-
Notifications
You must be signed in to change notification settings - Fork 0
/
gripper-1.touistl
214 lines (193 loc) · 9.91 KB
/
gripper-1.touistl
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
bigand $f in $I: $f(0) end
bigand $f in diff($F,$I): not $f(0) end
bigand $f in $G: $f($length) end
bigand $i in [1..$length]:
bigand $a in $O:
($a($i) =>
((bigand $f in $Cond($a): $f($i-1) end)
and
(bigand $f in $Add($a): $f($i) end)
and
(bigand $f in $Del($a): (not $f($i)) end)))
end
end
bigand $i in [1..$length]:
bigand $f in $F:
($f($i-1) and not $f($i))
=> (bigor $a in $O when $f in $Del($a): $a($i) end)
end
end
bigand $i in [1..$length]:
bigand $f in $F:
(not $f($i-1) and $f($i))
=> (bigor $a in $O when $f in $Add($a): $a($i) end)
end
end
bigand $i in [1..$length]:
bigand $a1 in $O:
bigand $f in $Cond($a1):
bigand $a2 in $O when ($a1 != $a2) and ($f in $Del($a2)):
(not $a1($i) or not $a2($i))
end
end
end
end
data
$length = 3
$I = [free_left,free_right,at_ball1_rooma,at_robby_rooma]
$G = [at_ball1_roomb]
$O = [MOVE_roomb_rooma,MOVE_rooma_roomb,PICK_ball1_rooma_right,PICK_ball1_rooma_left,PICK_ball1_roomb_left,PICK_ball1_roomb_right,DROP_ball1_roomb_right,DROP_ball1_roomb_left,DROP_ball1_rooma_right,DROP_ball1_rooma_left]
$F = [free_right,at_ball1_roomb,at_robby_rooma,free_left,at_robby_roomb,at_ball1_rooma,carry_ball1_left,carry_ball1_right]
$Fp = [carry_ball1_right,carry_ball1_left,at_ball1_rooma,at_robby_roomb,free_left,at_robby_rooma,at_ball1_roomb,free_right]
$Fa = [carry_ball1_right,carry_ball1_left,at_ball1_rooma,at_robby_roomb,free_left,at_robby_rooma,at_ball1_roomb,free_right]
$Fd = [carry_ball1_right,carry_ball1_left,at_ball1_rooma,at_robby_roomb,free_left,at_robby_rooma,at_ball1_roomb,free_right]
$Cond(DROP_ball1_rooma_left) = [at_robby_rooma,carry_ball1_left]
$Add(DROP_ball1_rooma_left) = [free_left,at_ball1_rooma]
$Del(DROP_ball1_rooma_left) = [carry_ball1_left]
$minlevel(DROP_ball1_rooma_left) = 2
$maxlevel(DROP_ball1_rooma_left) = 1
$t_cond_begin(at_robby_rooma,DROP_ball1_rooma_left) = 0.000000
$t_cond_end(at_robby_rooma,DROP_ball1_rooma_left) = 1.000000
$t_cond_begin(carry_ball1_left,DROP_ball1_rooma_left) = 0.000000
$t_cond_end(carry_ball1_left,DROP_ball1_rooma_left) = 1.000000
$t_add_begin(DROP_ball1_rooma_left,free_left) = 1.000000
$t_add_end(DROP_ball1_rooma_left,free_left) = 1.000000
$t_add_begin(DROP_ball1_rooma_left,at_ball1_rooma) = 1.000000
$t_add_end(DROP_ball1_rooma_left,at_ball1_rooma) = 1.000000
$t_del_begin(DROP_ball1_rooma_left,carry_ball1_left) = 1.000000
$t_del_end(DROP_ball1_rooma_left,carry_ball1_left) = 1.000000
$Cond(DROP_ball1_rooma_right) = [at_robby_rooma,carry_ball1_right]
$Add(DROP_ball1_rooma_right) = [free_right,at_ball1_rooma]
$Del(DROP_ball1_rooma_right) = [carry_ball1_right]
$minlevel(DROP_ball1_rooma_right) = 2
$maxlevel(DROP_ball1_rooma_right) = 1
$t_cond_begin(at_robby_rooma,DROP_ball1_rooma_right) = 0.000000
$t_cond_end(at_robby_rooma,DROP_ball1_rooma_right) = 1.000000
