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