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problem_main.hddl
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(define (problem main)
(:domain Legos)
(:objects
; Two Grippers
g_left - Gripper
; Reference Points
p_air_left - Point_Air
; Workspace Points, and Neighbouring points.
; Right g_right ======
; ||
; up p_yy_xx down YuMi
; ||
; Left g_left ======
p_06_07 p_06_06
p_07_08 p_07_07 p_07_06 p_07_05
p_08_07 p_08_06
p_09_07 p_09_06 p_09_05 p_09_04
p_10_08 p_10_07 p_10_06 p_10_05 p_10_04 p_10_03
p_11_08 p_11_07 p_11_06 p_11_05 p_11_04 p_11_03
p_12_08 p_12_07 p_12_06 p_12_05 p_12_04 p_12_03
p_13_08 p_13_07 p_13_06 p_13_05 p_13_04 p_13_03
p_14_07 p_14_06 p_14_05 p_14_04 - Point_Workspace
; -----
; | y |
; -----
y_2x2_11
y_2x2_12
y_2x2_13
y_2x2_14
; -----
; | B |
; -----
b_2x2_41
b_2x2_42
b_2x2_43
b_2x2_44 - Block_2x2
; ---------
; | y | y |
; ---------
y_2x4_21
y_2x4_22
y_2x4_31
y_2x4_32
; ---------
; | B | B |
; ---------
b_2x4_51
b_2x4_52
b_2x4_53
b_2x4_41 - Block_2x4
x_minus x_plus center y_minus y_plus no_dir - Direction
;---------------------------------------------------------------------------------------------
; 64 objects in Total: 1 grippers, 1 Point_Air, 40 Point_Workspace, 16 Blocks, 6 directions |
;---------------------------------------------------------------------------------------------
)
(:htn
:ordered-subtasks
(and
;########
; ID 18 |
;########
;============
; ID_18 Y_6 |
;============
; (t1 (pick g_left y_2x2_11 no_dir))
; first option of place
; (t2 (place g_left y_2x2_11 p_13_06))
; second option of place
; (t2 (Rotate_2x2_loaded_gripper_V2H g_left y_2x2_11))
; (t3 (place g_left y_2x2_11 p_13_06))
;============
; ID_18 B_3 |
;============
; (t4 (pick g_left b_2x4_51 y_minus))
; first option of place
; (t5 (Rotate_2x4_right_loaded_gripper_V2H_clk g_left b_2x4_51))
; (t6 (place g_left b_2x4_51 p_12_05))
; second option of place
; (t5 (Rotate_2x4_right_loaded_gripper_V2H_Anticlk g_left b_2x4_51))
; (t6 (place g_left b_2x4_51 p_12_06))
;============
; ID_18 Y_3 |
;============
; (t7 (pick g_left y_2x2_12 no_dir))
; first option of place
; (t8 (place g_left y_2x2_12 p_11_06))
; second option of place
; (t8 (Rotate_2x2_loaded_gripper_V2H g_left y_2x2_12))
; (t9 (place g_left y_2x2_12 p_11_06))
;============
; ID_18 Y_2 |
;============
; first option
; (t10 (pick g_left y_2x4_21 y_minus))
; (t11 (place g_left y_2x4_21 p_10_05))
; second option
; (t10 (pick g_left y_2x4_21 y_plus))
; (t11 (place g_left y_2x4_21 p_11_05))
;============
; ID_18 B_4 |
;============
; (t12 (pick g_left b_2x4_52 y_minus))
; first option of place
; (t13 (Rotate_2x4_right_loaded_gripper_V2H_clk g_left b_2x4_52))
; (t14 (place g_left b_2x4_52 p_13_04))
; second option of place
; (t13 (Rotate_2x4_right_loaded_gripper_V2H_Anticlk g_left b_2x4_52))
; (t14 (place g_left b_2x4_52 p_13_05))
;============
; ID_18 Y_4 |
;============
; first option
; (t15 (pick g_left y_2x4_22 y_minus))
; (t16 (place g_left y_2x4_22 p_10_07))
; second option
; (t15 (pick g_left y_2x4_22 y_plus))
; (t16 (place g_left y_2x4_22 p_11_07))
;============
; ID_18 B_1 |
;============
; (t17 (pick g_left b_2x2_41 no_dir))
