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strips_nao_example.txt
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strips_nao_example.txt
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Initial state: At(A), Posture(high), Hand(full),Bring(ball)
Goal state: PersonAt(enrico,B), !Bring(ball) //L'ordine è fondamentale, il plan subisce cambiamenti
//Goal list:
//PersonAt(nome,B), At(B) vai da <nome>
//Bring(ball) prendi la palla
//!Bring(ball) lascia la palla
Actions:
// move from X to Y
Move(X, Y)
Preconditions: At(X), Posture(high)
Postconditions: !At(X), At(Y)
// go to posture <Post>
GoToPosture(Post,Location)
Preconditions: At(Location), !Posture(Post)
Postconditions: Posture(Post)
// take the ball
TakeBall(Location)
Preconditions: BallAt(Location), At(Location),Hand(empty), Posture(high)
Postconditions: Hand(full), !Hand(empty), Bring(ball)
// give the ball
GiveBall(Location)
Preconditions: Bring(ball), Hand(full), Posture(high), At(Location)
Postconditions: !Bring(ball), !Hand(full), Hand(empty)
// find a person
FindPerson(Name,Location)
Preconditions: Posture(high)
Postconditions: PersonAt(Name,Location),At(Location)
// find a ball
FindBall(Location)
Preconditions: Posture(high),Hand(empty)
Postconditions: BallAt(Location),At(Location)