317 lines
9.3 KiB
Text
317 lines
9.3 KiB
Text
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(define (domain CIIRC-Testbed-TASE)
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(:requirements :action-costs :typing :negative-preconditions :disjunctive-preconditions :equality)
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(:types PersonnelClass Person EquipmentClass Equipment MaterialClass MaterialDefinition MaterialLot)
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(:constants
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PC_MaintenanceEngineer - PersonnelClass
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EC_Shuttle - EquipmentClass
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EC_Robot - EquipmentClass
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EC_BaseplateCarrier - EquipmentClass
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EC_PositioningUnit - EquipmentClass
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EC_TransportationNode - EquipmentClass
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MC_Body - MaterialClass
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MC_Truck - MaterialClass
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MC_Pickable - MaterialClass
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MC_Baseplate - MaterialClass
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MC_TruckComponent - MaterialClass
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MC_Chassis - MaterialClass
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MC_Cabin - MaterialClass
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MD_StakeBed-White-White-White - MaterialDefinition
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MD_Cabin-Silver - MaterialDefinition
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MD_StakeBed-Black-Blue-White - MaterialDefinition
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MD_Body-Dumper-Yellow - MaterialDefinition
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MD_Dumper-White-Transparent-Yellow - MaterialDefinition
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MD_Tank-Black-White-Black - MaterialDefinition
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MD_Body-OpenTop-Blue - MaterialDefinition
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MD_TruckBaseplate - MaterialDefinition
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MD_Chassis-Black - MaterialDefinition
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MD_Cabin-Yellow - MaterialDefinition
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MD_Body-Tank-Black - MaterialDefinition
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MD_Cabin-Blue - MaterialDefinition
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MD_OpenTop-Black-Yellow-Blue - MaterialDefinition
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MD_Dumper-White-Silver-Silver - MaterialDefinition
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MD_Body-Dumper-Silver - MaterialDefinition
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MD_Chassis-White - MaterialDefinition
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MD_Cabin-Transparent - MaterialDefinition
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MD_Body-StakeBed-White - MaterialDefinition
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MD_Tank-Black-Blue-Silver - MaterialDefinition
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MD_Cabin-White - MaterialDefinition
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MD_Body-Tank-Silver - MaterialDefinition
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EC_Table - EquipmentClass
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)
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(:predicates
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(PersonClassed ?P - Person ?C - PersonnelClass)
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(EquipmentClassed ?E - Equipment ?C - EquipmentClass)
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(MaterialClassed ?D - MaterialDefinition ?C - MaterialClass)
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(MaterialDefined ?L - MaterialLot ?D - MaterialDefinition)
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(MaterialLotClassed ?L - MaterialLot ?C - MaterialClass)
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(RobotOccupied ?E - Equipment)
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(TransportationNodeOccupied ?E - Equipment)
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(PositioningUnitLocked ?E - Equipment)
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(RobotEnabled ?E - Equipment)
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(TransportationNodeConnection ?F ?T - Equipment)
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(EquipmentLocation ?E ?R - Equipment)
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(ReachesTo ?R ?E - Equipment)
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(MaterialLocation ?M - MaterialLot ?E - Equipment)
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(MaterialRaw ?M - MaterialLot)
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(DefinitionMountable ?M ?B - MaterialDefinition)
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(ClassMountable ?M ?B - MaterialClass)
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(Mounted ?M ?B - MaterialLot)
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(MaterialLotAssembly ?W ?P - MaterialLot)
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(MaterialDefinitionAssembly ?W ?P - MaterialDefinition)
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)
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(:functions
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(total-cost)
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(shuttle-time ?FROM ?TO - Equipment)
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)
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(:action LockPositioningUnit
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:parameters (?E - Equipment)
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:precondition
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(and
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(EquipmentClassed ?E EC_PositioningUnit)
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(not (PositioningUnitLocked ?E))
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)
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:effect
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(and
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(increase (total-cost) 1)
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(PositioningUnitLocked ?E)
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)
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)
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(:action UnlockPositioningUnit
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:parameters (?E - Equipment)
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:precondition
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(and
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(EquipmentClassed ?E EC_PositioningUnit)
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(PositioningUnitLocked ?E)
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)
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:effect
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(and
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(increase (total-cost) 1)
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(not (PositioningUnitLocked ?E))
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)
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)
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(:action MoveShuttle
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:parameters (?SHUTTLE ?FROM ?TO - Equipment)
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:precondition
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(and
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(EquipmentClassed ?SHUTTLE EC_Shuttle)