; first option of place
; (t18 (Rotate_2x2_loaded_gripper_V2H g_left b_2x2_41))
; (t19 (place g_left b_2x2_41 p_10_04))
; second option of place
; (t18 (place g_left b_2x2_41 p_10_04))
;============
; ID_18 B_5 |
;============
; (t20 (pick g_left b_2x2_42 no_dir))
; first option of place
; (t21 (Rotate_2x2_loaded_gripper_V2H g_left b_2x2_42))
; (t22 (place g_left b_2x2_42 p_13_07))
; second option of place
; (t21 (place g_left b_2x2_42 p_13_07))
; xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
;============
; ID_18 Y_1 |
;============
; first option
; (t23 (pick g_left y_2x4_31 y_minus))
; (t24 (place g_left y_2x4_31 p_10_07))
; second option
; (t23 (pick g_left y_2x4_31 y_plus))
; (t24 (place g_left y_2x4_31 p_11_07))
;============
; ID_18 Y_5 |
;============
; (t25 (pick g_left y_2x2_13 no_dir))
; first option of place
; (t26 (Rotate_2x2_loaded_gripper_V2H g_left y_2x3_12))
; (t27 (place g_left y_2x2_13 p_12_07))
; second option of place
; (t26 (place g_left y_2x2_13 p_12_07))
;============
; ID_18 B_2 |
;============
; (t28 (pick g_left b_2x2_43 no_dir))
; first option of place
; (t29 (Rotate_2x2_loaded_gripper_V2H g_left b_2x2_43))
; (t30 (place g_left b_2x2_43 p_13_07))
; second option of place
; (t29 (place g_left b_2x2_43 p_13_07))
;########
; ID 25 |
;########
;============
; ID_25 Y_5 |
;============
; (t1 (pick g_left y_2x2_11 no_dir))
; first option of place
; (t2 (place g_left y_2x2_11 p_13_04))
; second option of place
; (t2 (Rotate_2x2_loaded_gripper_V2H g_left y_2x2_11))
; (t3 (place g_left y_2x2_11 p_13_04))
;============
; ID_25 B_5 |
;============
; first option
; (t4 (pick g_left b_2x4_51 y_minus))
; (t5 (place g_left b_2x4_51 p_12_05))
; second option
; (t4 (pick g_left b_2x4_51 y_plus))
; (t5 (place g_left b_2x4_51 p_13_05))
;============
; ID_25 B_4 |
;============
; first option
; (t6 (pick g_left b_2x4_52 y_minus))
; (t7 (place g_left b_2x4_52 p_11_04))
; second option
; (t6 (pick g_left b_2x4_52 y_plus))
; (t7 (place g_left b_2x4_52 p_12_04))
;============
; ID_25 Y_2 |
;============
; (t8 (pick g_left y_2x4_21 y_minus))
; first option
; (t9 (Rotate_2x4_right_loaded_gripper_V2H_Anticlk g_left y_2x4_21))
; (t10 (place g_left y_2x4_21 p_11_06))
; second option
; (t9 (Rotate_2x4_right_loaded_gripper_V2H_clk g_left y_2x4_21))
; (t10 (place g_left y_2x4_21 p_11_05))
;============
; ID_25 B_3 |
;============
; first option
; (t11 (pick g_left b_2x4_53 y_plus))
; (t12 (place g_left b_2x4_53 p_12_07))
; second option
; (t11 (pick g_left b_2x4_53 y_minus))
; (t12 (place g_left b_2x4_53 p_11_07))
;============
; ID_25 B_2 |
;============
; (t13 (pick g_left b_2x2_41 no_dir))
; first option
; (t14 (place g_left b_2x2_41 p_10_07))
; second option
; (t14 (Rotate_2x2_loaded_gripper_V2H g_left b_2x2_41))
; (t15 (place g_left b_2x2_41 p_10_07))
;============
; ID_25 Y_4 |
;============
; (t16 (pick g_left y_2x4_22 y_minus))
; first option of place
; (t17 (Rotate_2x4_right_loaded_gripper_V2H_clk g_left y_2x4_22))
; (t18 (place g_left y_2x4_22 p_13_06))
; second option of place
; (t17 (Rotate_2x4_right_loaded_gripper_V2H_Anticlk g_left y_2x4_22))
; (t18 (place g_left y_2x4_22 p_13_07))
