请你用pddl写出积木世界的domain文件和problem文件,其中,domain文件只有2个动作,一个是move,有2个参数,另一个是moToTable,只有一个参数;domain文件有三个谓词,on、clear、ontable。在编写过程中,你可能要用到forall和when
时间: 2024-02-18 22:01:10 浏览: 22
好的,以下是一个使用3个谓词的积木世界的PDDL domain文件和problem文件:
**domain文件**
```
(define (domain blocks-world)
(:requirements :strips :typing)
(:types block)
(:predicates (ontable ?x - block)
(on ?x - block ?y - block)
(clear ?x - block))
(:action move
:parameters (?x - block ?y - block)
:precondition (and (clear ?x) (clear ?y) (on ?x ?z) (clear ?y))
:effect (and (not (on ?x ?z)) (not (clear ?y)) (on ?x ?y) (clear ?z)))
(:action moveToTable
:parameters (?x - block)
:precondition (and (clear ?x) (on ?x ?z))
:effect (and (not (on ?x ?z)) (clear ?x) (ontable ?x)))
)
```
**problem文件**
```
(define (problem blocks-1)
(:domain blocks-world)
(:objects A B C - block)
(:init (on A B) (on B C) (ontable C) (clear A) (clear B) (clear C))
(:goal (and (ontable A) (ontable B) (ontable C) (clear A) (clear B) (clear C)))
)
```
在这个例子中,我们定义了一个blocks-world域,其中有两个动作:move和moveToTable。每个动作都有自己的参数、前置条件和效果。在domain文件中,我们定义了三个谓词:on、clear和ontable。在problem文件中,我们定义了一个初始状态,其中块A叠在块B上,块B叠在块C上。目标状态是将所有块都放在桌子上,同时满足每个块都是清空状态。
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