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(or
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(EquipmentClassed ?FROM EC_PositioningUnit)
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(EquipmentClassed ?FROM EC_TransportationNode)
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)
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(imply (EquipmentClassed ?FROM EC_PositioningUnit)
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(not (PositioningUnitLocked ?FROM))
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)
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(imply (EquipmentClassed ?FROM EC_TransportationNode) (TransportationNodeOccupied ?FROM)
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)
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(or
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(EquipmentClassed ?TO EC_PositioningUnit)
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(EquipmentClassed ?TO EC_TransportationNode)
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)
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(imply (EquipmentClassed ?TO EC_PositioningUnit)
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(not (PositioningUnitLocked ?TO))
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)
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(imply (EquipmentClassed ?TO EC_TransportationNode)
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(not (TransportationNodeOccupied ?TO))
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)
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(TransportationNodeConnection ?FROM ?TO)
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(EquipmentLocation ?SHUTTLE ?FROM)
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(not (EquipmentLocation ?SHUTTLE ?TO))
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)
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:effect
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(and
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(not (TransportationNodeOccupied ?FROM))
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(TransportationNodeOccupied ?TO)
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(increase (total-cost) (shuttle-time ?FROM ?TO))
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(not (EquipmentLocation ?SHUTTLE ?FROM))
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(EquipmentLocation ?SHUTTLE ?TO)
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)
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)
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(:action Pick
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:parameters (?ROBOT ?CARRIER - Equipment ?PICKABLE ?BASEPLATE - MaterialLot ?SUBCARRIER - Equipment)
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:precondition
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(and
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(EquipmentClassed ?ROBOT EC_Robot)
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(not (RobotOccupied ?ROBOT))
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(RobotEnabled ?ROBOT)
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(EquipmentClassed ?CARRIER EC_BaseplateCarrier)
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(MaterialLotClassed ?PICKABLE MC_Pickable)
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(MaterialLotClassed ?BASEPLATE MC_Baseplate)
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(MaterialRaw ?PICKABLE)
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(MaterialLocation ?BASEPLATE ?CARRIER)
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(Mounted ?PICKABLE ?BASEPLATE)
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(not (MaterialLocation ?PICKABLE ?ROBOT))
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(imply (EquipmentClassed ?CARRIER EC_Table)
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(and
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(ReachesTo ?ROBOT ?CARRIER)
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(= ?CARRIER ?SUBCARRIER)
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)
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)
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(imply (EquipmentClassed ?CARRIER EC_Shuttle)
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(and
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(EquipmentClassed ?SUBCARRIER EC_PositioningUnit)
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(EquipmentLocation ?CARRIER ?SUBCARRIER)
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(ReachesTo ?ROBOT ?SUBCARRIER)
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(PositioningUnitLocked ?SUBCARRIER)
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)
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)
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)
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:effect
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(and
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(RobotOccupied ?ROBOT)
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(increase (total-cost) 5)
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(not (Mounted ?PICKABLE ?BASEPLATE))
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(MaterialLocation ?PICKABLE ?ROBOT)
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)
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)
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(:action Place
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:parameters (?ROBOT ?CARRIER - Equipment ?PICKABLE ?BASEPLATE - MaterialLot ?SUBCARRIER - Equipment)
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:precondition
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(and
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(EquipmentClassed ?ROBOT EC_Robot)
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(RobotOccupied ?ROBOT)
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(RobotEnabled ?ROBOT)
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(EquipmentClassed ?CARRIER EC_BaseplateCarrier)
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(MaterialLotClassed ?PICKABLE MC_Pickable)
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(MaterialLotClassed ?BASEPLATE MC_Baseplate)
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(MaterialRaw ?PICKABLE)
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(MaterialLocation ?BASEPLATE ?CARRIER)
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(not (Mounted ?PICKABLE ?BASEPLATE))
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(MaterialLocation ?PICKABLE ?ROBOT)
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(imply (EquipmentClassed ?CARRIER EC_Table)
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(and
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(ReachesTo ?ROBOT ?CARRIER)
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(= ?CARRIER ?SUBCARRIER)
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)
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)
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(imply (EquipmentClassed ?CARRIER EC_Shuttle)
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(and
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(EquipmentClassed ?SUBCARRIER EC_PositioningUnit)
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(EquipmentLocation ?CARRIER ?SUBCARRIER)
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(ReachesTo ?ROBOT ?SUBCARRIER)
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(PositioningUnitLocked ?SUBCARRIER)
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)
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)
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)
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:effect
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(and
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(not (RobotOccupied ?ROBOT))
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(increase (total-cost) 5)
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(Mounted ?PICKABLE ?BASEPLATE)
