;; Generated by boxworld generator ;; http://www.cs.rutgers.edu/~jasmuth/boxworld.tar.gz ;; by John Asmuth (jasmuth@cs.rutgers.edu) (define (domain bx-c10-b10-pc-nr) (:requirements :typing :equality :disjunctive-preconditions :probabilistic-effects :existential-preconditions :conditional-effects :negative-preconditions :universal-preconditions) (:types city box truck plane) (:predicates (box-at-city ?b - box ?c - city) (truck-at-city ?t - truck ?c - city) (box-on-truck ?b - box ?t - truck) (plane-at-city ?p - plane ?c - city) (box-on-plane ?b - box ?p - plane) (destination ?b - box ?dst - city) (can-drive ?src - city ?dst - city) (wrong-drive1 ?src - city ?wrongdst - city) (wrong-drive2 ?src - city ?wrongdst - city) (wrong-drive3 ?src - city ?wrongdst - city) (can-fly ?src - city ?dst - city)) (:action load-box-on-truck-in-city :parameters (?b - box ?t - truck ?c - city) :precondition (and (box-at-city ?b ?c) (not (destination ?b ?c)) (truck-at-city ?t ?c) ) :effect (and (box-on-truck ?b ?t) (not (box-at-city ?b ?c)) ) ) (:action unload-box-from-truck-in-city :parameters (?b - box ?t - truck ?c - city) :precondition (and (box-on-truck ?b ?t) (truck-at-city ?t ?c) ) :effect (and (box-at-city ?b ?c) (not (box-on-truck ?b ?t)) ) ) (:action load-box-on-plane-in-city :parameters (?b - box ?p - plane ?c - city) :precondition (and (box-at-city ?b ?c) (not (destination ?b ?c)) (plane-at-city ?p ?c) ) :effect (and (box-on-plane ?b ?p) (not (box-at-city ?b ?c)) ) ) (:action unload-box-from-plane-in-city :parameters (?b - box ?p - plane ?c - city) :precondition (and (box-on-plane ?b ?p) (plane-at-city ?p ?c) ) :effect (and (box-at-city ?b ?c) (not (box-on-plane ?b ?p)) ) ) (:action drive-truck :parameters (?t - truck ?src - city ?dst - city) :precondition (and (truck-at-city ?t ?src) (can-drive ?src ?dst) ) :effect (and (not (truck-at-city ?t ?src)) (probabilistic 0.2 (forall (?wrongdst1 - city) (when (wrong-drive1 ?src ?wrongdst1) (forall (?wrongdst2 - city) (when (wrong-drive2 ?src ?wrongdst2) (forall (?wrongdst3 - city) (when (wrong-drive3 ?src ?wrongdst3) (probabilistic 1/3 (truck-at-city ?t ?wrongdst1) 1/3 (truck-at-city ?t ?wrongdst2) 1/3 (truck-at-city ?t ?wrongdst3) ) )))))) 0.8 (truck-at-city ?t ?dst) ) ) ) (:action fly-plane :parameters (?p - plane ?src - city ?dst - city) :precondition (and (plane-at-city ?p ?src) (can-fly ?src ?dst) ) :effect (and (not (plane-at-city ?p ?src)) (plane-at-city ?p ?dst) ) ) ) (define (problem bx-c10-b10-pc-nr) (:domain bx-c10-b10-pc-nr) (:objects box0 - box box1 - box box2 - box box3 - box box4 - box box5 - box box6 - box box7 - box box8 - box box9 - box truck0 - truck truck1 - truck plane0 - plane truck2 - truck truck3 - truck plane1 - plane city0 - city city1 - city city2 - city city3 - city city4 - city city5 - city city6 - city city7 - city city8 - city city9 - city ) (:init (box-at-city box0 city2) (destination box0 city4) (box-at-city box1 city9) (destination box1 city3) (box-at-city box2 city8) (destination box2 city1) (box-at-city box3 city0) (destination box3 city3) (box-at-city box4 city1) (destination box4 city0) (box-at-city box5 city1) (destination box5 city8) (box-at-city box6 city7) (destination box6 city6) (box-at-city box7 city1) (destination box7 city5) (box-at-city box8 city5) (destination box8 city7) (box-at-city box9 city8) (destination box9 city9) (truck-at-city truck0 city0) (truck-at-city truck1 city0) (plane-at-city plane0 city0) (truck-at-city truck2 city1) (truck-at-city truck3 city1) (plane-at-city plane1 city1) (can-drive city0 city9) (can-drive city0 city8) (can-drive city0 city6) (wrong-drive1 city0 city9) (wrong-drive2 city0 city8) (wrong-drive3 city0 city6) (can-fly city0 city1) (can-drive city1 city7) (can-drive city1 city5) (can-drive city1 city2) (wrong-drive1 city1 city7) (wrong-drive2 city1 city5) (wrong-drive3 city1 city2) (can-fly city1 city0) (can-drive city2 city1) (can-drive city2 city6) (can-drive city2 city4) (can-drive city2 city5) (can-drive city2 city7) (can-drive city2 city8) (wrong-drive1 city2 city1) (wrong-drive2 city2 city6) (wrong-drive3 city2 city4) (can-drive city3 city4) (can-drive city3 city5) (can-drive city3 city6) (wrong-drive1 city3 city4) (wrong-drive2 city3 city5) (wrong-drive3 city3 city6) (can-drive city4 city2) (can-drive city4 city3) (can-drive city4 city6) (can-drive city4 city5) (wrong-drive1 city4 city2) (wrong-drive2 city4 city3) (wrong-drive3 city4 city6) (can-drive city5 city1) (can-drive city5 city2) (can-drive city5 city3) (can-drive city5 city4) (can-drive city5 city7) (can-drive city5 city6) (wrong-drive1 city5 city1) (wrong-drive2 city5 city2) (wrong-drive3 city5 city3) (can-drive city6 city0) (can-drive city6 city2) (can-drive city6 city3) (can-drive city6 city4) (can-drive city6 city5) (can-drive city6 city9) (wrong-drive1 city6 city0) (wrong-drive2 city6 city2) (wrong-drive3 city6 city3) (can-drive city7 city1) (can-drive city7 city5) (can-drive city7 city2) (wrong-drive1 city7 city1) (wrong-drive2 city7 city5) (wrong-drive3 city7 city2) (can-drive city8 city0) (can-drive city8 city9) (can-drive city8 city2) (wrong-drive1 city8 city0) (wrong-drive2 city8 city9) (wrong-drive3 city8 city2) (can-drive city9 city0) (can-drive city9 city8) (can-drive city9 city6) (wrong-drive1 city9 city0) (wrong-drive2 city9 city8) (wrong-drive3 city9 city6) ) (:goal (forall (?b - box) (exists (?c - city) (and (destination ?b ?c) (box-at-city ?b ?c) ) ) ) ) )