$t_cond_begin(carry_ball1_right,DROP_ball1_rooma_right) = 0.000000
$t_cond_end(carry_ball1_right,DROP_ball1_rooma_right) = 1.000000
$t_add_begin(DROP_ball1_rooma_right,free_right) = 1.000000
$t_add_end(DROP_ball1_rooma_right,free_right) = 1.000000
$t_add_begin(DROP_ball1_rooma_right,at_ball1_rooma) = 1.000000
$t_add_end(DROP_ball1_rooma_right,at_ball1_rooma) = 1.000000
$t_del_begin(DROP_ball1_rooma_right,carry_ball1_right) = 1.000000
$t_del_end(DROP_ball1_rooma_right,carry_ball1_right) = 1.000000
$Cond(DROP_ball1_roomb_left) = [at_robby_roomb,carry_ball1_left]
$Add(DROP_ball1_roomb_left) = [free_left,at_ball1_roomb]
$Del(DROP_ball1_roomb_left) = [carry_ball1_left]
$minlevel(DROP_ball1_roomb_left) = 2
$maxlevel(DROP_ball1_roomb_left) = 3
$t_cond_begin(at_robby_roomb,DROP_ball1_roomb_left) = 0.000000
$t_cond_end(at_robby_roomb,DROP_ball1_roomb_left) = 1.000000
$t_cond_begin(carry_ball1_left,DROP_ball1_roomb_left) = 0.000000
$t_cond_end(carry_ball1_left,DROP_ball1_roomb_left) = 1.000000
$t_add_begin(DROP_ball1_roomb_left,free_left) = 1.000000
$t_add_end(DROP_ball1_roomb_left,free_left) = 1.000000
$t_add_begin(DROP_ball1_roomb_left,at_ball1_roomb) = 1.000000
$t_add_end(DROP_ball1_roomb_left,at_ball1_roomb) = 1.000000
$t_del_begin(DROP_ball1_roomb_left,carry_ball1_left) = 1.000000
$t_del_end(DROP_ball1_roomb_left,carry_ball1_left) = 1.000000
$Cond(DROP_ball1_roomb_right) = [at_robby_roomb,carry_ball1_right]
$Add(DROP_ball1_roomb_right) = [free_right,at_ball1_roomb]
$Del(DROP_ball1_roomb_right) = [carry_ball1_right]
$minlevel(DROP_ball1_roomb_right) = 2
$maxlevel(DROP_ball1_roomb_right) = 3
$t_cond_begin(at_robby_roomb,DROP_ball1_roomb_right) = 0.000000
$t_cond_end(at_robby_roomb,DROP_ball1_roomb_right) = 1.000000
$t_cond_begin(carry_ball1_right,DROP_ball1_roomb_right) = 0.000000
$t_cond_end(carry_ball1_right,DROP_ball1_roomb_right) = 1.000000
$t_add_begin(DROP_ball1_roomb_right,free_right) = 1.000000
$t_add_end(DROP_ball1_roomb_right,free_right) = 1.000000
$t_add_begin(DROP_ball1_roomb_right,at_ball1_roomb) = 1.000000
$t_add_end(DROP_ball1_roomb_right,at_ball1_roomb) = 1.000000
$t_del_begin(DROP_ball1_roomb_right,carry_ball1_right) = 1.000000
$t_del_end(DROP_ball1_roomb_right,carry_ball1_right) = 1.000000
$Cond(PICK_ball1_roomb_right) = [free_right,at_robby_roomb,at_ball1_roomb]
$Add(PICK_ball1_roomb_right) = [carry_ball1_right]
$Del(PICK_ball1_roomb_right) = [free_right,at_ball1_roomb]
$minlevel(PICK_ball1_roomb_right) = 3
$maxlevel(PICK_ball1_roomb_right) = 2
$t_cond_begin(free_right,PICK_ball1_roomb_right) = 0.000000
$t_cond_end(free_right,PICK_ball1_roomb_right) = 1.000000
$t_cond_begin(at_robby_roomb,PICK_ball1_roomb_right) = 0.000000
$t_cond_end(at_robby_roomb,PICK_ball1_roomb_right) = 1.000000
$t_cond_begin(at_ball1_roomb,PICK_ball1_roomb_right) = 0.000000
$t_cond_end(at_ball1_roomb,PICK_ball1_roomb_right) = 1.000000
$t_add_begin(PICK_ball1_roomb_right,carry_ball1_right) = 1.000000
