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46 lines
933 B
46 lines
933 B
(define (problem task)
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(:domain turtlebot_demo)
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(:objects
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wp0 wp1 wp2 wp3 - waypoint
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kenny - robot
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)
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(:init
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(robot_at kenny wp0)
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(connected wp0 wp1)
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(connected wp0 wp2)
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(connected wp0 wp3)
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(connected wp1 wp0)
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(connected wp1 wp2)
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(connected wp1 wp3)
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(connected wp2 wp0)
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(connected wp2 wp1)
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(connected wp2 wp3)
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(connected wp3 wp0)
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(connected wp3 wp1)
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(connected wp3 wp2)
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(= (distance wp0 wp1) 1.67705)
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(= (distance wp0 wp2) 1.2607)
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(= (distance wp0 wp3) 0.657647)
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(= (distance wp1 wp0) 1.67705)
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(= (distance wp1 wp2) 2)
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(= (distance wp1 wp3) 1.40357)
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(= (distance wp2 wp0) 1.2607)
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(= (distance wp2 wp1) 2)
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(= (distance wp2 wp3) 0.76405)
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(= (distance wp3 wp0) 0.657647)
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(= (distance wp3 wp1) 1.40357)
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(= (distance wp3 wp2) 0.76405)
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)
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(:goal (and
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(visited wp0)
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(visited wp1)
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(visited wp2)
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(visited wp3)
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))
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)
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