-mode)) - :effect (and (at_rover0_waypoint1) (once_o0) (not (at_rover0_waypoint3)) (not (negof_once_o0)) (not (ok_o1)) (increase (total-cost) 0)) - ) - (:action copy_0_drop_rover0_rover0store - :parameters () - :precondition (and (full_rover0store) (once_o2) (normal-mode)) - :effect (and (empty_rover0store) (once_o3) (not (full_rover0store)) (not (ok_o2)) (not (negof_once_o3)) (increase (total-cost) 0)) - ) - (:action copy_1_sample_soil_rover0_rover0store_waypoint0 - :parameters () - :precondition (and (at_rover0_waypoint0) (at_soil_sample_waypoint0) (empty_rover0store) (once_o3) (normal-mode)) - :effect (and (full_rover0store) (have_soil_analysis_rover0_waypoint0) (ok_e1) (once_o2) (safe_sb3) (safe_sb7) (safe_sb8) (safe_sb13) (safe_sb19) (not (at_soil_sample_waypoint0)) (not (empty_rover0store)) (not (ok_a0)) (not (negof_once_o2)) (not (ok_o3)) (increase (total-cost) 0)) - ) - (:action copy_1_sample_soil_rover0_rover0store_waypoint2 - :parameters () - :precondition (and (at_rover0_waypoint2) (empty_rover0store) (at_soil_sample_waypoint2) (once_o3) (safe_sb7) (safe_sb8) (normal-mode)) - :effect (and (full_rover0store) (have_soil_analysis_rover0_waypoint2) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (not (empty_rover0store)) (not (at_soil_sample_waypoint2)) (not (negof_once_o2)) (not (ok_o3)) (increase (total-cost) 0)) - ) - (:action copy_1_sample_soil_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_soil_sample_waypoint3) (once_o3) (normal-mode)) - :effect (and (full_rover0store) (have_soil_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (not (empty_rover0store)) (not (at_soil_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (increase (total-cost) 0)) - ) - (:action copy_1_sample_rock_rover0_rover0store_waypoint1 - :parameters () - :precondition (and (at_rover0_waypoint1) (empty_rover0store) (at_rock_sample_waypoint1) (once_o3) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint1) (ok_e2) (once_o2) (safe_sb7) (safe_sb13) (safe_sb16) (safe_sb19) (not (empty_rover0store)) (not (at_rock_sample_waypoint1)) (not (ok_a1)) (not (negof_once_o2)) (not (ok_o3)) (increase (total-cost) 0)) - ) - (:action copy_1_sample_rock_rover0_rover0store_waypoint2 - :parameters () - :precondition (and (at_rover0_waypoint2) (empty_rover0store) (at_rock_sample_waypoint2) (once_o3) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint2) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (not (empty_rover0store)) (not (at_rock_sample_waypoint2)) (not (negof_once_o2)) (not (ok_o3)) (increase (total-cost) 0)) - ) - (:action copy_1_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb11) (safe_sb12) (safe_sb13) (safe_sb16) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (increase (total-cost) 0)) - ) - (:action copy_1_navigate_rover0_waypoint1_waypoint2 - :parameters () - :precondition (and (at_rover0_waypoint1) (normal-mode)) - :effect (and (at_rover0_waypoint2) (once_o1) (safe_sb12) (not (at_rover0_waypoint1)) (not (negof_once_o1)) (not (ok_sb3)) (increase (total-cost) 0)) - ) - (:action copy_2_sample_soil_rover0_rover0store_waypoint2 - :parameters () - :precondition (and (at_rover0_waypoint2) (empty_rover0store) (at_soil_sample_waypoint2) (negof_once_o3) (safe_sb8) (normal-mode)) - :effect (and (full_rover0store) (have_soil_analysis_rover0_waypoint2) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (not (empty_rover0store)) (not (at_soil_sample_waypoint2)) (not (negof_once_o2)) (not (ok_sb7)) (increase (total-cost) 0)) - ) - (:action copy_3_sample_soil_rover0_rover0store_waypoint2 - :parameters () - :precondition (and (at_rover0_waypoint2) (empty_rover0store) (at_soil_sample_waypoint2) (once_o3) (safe_sb8) (normal-mode)) - :effect (and (full_rover0store) (have_soil_analysis_rover0_waypoint2) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (not (empty_rover0store)) (not (at_soil_sample_waypoint2)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb7)) (increase (total-cost) 0)) - ) - (:action copy_4_sample_soil_rover0_rover0store_waypoint2 - :parameters () - :precondition (and (at_rover0_waypoint2) (empty_rover0store) (at_soil_sample_waypoint2) (negof_once_o3) (safe_sb7) (normal-mode)) - :effect (and (full_rover0store) (have_soil_analysis_rover0_waypoint2) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (not (empty_rover0store)) (not (at_soil_sample_waypoint2)) (not (negof_once_o2)) (not (ok_sb8)) (increase (total-cost) 0)) - ) - (:action copy_5_sample_soil_rover0_rover0store_waypoint2 - :parameters () - :precondition (and (at_rover0_waypoint2) (empty_rover0store) (at_soil_sample_waypoint2) (once_o3) (safe_sb7) (normal-mode)) - :effect (and (full_rover0store) (have_soil_analysis_rover0_waypoint2) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (not (empty_rover0store)) (not (at_soil_sample_waypoint2)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb8)) (increase (total-cost) 0)) - ) - (:action copy_6_sample_soil_rover0_rover0store_waypoint2 - :parameters () - :precondition (and (at_rover0_waypoint2) (empty_rover0store) (at_soil_sample_waypoint2) (negof_once_o3) (normal-mode)) - :effect (and (full_rover0store) (have_soil_analysis_rover0_waypoint2) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (not (empty_rover0store)) (not (at_soil_sample_waypoint2)) (not (negof_once_o2)) (not (ok_sb7)) (not (ok_sb8)) (increase (total-cost) 0)) - ) - (:action copy_7_sample_soil_rover0_rover0store_waypoint2 - :parameters () - :precondition (and (at_rover0_waypoint2) (empty_rover0store) (at_soil_sample_waypoint2) (once_o3) (normal-mode)) - :effect (and (full_rover0store) (have_soil_analysis_rover0_waypoint2) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (not (empty_rover0store)) (not (at_soil_sample_waypoint2)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb7)) (not (ok_sb8)) (increase (total-cost) 0)) - ) - (:action copy_2_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb12) (safe_sb13) (safe_sb16) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb11)) (increase (total-cost) 0)) - ) - (:action copy_3_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb12) (safe_sb13) (safe_sb16) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb11)) (increase (total-cost) 0)) - ) - (:action copy_4_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb11) (safe_sb13) (safe_sb16) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb12)) (increase (total-cost) 0)) - ) - (:action copy_5_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb11) (safe_sb13) (safe_sb16) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb12)) (increase (total-cost) 0)) - ) - (:action copy_6_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb13) (safe_sb16) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb11)) (not (ok_sb12)) (increase (total-cost) 0)) - ) - (:action copy_7_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb13) (safe_sb16) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb11)) (not (ok_sb12)) (increase (total-cost) 0)) - ) - (:action copy_8_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb11) (safe_sb12) (safe_sb16) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb13)) (increase (total-cost) 0)) - ) - (:action copy_9_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb11) (safe_sb12) (safe_sb16) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb13)) (increase (total-cost) 0)) - ) - (:action copy_10_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb12) (safe_sb16) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb11)) (not (ok_sb13)) (increase (total-cost) 0)) - ) - (:action copy_11_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb12) (safe_sb16) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb11)) (not (ok_sb13)) (increase (total-cost) 0)) - ) - (:action copy_12_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb11) (safe_sb16) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb12)) (not (ok_sb13)) (increase (total-cost) 0)) - ) - (:action copy_13_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb11) (safe_sb16) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb12)) (not (ok_sb13)) (increase (total-cost) 0)) - ) - (:action copy_14_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb16) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb11)) (not (ok_sb12)) (not (ok_sb13)) (increase (total-cost) 0)) - ) - (:action copy_15_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb16) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb11)) (not (ok_sb12)) (not (ok_sb13)) (increase (total-cost) 0)) - ) - (:action copy_16_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb11) (safe_sb12) (safe_sb13) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb16)) (increase (total-cost) 0)) - ) - (:action copy_17_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb11) (safe_sb12) (safe_sb13) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb16)) (increase (total-cost) 0)) - ) - (:action