; (c) 1993,1994 Copyright (c) University of Washington ; Written by Tony Barrett. ; ; All rights reserved. Use of this software is permitted for non-commercial ; research purposes, and it may be copied only for that use. All copies must ; include this copyright message. This software is made available AS IS, and ; neither the authors nor the University of Washington make any warranty about ; the software or its performance. ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;; Jscott's briefcase world ;;; Modified 6/1/97, by D. E. Smith to make sure variables were bound by ;;; operator preconditions (define (domain briefcase-world) (:requirements :strips :equality :typing :conditional-effects) (:types place) (:constants B P D) (:predicates (at ?thing - object ?l - place) (in ?thing - object)) (:action mov-b :parameters (?m ?l - place) ; added place :precondition (and (at B ?m) (not (= ?m ?l))) :effect (and (at b ?l) (not (at B ?m)) (when (in P) (and (at P ?l) (not (at P ?m)))) (when (in D) (and (at D ?l) (not (at D ?m)))))) (:action take-out :parameters (?x) :precondition (in ?x) ; changed from (not (= ?x B)) :effect (not (in ?x))) (:action put-in :parameters (?x - object ?l - place) :precondition (and (at ?x ?l) (at B ?l) (not (= ?x B))) :effect (in ?x)))