33 lines
683 B
Text
33 lines
683 B
Text
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(define (problem box_problem)
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(:domain atomic_domain)
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(:objects
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ur_manipulator_gripper - arm
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world - zone
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box1 box2 box3 box4 box5 box6 - part
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asm0 asm1 asm2 asm3 asm4 asm5 asm6 - assembly
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)
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(:init
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(part_of box1 asm1)
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(part_of box2 asm2)
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(part_of box3 asm3)
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(part_of box4 asm4)
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(part_of box5 asm5)
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(part_of box6 asm6)
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(assembly_order asm0 asm1)
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(assembly_order asm1 asm2)
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(assembly_order asm2 asm3)
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(assembly_order asm3 asm4)
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(assembly_order asm4 asm5)
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(assembly_order asm5 asm6)
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(arm_available ur_manipulator_gripper)
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(assembly_at asm0 world)
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(assembled asm0)
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)
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(:goal (and
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(assembled asm6)
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))
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)
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