copy_18_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb12) (safe_sb13) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb11)) (not (ok_sb16)) (increase (total-cost) 0)) - ) - (:action copy_19_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb12) (safe_sb13) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb11)) (not (ok_sb16)) (increase (total-cost) 0)) - ) - (:action copy_20_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb11) (safe_sb13) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb12)) (not (ok_sb16)) (increase (total-cost) 0)) - ) - (:action copy_21_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb11) (safe_sb13) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb12)) (not (ok_sb16)) (increase (total-cost) 0)) - ) - (:action copy_22_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb13) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb11)) (not (ok_sb12)) (not (ok_sb16)) (increase (total-cost) 0)) - ) - (:action copy_23_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb13) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb11)) (not (ok_sb12)) (not (ok_sb16)) (increase (total-cost) 0)) - ) - (:action copy_24_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb11) (safe_sb12) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb13)) (not (ok_sb16)) (increase (total-cost) 0)) - ) - (:action copy_25_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb11) (safe_sb12) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb13)) (not (ok_sb16)) (increase (total-cost) 0)) - ) - (:action copy_26_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb12) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb11)) (not (ok_sb13)) (not (ok_sb16)) (increase (total-cost) 0)) - ) - (:action copy_27_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb12) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb11)) (not (ok_sb13)) (not (ok_sb16)) (increase (total-cost) 0)) - ) - (:action copy_28_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb11) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb12)) (not (ok_sb13)) (not (ok_sb16)) (increase (total-cost) 0)) - ) - (:action copy_29_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb11) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb12)) (not (ok_sb13)) (not (ok_sb16)) (increase (total-cost) 0)) - ) - (:action copy_30_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb11)) (not (ok_sb12)) (not (ok_sb13)) (not (ok_sb16)) (increase (total-cost) 0)) - ) - (:action copy_31_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb17) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb11)) (not (ok_sb12)) (not (ok_sb13)) (not (ok_sb16)) (increase (total-cost) 0)) - ) - (:action copy_32_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb11) (safe_sb12) (safe_sb13) (safe_sb16) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_33_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb11) (safe_sb12) (safe_sb13) (safe_sb16) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_34_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb12) (safe_sb13) (safe_sb16) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb11)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_35_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb12) (safe_sb13) (safe_sb16) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb11)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_36_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb11) (safe_sb13) (safe_sb16) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb12)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_37_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb11) (safe_sb13) (safe_sb16) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb12)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_38_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb13) (safe_sb16) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb11)) (not (ok_sb12)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_39_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb13) (safe_sb16) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb11)) (not (ok_sb12)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_40_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb11) (safe_sb12) (safe_sb16) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb13)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_41_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb11) (safe_sb12) (safe_sb16) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb13)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_42_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb12) (safe_sb16) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb11)) (not (ok_sb13)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_43_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb12) (safe_sb16) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb11)) (not (ok_sb13)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_44_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb11) (safe_sb16) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb12)) (not (ok_sb13)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_45_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb11) (safe_sb16) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb12)) (not (ok_sb13)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_46_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb16) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb11)) (not (ok_sb12)) (not (ok_sb13)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_47_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb16) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb11)) (not (ok_sb12)) (not (ok_sb13)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_48_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb11) (safe_sb12) (safe_sb13) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb16)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_49_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb11) (safe_sb12) (safe_sb13) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb16)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_50_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb12) (safe_sb13) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb11)) (not (ok_sb16)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_51_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb12) (safe_sb13) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb11)) (not (ok_sb16)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_52_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb11) (safe_sb13) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb12)) (not (ok_sb16)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_53_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb11) (safe_sb13) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb12)) (not (ok_sb16)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_54_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb13) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb11)) (not (ok_sb12)) (not (ok_sb16)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_55_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb13) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb11)) (not (ok_sb12)) (not (ok_sb16)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_56_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb11) (safe_sb12) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb13)) (not (ok_sb16)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_57_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb11) (safe_sb12) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb13)) (not (ok_sb16)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_58_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb12) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb11)) (not (ok_sb13)) (not (ok_sb16)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_59_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb12) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb11)) (not (ok_sb13)) (not (ok_sb16)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_60_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (safe_sb11) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb12)) (not (ok_sb13)) (not (ok_sb16)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_61_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (safe_sb11) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb12)) (not (ok_sb13)) (not (ok_sb16)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_62_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (negof_once_o3) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_sb11)) (not (ok_sb12)) (not (ok_sb13)) (not (ok_sb16)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_63_sample_rock_rover0_rover0store_waypoint3 - :parameters () - :precondition (and (at_rover0_waypoint3) (empty_rover0store) (at_rock_sample_waypoint3) (once_o3) (normal-mode)) - :effect (and (full_rover0store) (have_rock_analysis_rover0_waypoint3) (once_o2) (safe_sb7) (safe_sb13) (safe_sb19) (safe_sb20) (not (empty_rover0store)) (not (at_rock_sample_waypoint3)) (not (negof_once_o2)) (not (ok_o3)) (not (ok_sb11)) (not (ok_sb12)) (not (ok_sb13)) (not (ok_sb16)) (not (ok_sb17)) (increase (total-cost) 0)) - ) - (:action copy_1_take_image_rover0_waypoint0_objective1_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint0) (calibrated_camera0_rover0) (safe_sb20) (normal-mode)) - :effect (and (have_image_rover0_objective1_high_res) (safe_sb17) (not (calibrated_camera0_rover0)) (not (ok_sb19)) (increase (total-cost) 0)) - ) - (:action copy_1_take_image_rover0_waypoint1_objective1_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint1) (calibrated_camera0_rover0) (safe_sb20) (normal-mode)) - :effect (and (have_image_rover0_objective1_high_res) (safe_sb17) (not (calibrated_camera0_rover0)) (not (ok_sb19)) (increase (total-cost) 0)) - ) - (:action copy_1_take_image_rover0_waypoint2_objective1_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint2) (calibrated_camera0_rover0) (safe_sb20) (normal-mode)) - :effect (and (have_image_rover0_objective1_high_res) (safe_sb17) (not (calibrated_camera0_rover0)) (not (ok_sb19)) (increase (total-cost) 0)) - ) - (:action copy_1_take_image_rover0_waypoint3_objective1_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint3) (calibrated_camera0_rover0) (safe_sb20) (normal-mode)) - :effect (and (have_image_rover0_objective1_high_res) (safe_sb17) (not (calibrated_camera0_rover0)) (not (ok_sb19)) (increase (total-cost) 0)) - ) - (:action copy_2_take_image_rover0_waypoint0_objective1_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint0) (calibrated_camera0_rover0) (safe_sb19) (normal-mode)) - :effect (and (have_image_rover0_objective1_high_res) (safe_sb17) (not (calibrated_camera0_rover0)) (not (ok_sb20)) (increase (total-cost) 0)) - ) - (:action copy_2_take_image_rover0_waypoint1_objective1_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint1) (calibrated_camera0_rover0) (safe_sb19) (normal-mode)) - :effect (and (have_image_rover0_objective1_high_res) (safe_sb17) (not (calibrated_camera0_rover0)) (not (ok_sb20)) (increase (total-cost) 0)) - ) - (:action copy_2_take_image_rover0_waypoint2_objective1_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint2) (calibrated_camera0_rover0) (safe_sb19) (normal-mode)) - :effect (and (have_image_rover0_objective1_high_res) (safe_sb17) (not (calibrated_camera0_rover0)) (not (ok_sb20)) (increase (total-cost) 0)) - ) - (:action copy_2_take_image_rover0_waypoint3_objective1_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint3) (calibrated_camera0_rover0) (safe_sb19) (normal-mode)) - :effect (and (have_image_rover0_objective1_high_res) (safe_sb17) (not (calibrated_camera0_rover0)) (not (ok_sb20)) (increase (total-cost) 0)) - ) - (:action copy_3_take_image_rover0_waypoint0_objective1_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint0) (calibrated_camera0_rover0) (normal-mode)) - :effect (and (have_image_rover0_objective1_high_res) (safe_sb17) (not (calibrated_camera0_rover0)) (not (ok_sb19)) (not (ok_sb20)) (increase (total-cost) 0)) - ) - (:action copy_3_take_image_rover0_waypoint1_objective1_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint1) (calibrated_camera0_rover0) (normal-mode)) - :effect (and (have_image_rover0_objective1_high_res) (safe_sb17) (not (calibrated_camera0_rover0)) (not (ok_sb19)) (not (ok_sb20)) (increase (total-cost) 0)) - ) - (:action copy_3_take_image_rover0_waypoint2_objective1_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint2) (calibrated_camera0_rover0) (normal-mode)) - :effect (and (have_image_rover0_objective1_high_res) (safe_sb17) (not (calibrated_camera0_rover0)) (not (ok_sb19)) (not (ok_sb20)) (increase (total-cost) 0)) - ) - (:action copy_3_take_image_rover0_waypoint3_objective1_camera0_high_res - :parameters () - :precondition (and (at_rover0_waypoint3) (calibrated_camera0_rover0) (normal-mode)) - :effect (and (have_image_rover0_objective1_high_res) (safe_sb17) (not (calibrated_camera0_rover0)) (not (ok_sb19)) (not (ok_sb20)) (increase (total-cost) 0)) - ) - (:action copy_0_sat_a0 - :parameters () - :precondition (and (ok_a0)) - :effect (and (a0) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_a0 - :parameters () - :precondition (and) :effect (and (a0) (not (normal-mode)) (increase (total-cost) 