;============
; ID_25 Y_1 |
;============
; (t19 (pick g_left y_2x2_12 no_dir))
; first option
; (t20 (place g_left y_2x2_12 p_10_04))
; second option
; (t20 (Rotate_2x2_loaded_gripper_V2H g_left y_2x2_12))
; (t21 (place g_left y_2x2_12 p_10_04))
; xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
;============
; ID_25 B_1 |
;============
; (t22 (pick g_left b_2x4_41 y_minus))
; first option
; (t23 (Rotate_2x4_right_loaded_gripper_V2H_clk g_left b_2x4_41))
; (t24 (place g_left b_2x4_41 p_10_05))
; second option
; (t23 (Rotate_2x4_right_loaded_gripper_V2H_Anticlk g_left b_2x4_41))
; (t24 (place g_left b_2x4_41 p_10_06))
;============
; ID_25 Y_3 |
;============
; (t25 (pick g_left b_2x2_42 no_dir))
; first option of place
; (t26 (Rotate_2x2_loaded_gripper_V2H g_left b_2x2_42))
; (t27 (place g_left b_2x2_42 p_12_06))
; second option of place
; (t26 (place g_left b_2x2_42 p_12_06))
;#########
; ID 101 |
;#########
;=============
; ID_101 Y_5 |
;=============
; (t1 (pick g_left y_2x4_21 y_minus))
; first option
; (t2 (Rotate_2x4_right_loaded_gripper_V2H_clk g_left y_2x4_21))
; (t3 (place g_left y_2x4_21 p_11_05))
; second option
; (t2 (Rotate_2x4_right_loaded_gripper_V2H_Anticlk g_left y_2x4_21))
; (t3 (place g_left y_2x4_21 p_11_06))
;=============
; ID_101 Y_6 |
;=============
; (t4 (pick g_left y_2x4_22 y_minus))
; first option
; (t5 (Rotate_2x4_right_loaded_gripper_V2H_clk g_left y_2x4_22))
; (t6 (place g_left y_2x4_22 p_12_06))
; second option
; (t5 (Rotate_2x4_right_loaded_gripper_V2H_Anticlk g_left y_2x4_22))
; (t6 (place g_left y_2x4_22 p_12_07))
;=============
; ID_101 Y_4 |
;=============
; (t7 (pick g_left y_2x4_31 y_minus))
; first option
; (t8 (Rotate_2x4_right_loaded_gripper_V2H_clk g_left y_2x4_31))
; (t9 (place g_left y_2x4_31 p_10_06))
; second option
; (t8 (Rotate_2x4_right_loaded_gripper_V2H_Anticlk g_left y_2x4_31))
; (t9 (place g_left y_2x4_31 p_10_07))
;=============
; ID_101 Y_3 |
;=============
; first option
; (t10 (pick g_left y_2x4_32 y_plus))
; (t11 (place g_left y_2x4_32 p_13_04))
; second option
; (t10 (pick g_left y_2x4_32 y_minus))
; (t11 (place g_left y_2x4_32 p_12_04))
;=============
; ID_101 Y_1 |
;=============
; (t12 (pick g_left y_2x2_11 no_dir))
; first option
; (t13 (place g_left y_2x2_11 p_10_04))
; second option
; (t13 (Rotate_2x2_loaded_gripper_V2H g_left y_2x2_11))
; (t14 (place g_left y_2x2_11 p_10_04))
; xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
;=============
; ID_101 B_1 |
;=============
; (t15 (pick g_left b_2x2_41 no_dir))
; first option
; (t16 (place g_left b_2x2_41 p_11_04))
; second option
; (t16 (Rotate_2x2_loaded_gripper_V2H g_left b_2x2_41))
; (t17 (place g_left b_2x2_41 p_11_04))
;=============
; ID_101 B_2 |
;=============
; (t18 (pick g_left b_2x2_42 no_dir))
; first option
; (t19 (place g_left b_2x2_42 p_10_05))
; second option
; (t19 (Rotate_2x2_loaded_gripper_V2H g_left b_2x2_42))
; (t20 (place g_left b_2x2_42 p_10_05))
;=============
; ID_101 B_3 |
;=============
; first option
; (t21 (pick g_left b_2x4_51 y_plus))
; (t22 (place g_left b_2x4_51 p_13_05))
; second option
; (t21 (pick g_left b_2x4_51 y_minus))
