Wed Aug 12 19:02:39 UTC 2009 Ben Podgursky <bpodgursky@gmail.com>

3 files changed, 130 insertions, 0 deletions

diff --git a/utils/PDDLtoSANetTranslator/PDDLParser/pb1travel.pddl b/utils/PDDLtoSANetTranslator/PDDLParser/pb1travel.pddl
new file mode 100644
index 00000000000..f7404c7435a
--- /dev/null
+++ b/utils/PDDLtoSANetTranslator/PDDLParser/pb1travel.pddl
@@ -0,0 +1,34 @@
+(define (problem pb1)
+	(:domain travel)
+	(:requirements :strips :equality)
+  	(:objects a b c d e f g jack bulldozer)
+  
+  	(:init (at jack a) 
+  		(at bulldozer e)
+		(vehicle bulldozer)
+	 	(mobile jack)
+	 	(person jack)
+	 	(road a b)
+	 	(road b a)
+	 	(road a e)
+	 	(road e a)
+	 	(road e b)
+	 	(road b e)
+	 	(road a c)
+	 	(road c a)
+	 	(road c b)
+	 	(road b c)
+	 	(bridge b d)
+	 	(bridge d b)
+	 	(bridge c f)
+	 	(bridge f c)
+	 	(road d f)
+	 	(road f d)
+	 	(road f g)
+	 	(road g f)
+	 	(road d g)
+	 	(road g d))
+	 
+	 (:goal (and (at bulldozer g) (at jack a)))
+	 
+)
\ No newline at end of file
diff --git a/utils/PDDLtoSANetTranslator/PDDLParser/pb2travel.pddl b/utils/PDDLtoSANetTranslator/PDDLParser/pb2travel.pddl
new file mode 100644
index 00000000000..d6f3378da12
--- /dev/null
+++ b/utils/PDDLtoSANetTranslator/PDDLParser/pb2travel.pddl
@@ -0,0 +1,45 @@
+(define (problem pb2)
+	(:domain travel)
+	(:requirements :strips :equality)
+  	(:objects a b c d e f g h i j k l m n jack bulldozer)
+  	(:init (at jack a) 
+  		(at bulldozer e)
+	 	(vehicle bulldozer)
+	 	(mobile jack)
+	 	(person jack)
+	 	(road a b) 
+	 	(road b a)
+	 	(road a c) 
+	 	(road c a)
+	 	(road c d)
+	 	(road d c)
+	 	(road d e) 
+	 	(road e d)
+	 	(road e j) 
+	 	(road j e)
+	 	(road d f) 
+	 	(road f d)
+	 	(road f j)
+	 	(road j f)
+	 	(road f k) 
+	 	(road k f)
+	 	(road j h) 
+	 	(road h j)
+	 	(road h k) 
+	 	(road k h)
+	 	(bridge k l) 
+	 	(bridge l k)
+	 	(bridge k n) 
+	 	(bridge n k)
+	 	(road l m) 
+	 	(road m l)
+	 	(road m n) 
+	 	(road n m)
+	 	(road m g) 
+	 	(road g m)
+	 	(road n g) 
+	 	(road g n))
+	 
+  (:goal (AND (at bulldozer g)))
+ 
+ )
\ No newline at end of file
diff --git a/utils/PDDLtoSANetTranslator/PDDLParser/travel.pddl b/utils/PDDLtoSANetTranslator/PDDLParser/travel.pddl
new file mode 100644
index 00000000000..49ae8847356
--- /dev/null
+++ b/utils/PDDLtoSANetTranslator/PDDLParser/travel.pddl
@@ -0,0 +1,51 @@
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;; Simple Vehicle domain where a person has to get in to a vehicle,
+;;; drive it somewhere, get out, and return to some other location.
+;;; Recursion is a problem in this domain because the roads and
+;;; bridges go both directions.
+
+(define (domain travel)
+  (:requirements :strips :equality)
+  (:predicates (road ?from ?to)
+	       (at ?thing ?place)
+	       (mobile ?thing)
+	       (bridge ?from ?to)
+	       (person ?p)
+	       (vehicle ?v)
+	       (driving ?p ?v))
+	       
+  (:action Drive
+	     :parameters (?thing ?from ?to)
+	     :precondition (and (road ?from ?to)
+				 (at ?thing ?from)
+				 (mobile ?thing)
+				 (not (= ?from ?to)))
+	     :effect (and (at ?thing ?to) (not (at ?thing ?from))))
+  (:action Cross
+	     :parameters (?thing ?from ?to)
+	     :precondition (and (bridge ?from ?to)
+				 (at ?thing ?from)
+				 (mobile ?thing)
+				 (not (= ?from ?to)))
+	     :effect (and (at ?thing ?to) (not (at ?thing ?from))))
+  (:action Board
+	     :parameters (?person ?place ?vehicle)
+	     :precondition (and (at ?person ?place)
+				 (person ?person)
+				 (vehicle ?vehicle)
+				 (at ?vehicle ?place))
+	     :effect (and (driving ?person ?vehicle)
+			   (mobile ?vehicle)
+			   (not (at ?person ?place))
+			   (not (mobile ?person))))  
+  (:action Disembark
+	     :parameters (?person ?place ?vehicle)
+	     :precondition (and (person ?person)
+				 (vehicle ?vehicle)
+				 (driving ?person ?vehicle)
+				 (at ?vehicle ?place))
+	     :effect (and (at ?person ?place)
+			   (mobile ?person)
+			   (not (driving ?person ?vehicle))
+			   (not (mobile ?vehicle))))
+  )
\ No newline at end of file