16.53)) - ) - (:action copy_0_sat_a1 - :parameters () - :precondition (and (ok_a1) (a0)) - :effect (and (a1) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_a1 - :parameters () - :precondition (and (a0)) - :effect (and (a1) (not (normal-mode)) (increase (total-cost) 8.208)) - ) - (:action copy_0_sat_e0 - :parameters () - :precondition (and (ok_e0) (a1)) - :effect (and (e0) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_e0 - :parameters () - :precondition (and (a1)) - :effect (and (e0) (not (normal-mode)) (increase (total-cost) 12.35)) - ) - (:action copy_0_sat_e1 - :parameters () - :precondition (and (ok_e1) (e0)) - :effect (and (e1) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_e1 - :parameters () - :precondition (and (e0)) - :effect (and (e1) (not (normal-mode)) (increase (total-cost) 10.2093)) - ) - (:action copy_0_sat_e2 - :parameters () - :precondition (and (ok_e2) (e1)) - :effect (and (e2) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_e2 - :parameters () - :precondition (and (e1)) - :effect (and (e2) (not (normal-mode)) (increase (total-cost) 10.0447)) - ) - (:action copy_0_sat_o0 - :parameters () - :precondition (and (ok_o0) (e2)) - :effect (and (o0) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_o0 - :parameters () - :precondition (and (e2)) - :effect (and (o0) (not (normal-mode)) (increase (total-cost) 9.804)) - ) - (:action copy_0_sat_o1 - :parameters () - :precondition (and (ok_o1) (o0)) - :effect (and (o1) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_o1 - :parameters () - :precondition (and (o0)) - :effect (and (o1) (not (normal-mode)) (increase (total-cost) 5.434)) - ) - (:action copy_0_sat_o2 - :parameters () - :precondition (and (ok_o2) (o1)) - :effect (and (o2) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_o2 - :parameters () - :precondition (and (o1)) - :effect (and (o2) (not (normal-mode)) (increase (total-cost) 8.55)) - ) - (:action copy_0_sat_o3 - :parameters () - :precondition (and (ok_o3) (o2)) - :effect (and (o3) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_o3 - :parameters () - :precondition (and (o2)) - :effect (and (o3) (not (normal-mode)) (increase (total-cost) 9.55067)) - ) - (:action copy_0_sat_sb3 - :parameters () - :precondition (and (ok_sb3) (o3)) - :effect (and (sb3) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_sb3 - :parameters () - :precondition (and (o3)) - :effect (and (sb3) (not (normal-mode)) (increase (total-cost) 9.22133)) - ) - (:action copy_0_sat_sb7 - :parameters () - :precondition (and (ok_sb7) (sb3)) - :effect (and (sb7) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_sb7 - :parameters () - :precondition (and (sb3)) - :effect (and (sb7) (not (normal-mode)) (increase (total-cost) 4.28133)) - ) - (:action copy_0_sat_sb8 - :parameters () - :precondition (and (ok_sb8) (sb7)) - :effect (and (sb8) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_sb8 - :parameters () - :precondition (and (sb7)) - :effect (and (sb8) (not (normal-mode)) (increase (total-cost) 5.10467)) - ) - (:action copy_0_sat_sb11 - :parameters () - :precondition (and (ok_sb11) (sb8)) - :effect (and (sb11) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_sb11 - :parameters () - :precondition (and (sb8)) - :effect (and (sb11) (not (normal-mode)) (increase (total-cost) 10.0447)) - ) - (:action copy_0_sat_sb12 - :parameters () - :precondition (and (ok_sb12) (sb11)) - :effect (and (sb12) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_sb12 - :parameters () - :precondition (and (sb11)) - :effect (and (sb12) (not (normal-mode)) (increase (total-cost) 7.41)) - ) - (:action copy_0_sat_sb13 - :parameters () - :precondition (and (ok_sb13) (sb12)) - :effect (and (sb13) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_sb13 - :parameters () - :precondition (and (sb12)) - :effect (and (sb13) (not (normal-mode)) (increase (total-cost) 11.856)) - ) - (:action copy_0_sat_sb16 - :parameters () - :precondition (and (ok_sb16) (sb13)) - :effect (and (sb16) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_sb16 - :parameters () - :precondition (and (sb13)) - :effect (and (sb16) (not (normal-mode)) (increase (total-cost) 7.32767)) - ) - (:action copy_0_sat_sb17 - :parameters () - :precondition (and (ok_sb17) (sb16)) - :effect (and (sb17) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_sb17 - :parameters () - :precondition (and (sb16)) - :effect (and (sb17) (not (normal-mode)) (increase (total-cost) 9.96233)) - ) - (:action