; (t22 (place g_left b_2x4_51 p_12_05))
;=============
; ID_101 B_4 |
;=============
; (t23 (pick g_left b_2x4_52 y_minus))
; first option
; (t24 (Rotate_2x4_right_loaded_gripper_V2H_clk g_left b_2x4_52))
; (t25 (place g_left b_2x4_52 p_13_06))
; second option
; (t24 (Rotate_2x4_right_loaded_gripper_V2H_Anticlk g_left b_2x4_52))
; (t25 (place g_left b_2x4_52 p_13_07))
;=============
; ID_101 B_5 |
;=============
; (t26 (pick g_left b_2x2_43 no_dir))
; first option
; (t27 (place g_left b_2x2_43 p_11_07))
; second option
; (t27 (Rotate_2x2_loaded_gripper_V2H g_left b_2x2_43))
; (t28 (place g_left b_2x2_43 p_11_07))
;#######
; SWAP |
;#######
;=============
; Swap Y_2 |
;=============
; (t31 (pick g_left y_2x2_14 no_dir))
; (t32 (place g_left y_2x2_14 p_10_04))
;===========
; Swap Y_4 |
;===========
; (t33 (pick g_left y_2x4_32 y_minus))
; (t34 (Rotate_2x4_right_loaded_gripper_V2H_clk g_left y_2x4_32))
; (t35 (place g_left y_2x4_32 p_10_06))
;=============
; Swap B_2 |
;=============
; (t36 (pick g_left b_2x2_42 no_dir))
; (t37 (place g_left b_2x2_42 p_10_05))
;=============
; Swap B_4 |
;=============
; (t38 (pick g_left b_2x4_41 y_minus))
; (t39 (Rotate_2x4_right_loaded_gripper_V2H_clk g_left b_2x4_41))
; (t40 (place g_left b_2x4_41 p_13_06))
)
)
(:init
;--------------------
; Gripper Relations |
;--------------------
; gripper at initial position.
( at g_left p_air_left )
; unloaded gripper
( unloaded g_left )
;-------------
; Directions |
;-------------
(left_direction y_plus)
(right_direction y_minus)
(middle_direction center)
(top_direction x_minus)
(bottom_direction x_plus)
;------------------
; Empty Locations |
;------------------
;Workspace
( empty_location p_13_07)
( empty_location p_12_07)
( empty_location p_11_07)
( empty_location p_10_07)
( empty_location p_13_06)
( empty_location p_12_06)
( empty_location p_11_06)
( empty_location p_10_06)
( empty_location p_13_05)
( empty_location p_12_05)
( empty_location p_11_05)
( empty_location p_10_05)
( empty_location p_13_04)
( empty_location p_12_04)
( empty_location p_11_04)
( empty_location p_10_04)
( empty_location p_07_05)
( empty_location p_07_06)
( empty_location p_07_07)
; Fixed
( empty_location p_06_06)
( empty_location p_06_07)
( empty_location p_07_08)
( empty_location p_08_06)
( empty_location p_08_07)
( empty_location p_09_04)
( empty_location p_09_05)
( empty_location p_09_06)
( empty_location p_09_07)
( empty_location p_10_03)
( empty_location p_10_08)
( empty_location p_11_03)
( empty_location p_11_08)
( empty_location p_12_03)
( empty_location p_12_08)
( empty_location p_13_03)
( empty_location p_13_08)
( empty_location p_14_04)
( empty_location p_14_05)
( empty_location p_14_06)
( empty_location p_14_07)
;-------------
; Directions |
;-------------
; up
( up p_09_04 p_09_05)
( up p_09_05 p_09_06)
( up p_09_06 p_09_07)
( up p_10_03 p_10_04)
( up p_10_04 p_10_05)
( up p_10_05 p_10_06)
( up p_10_06 p_10_07)
( up p_10_07 p_10_08)
( up p_11_03 p_11_04)
( up p_11_04 p_11_05)
( up p_11_05 p_11_06)
( up p_11_06 p_11_07)
( up p_11_07 p_11_08)
( up p_12_03 p_12_04)
( up p_12_04 p_12_05)
( up p_12_05 p_12_06)
( up p_12_06 p_12_07)
