;; Generated by blocksworld generator ;; http://www.cs.rutgers.edu/~jasmuth/blocksworld.tar.gz ;; by John Asmuth (jasmuth@cs.rutgers.edu) ;; and Dave Weissman (define (domain bw-nc-pc-nr-8) (:requirements :adl :probabilistic-effects :fluents) (:types block table) (:constants table - table) (:predicates (holding ?block - block) (on-top-of ?block - block ?obj) ) (:action pick-up-block-from :parameters (?top - block ?bottom) :precondition (and (not (= ?top ?bottom)) (forall (?b - block) (not (holding ?b))) (on-top-of ?top ?bottom) (forall (?b - block) (not (on-top-of ?b ?top)))) :effect (and (probabilistic 0.75 (and (holding ?top) (not (on-top-of ?top ?bottom))) 0.25 (when (not (= ?bottom table)) (and (not (on-top-of ?top ?bottom)) (on-top-of ?top table))))) ) (:action put-down-block-on :parameters (?top - block ?bottom) :precondition (and (not (= ?top ?bottom)) (holding ?top) (or (= ?bottom table) (forall (?b - block) (not (on-top-of ?b ?bottom))))) :effect (and (not (holding ?top)) (probabilistic 0.75 (on-top-of ?top ?bottom) 0.25 (on-top-of ?top table))) ) ) (define (problem bw-nc-pc-nr-8) (:domain bw-nc-pc-nr-8) (:objects block0 block1 block2 block3 block4 block5 block6 block7 - block) (:init (on-top-of block0 block1) (on-top-of block1 table) (on-top-of block2 table) (on-top-of block3 block4) (on-top-of block4 block5) (on-top-of block5 table) (on-top-of block6 table) (on-top-of block7 table) ) (:goal (and (on-top-of block0 block6) (on-top-of block6 block4) (on-top-of block4 block2) (on-top-of block2 block1) (on-top-of block1 table) (on-top-of block3 block7) (on-top-of block7 table) (on-top-of block5 table) ) ) )