copy_0_sat_sb19 - :parameters () - :precondition (and (ok_sb19) (sb17)) - :effect (and (sb19) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_sb19 - :parameters () - :precondition (and (sb17)) - :effect (and (sb19) (not (normal-mode)) (increase (total-cost) 6.726)) - ) - (:action copy_0_sat_sb20 - :parameters () - :precondition (and (ok_sb20) (sb19)) - :effect (and (sb20) (not (normal-mode)) (increase (total-cost) 0)) - ) - (:action copy_0_unsat_sb20 - :parameters () - :precondition (and (sb19)) - :effect (and (sb20) (not (normal-mode)) (increase (total-cost) 14.592)) - ) -) diff --git a/src/translate/regression-tests/issue73-problem.pddl b/src/translate/regression-tests/issue73-problem.pddl deleted file mode 100644 index 6b9dd29875..0000000000 --- a/src/translate/regression-tests/issue73-problem.pddl +++ /dev/null @@ -1,20 +0,0 @@ -(define (problem roverprob1234) - (:domain rover) - - (:init (at_rover0_waypoint3) (at_soil_sample_waypoint0) - (empty_rover0store) (at_soil_sample_waypoint2) - (at_soil_sample_waypoint3) (at_rock_sample_waypoint1) - (at_rock_sample_waypoint2) (at_rock_sample_waypoint3) (ok_a0) (ok_a1) - (ok_o0) (negof_once_o0) (ok_o1) (negof_once_o1) (ok_o2) - (negof_once_o2) (ok_o3) (negof_once_o3) (ok_sb3) (ok_sb7) (ok_sb8) - (ok_sb11) (ok_sb12) (ok_sb13) (ok_sb16) (ok_sb17) (ok_sb19) (ok_sb20) - (normal-mode) (= (total-cost) 0)) - - (:goal (and (communicated_soil_data_waypoint2) - (communicated_rock_data_waypoint3) - (communicated_image_data_objective1_high_res) (a0) (a1) (e0) (e1) - (e2) (o0) (o1) (o2) (o3) (sb3) (sb7) (sb8) (sb11) (sb12) (sb13) - (sb16) (sb17) (sb19) (sb20))) - - (:metric minimize (total-cost)) -) diff --git a/src/translate/tests/__init__.py b/src/translate/tests/__init__.py deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/src/translate/tests/test_normalization.py b/src/translate/tests/test_normalization.py deleted file mode 100644 index cf87d6be80..0000000000 --- a/src/translate/tests/test_normalization.py +++ /dev/null @@ -1,37 +0,0 @@ -from io import StringIO - -import pddl -from pddl_to_prolog import Rule, PrologProgram - -def test_normalization(): - prog = PrologProgram() - prog.add_fact(pddl.Atom("at", ["foo", "bar"])) - prog.add_fact(pddl.Atom("truck", ["bollerwagen"])) - prog.add_fact(pddl.Atom("truck", ["segway"])) - prog.add_rule(Rule([pddl.Atom("truck", ["?X"])], pddl.Atom("at", ["?X", "?Y"]))) - prog.add_rule(Rule([pddl.Atom("truck", ["X"]), pddl.Atom("location", ["?Y"])], - pddl.Atom("at", ["?X", "?Y"]))) - prog.add_rule(Rule([pddl.Atom("truck", ["?X"]), pddl.Atom("location", ["?Y"])], - pddl.Atom("at", ["?X", "?X"]))) - prog.add_rule(Rule([pddl.Atom("p", ["?Y", "?Z", "?Y", "?Z"])], - pddl.Atom("q", ["?Y", "?Y"]))) - prog.add_rule(Rule([], pddl.Atom("foo", []))) - prog.add_rule(Rule([], pddl.Atom("bar", ["X"]))) - prog.normalize() - output = StringIO() - prog.dump(file=output) - sorted_output = "\n".join(sorted(output.getvalue().splitlines())) - assert sorted_output == """\ -Atom @object(bar). -Atom @object(bollerwagen). -Atom @object(foo). -Atom @object(segway). -Atom at(foo, bar). -Atom bar(X). -Atom foo(). -Atom truck(bollerwagen). -Atom truck(segway). -none Atom at(?X, ?X@0) :- Atom truck(?X), Atom location(?Y), Atom =(?X, ?X@0). -none Atom at(?X, ?Y) :- Atom truck(?X), Atom @object(?Y). -none Atom at(?X, ?Y) :- Atom truck(X), Atom location(?Y), Atom @object(?X). -none Atom q(?Y, ?Y@0) :- Atom p(?Y, ?Z, ?Y, ?Z), Atom =(?Y, ?Y@0), Atom =(?Y, ?Y@1), Atom =(?Z, ?Z@2).""" diff --git a/src/translate/tests/test_scripts.py b/src/translate/tests/test_scripts.py deleted file mode 100644 index 8024614dd3..0000000000 --- a/src/translate/tests/test_scripts.py +++ /dev/null @@ -1,25 +0,0 @@ -import os.path -import subprocess -import sys - -DIR = os.path.dirname(os.path.abspath(__file__)) -TRANSLATE_DIR = os.path.dirname(DIR) -REPO = os.path.abspath(os.path.join(DIR, "..", "..", "..")) -BENCHMARKS = os.path.join(REPO, "misc", "tests", "benchmarks") -DOMAIN = os.path.join(BENCHMARKS, "gripper", "domain.pddl") -PROBLEM = os.path.join(BENCHMARKS, "gripper", "prob01.pddl") -SCRIPTS = [ - "build_model.py", - "graph.py", - "instantiate.py", - "invariant_finder.py", - "normalize.py", - "pddl_to_prolog.py", - "translate.py", -] - -def test_scripts(): - for script in SCRIPTS: - script = os.path.join(TRANSLATE_DIR, script) - folder, filename = os.path.split(script) - assert subprocess.check_call([sys.executable, filename, DOMAIN, PROBLEM], cwd=folder) == 0