( up p_12_07 p_12_08)
( up p_13_03 p_13_04)
( up p_13_04 p_13_05)
( up p_13_05 p_13_06)
( up p_13_06 p_13_07)
( up p_13_07 p_13_08)
( up p_14_04 p_14_05)
( up p_14_05 p_14_06)
( up p_14_06 p_14_07)
( up p_14_05 p_14_06)
( up p_14_06 p_14_07)
; swap
( up p_06_06 p_06_07)
( up p_07_05 p_07_06)
( up p_07_06 p_07_07)
( up p_07_07 p_07_08)
( up p_08_06 p_08_07)
; down
( down p_09_05 p_09_04 )
( down p_09_06 p_09_05 )
( down p_09_07 p_09_06 )
( down p_10_04 p_10_03 )
( down p_10_05 p_10_04 )
( down p_10_06 p_10_05 )
( down p_10_07 p_10_06 )
( down p_10_08 p_10_07 )
( down p_11_04 p_11_03 )
( down p_11_05 p_11_04 )
( down p_11_06 p_11_05 )
( down p_11_07 p_11_06 )
( down p_11_08 p_11_07 )
( down p_12_04 p_12_03 )
( down p_12_05 p_12_04 )
( down p_12_06 p_12_05 )
( down p_12_07 p_12_06 )
( down p_12_08 p_12_07 )
( down p_13_04 p_13_03 )
( down p_13_05 p_13_04 )
( down p_13_06 p_13_05 )
( down p_13_07 p_13_06 )
( down p_13_08 p_13_07 )
( down p_14_05 p_14_04 )
( down p_14_06 p_14_05 )
( down p_14_07 p_14_06 )
( down p_14_06 p_14_05 )
( down p_14_07 p_14_06 )
;swap
( down p_06_07 p_06_06 )
( down p_07_06 p_07_05 )
( down p_07_07 p_07_06 )
( down p_07_08 p_07_07 )
( down p_08_07 p_08_06 )
; left
( left p_11_03 p_10_03 )
( left p_12_03 p_11_03 )
( left p_13_03 p_12_03 )
( left p_10_04 p_09_04 )
( left p_11_04 p_10_04 )
( left p_12_04 p_11_04 )
( left p_13_04 p_12_04 )
( left p_14_04 p_13_04 )
( left p_10_05 p_09_05 )
( left p_11_05 p_10_05 )
( left p_12_05 p_11_05 )
( left p_13_05 p_12_05 )
( left p_14_05 p_13_05 )
( left p_10_06 p_09_06 )
( left p_11_06 p_10_06 )
( left p_12_06 p_11_06 )
( left p_13_06 p_12_06 )
( left p_14_06 p_13_06 )
( left p_10_07 p_09_07 )
( left p_11_07 p_10_07 )
( left p_12_07 p_11_07 )
( left p_13_07 p_12_07 )
( left p_14_07 p_13_07 )
( left p_11_08 p_10_08 )
( left p_12_08 p_11_08 )
( left p_13_08 p_12_08 )
;swap
( left p_07_06 p_06_06 )
( left p_08_06 p_07_06 )
( left p_07_07 p_06_07 )
( left p_08_07 p_07_07 )
; right
( right p_10_03 p_11_03 )
( right p_11_03 p_12_03 )
( right p_12_03 p_13_03 )
( right p_09_04 p_10_04 )
( right p_10_04 p_11_04 )
( right p_11_04 p_12_04 )
( right p_12_04 p_13_04 )
( right p_13_04 p_14_04 )
( right p_09_05 p_10_05 )
( right p_10_05 p_11_05 )
( right p_11_05 p_12_05 )
( right p_12_05 p_13_05 )
( right p_13_05 p_14_05 )
( right p_09_06 p_10_06 )
( right p_10_06 p_11_06 )
( right p_11_06 p_12_06 )
( right p_12_06 p_13_06 )
( right p_13_06 p_14_06 )
( right p_09_07 p_10_07 )
( right p_10_07 p_11_07 )
( right p_11_07 p_12_07 )
( right p_12_07 p_13_07 )
( right p_13_07 p_14_07 )
( right p_10_08 p_11_08 )
( right p_11_08 p_12_08 )
( right p_12_08 p_13_08 )
; swap
( right p_06_06 p_07_06 )
( right p_07_06 p_08_06 )
( right p_06_07 p_07_07 )
( right p_07_07 p_08_07 )
;-----------
; Attached |
;-----------
; (attached y_2x2_11)
; (attached y_2x2_12)
; (attached y_2x2_13)
; (attached y_2x2_14)
; (attached b_2x2_41)
; (attached b_2x2_42)
; (attached b_2x2_43)
; (attached b_2x2_44)
; (attached y_2x4_21)
; (attached y_2x4_22)
; (attached y_2x4_31)
; (attached y_2x4_32)
; (attached b_2x4_51)
; (attached b_2x4_52)
; (attached b_2x4_53)
; (attached b_2x4_41)
)
)