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(not (MaterialLocation ?PICKABLE ?ROBOT))
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)
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)
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(:action Assemble
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:parameters (?ROBOT ?CARRIER - Equipment ?PICKABLE ?BASE ?ASSEMBLY ?BASEPLATE - MaterialLot ?SUBCARRIER - Equipment)
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:precondition
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(and
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(EquipmentClassed ?ROBOT EC_Robot)
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(RobotOccupied ?ROBOT)
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(RobotEnabled ?ROBOT)
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(EquipmentClassed ?CARRIER EC_BaseplateCarrier)
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(MaterialLotClassed ?PICKABLE MC_Pickable)
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(MaterialLotClassed ?BASE MC_TruckComponent)
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(MaterialLotClassed ?ASSEMBLY MC_Truck)
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(MaterialLotClassed ?BASEPLATE MC_Baseplate)
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(MaterialRaw ?PICKABLE)
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(MaterialLocation ?BASEPLATE ?CARRIER)
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(Mounted ?BASE ?BASEPLATE)
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(or
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(exists ( ?AMD - MaterialDefinition ?PMD - MaterialDefinition ?BMD - MaterialDefinition)
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(and
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(MaterialDefined ?ASSEMBLY ?AMD)
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(MaterialDefined ?PICKABLE ?PMD)
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(MaterialDefined ?BASE ?BMD)
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(MaterialDefinitionAssembly ?AMD ?PMD)
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(MaterialDefinitionAssembly ?AMD ?BMD)
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(DefinitionMountable ?PMD ?BMD)
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)
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)
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(exists ( ?PMC - MaterialClass ?BMC - MaterialClass ?AMD - MaterialDefinition ?PMD - MaterialDefinition ?BMD - MaterialDefinition)
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(and
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(MaterialDefined ?ASSEMBLY ?AMD)
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(MaterialDefined ?PICKABLE ?PMD)
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(MaterialDefined ?BASE ?BMD)
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(MaterialClassed ?BMD ?BMC)
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(MaterialClassed ?PMD ?PMC)
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(MaterialDefinitionAssembly ?AMD ?PMD)
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(MaterialDefinitionAssembly ?AMD ?BMD)
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(ClassMountable ?PMC ?BMC)
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)
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)
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)
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(not (exists (?A - MaterialLot)
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(and
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(not (= ?A ?ASSEMBLY)
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)
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(MaterialLotAssembly ?A ?BASE)
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)
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)
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)
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(not (exists (?BP - MaterialLot)
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(and
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(not (= ?BP ?BASEPLATE)
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)
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(Mounted ?ASSEMBLY ?BP)
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)
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)
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)
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(not (Mounted ?PICKABLE ?BASEPLATE))
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(MaterialLocation ?PICKABLE ?ROBOT)
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(imply (EquipmentClassed ?CARRIER EC_Table)
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(and
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(ReachesTo ?ROBOT ?CARRIER)
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(= ?CARRIER ?SUBCARRIER)
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)
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)
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(imply (EquipmentClassed ?CARRIER EC_Shuttle)
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(and
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(EquipmentClassed ?SUBCARRIER EC_PositioningUnit)
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(EquipmentLocation ?CARRIER ?SUBCARRIER)
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(ReachesTo ?ROBOT ?SUBCARRIER)
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(PositioningUnitLocked ?SUBCARRIER)
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)
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)
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)
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:effect
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(and
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(not (RobotOccupied ?ROBOT))
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(increase (total-cost) 5)
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(Mounted ?PICKABLE ?BASE)
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(not (MaterialRaw ?PICKABLE))
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(not (MaterialRaw ?BASE))
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(MaterialLotAssembly ?ASSEMBLY ?PICKABLE)
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(MaterialLotAssembly ?ASSEMBLY ?BASE)
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(Mounted ?ASSEMBLY ?BASEPLATE)
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(MaterialLocation ?ASSEMBLY ?CARRIER)
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(MaterialLocation ?PICKABLE ?CARRIER)
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(not (MaterialLocation ?PICKABLE ?ROBOT))
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)
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)
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(:action RepairRobot
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:parameters (?ENGINEER - Person ?ROBOT - Equipment)
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:precondition
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(and
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(PersonClassed ?ENGINEER PC_MaintenanceEngineer)
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(EquipmentClassed ?ROBOT EC_Robot)
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(not (RobotEnabled ?ROBOT))
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)
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:effect
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(and
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(RobotEnabled ?ROBOT)
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(increase (total-cost) 99)
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)
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)
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)
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