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dimaptools / src / test / resources / deconfliction.pddl @ 126:242390b3f4be

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(define (domain deconfliction)
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  (:requirements :strips :typing)
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  (:types
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      robot place - object)
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  (:predicates (neq ?x - (either place robot) ?y - (either place robot))
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               (conn ?x - place ?y - place)
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               (at ?r - robot ?x - place)
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               (empty ?x - place))
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  (:action move
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    :parameters (?r - robot ?curpos - place ?nextpos - place)
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    :precondition (and (at ?r ?curpos) (conn ?curpos ?nextpos) (empty ?nextpos))
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    :effect (and (at ?r ?nextpos) (not (at ?r ?curpos)) (empty ?curpos) (not (empty ?nextpos)))))