31 lines
676 B
Text
31 lines
676 B
Text
(define (problem Cube3-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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ws - zone
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cube cube001 cube002 cube004 cube005 cube006 - part
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asm1 asm2 asm3 asm4 asm5 asm6 - assembly
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)
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(:init
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(part_of cube asm1)
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(part_of cube001 asm2)
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(part_of cube002 asm3)
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(part_of cube004 asm4)
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(part_of cube005 asm5)
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(part_of cube006 asm6)
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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 asm1 ws)
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(assembled asm1)
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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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