$t_add_end(PICK_ball1_roomb_right,carry_ball1_right) = 1.000000
$t_del_begin(PICK_ball1_roomb_right,free_right) = 1.000000
$t_del_end(PICK_ball1_roomb_right,free_right) = 1.000000
$t_del_begin(PICK_ball1_roomb_right,at_ball1_roomb) = 1.000000
$t_del_end(PICK_ball1_roomb_right,at_ball1_roomb) = 1.000000
$Cond(PICK_ball1_roomb_left) = [free_left,at_robby_roomb,at_ball1_roomb]
$Add(PICK_ball1_roomb_left) = [carry_ball1_left]
$Del(PICK_ball1_roomb_left) = [free_left,at_ball1_roomb]
$minlevel(PICK_ball1_roomb_left) = 3
$maxlevel(PICK_ball1_roomb_left) = 2
$t_cond_begin(free_left,PICK_ball1_roomb_left) = 0.000000
$t_cond_end(free_left,PICK_ball1_roomb_left) = 1.000000
$t_cond_begin(at_robby_roomb,PICK_ball1_roomb_left) = 0.000000
$t_cond_end(at_robby_roomb,PICK_ball1_roomb_left) = 1.000000
$t_cond_begin(at_ball1_roomb,PICK_ball1_roomb_left) = 0.000000
$t_cond_end(at_ball1_roomb,PICK_ball1_roomb_left) = 1.000000
$t_add_begin(PICK_ball1_roomb_left,carry_ball1_left) = 1.000000
$t_add_end(PICK_ball1_roomb_left,carry_ball1_left) = 1.000000
$t_del_begin(PICK_ball1_roomb_left,free_left) = 1.000000
$t_del_end(PICK_ball1_roomb_left,free_left) = 1.000000
$t_del_begin(PICK_ball1_roomb_left,at_ball1_roomb) = 1.000000
$t_del_end(PICK_ball1_roomb_left,at_ball1_roomb) = 1.000000
$Cond(PICK_ball1_rooma_left) = [free_left,at_robby_rooma,at_ball1_rooma]
$Add(PICK_ball1_rooma_left) = [carry_ball1_left]
$Del(PICK_ball1_rooma_left) = [free_left,at_ball1_rooma]
$minlevel(PICK_ball1_rooma_left) = 1
$maxlevel(PICK_ball1_rooma_left) = 2
$t_cond_begin(free_left,PICK_ball1_rooma_left) = 0.000000
$t_cond_end(free_left,PICK_ball1_rooma_left) = 1.000000
$t_cond_begin(at_robby_rooma,PICK_ball1_rooma_left) = 0.000000
$t_cond_end(at_robby_rooma,PICK_ball1_rooma_left) = 1.000000
$t_cond_begin(at_ball1_rooma,PICK_ball1_rooma_left) = 0.000000
$t_cond_end(at_ball1_rooma,PICK_ball1_rooma_left) = 1.000000
$t_add_begin(PICK_ball1_rooma_left,carry_ball1_left) = 1.000000
$t_add_end(PICK_ball1_rooma_left,carry_ball1_left) = 1.000000
$t_del_begin(PICK_ball1_rooma_left,free_left) = 1.000000
$t_del_end(PICK_ball1_rooma_left,free_left) = 1.000000
$t_del_begin(PICK_ball1_rooma_left,at_ball1_rooma) = 1.000000
$t_del_end(PICK_ball1_rooma_left,at_ball1_rooma) = 1.000000
$Cond(PICK_ball1_rooma_right) = [free_right,at_robby_rooma,at_ball1_rooma]
$Add(PICK_ball1_rooma_right) = [carry_ball1_right]
$Del(PICK_ball1_rooma_right) = [free_right,at_ball1_rooma]
$minlevel(PICK_ball1_rooma_right) = 1
$maxlevel(PICK_ball1_rooma_right) = 2
$t_cond_begin(free_right,PICK_ball1_rooma_right) = 0.000000
$t_cond_end(free_right,PICK_ball1_rooma_right) = 1.000000
$t_cond_begin(at_robby_rooma,PICK_ball1_rooma_right) = 0.000000
$t_cond_end(at_robby_rooma,PICK_ball1_rooma_right) = 1.000000
$t_cond_begin(at_ball1_rooma,PICK_ball1_rooma_right) = 0.000000
$t_cond_end(at_ball1_rooma,PICK_ball1_rooma_right) = 1.000000
$t_add_begin(PICK_ball1_rooma_right,carry_ball1_right) = 1.000000
$t_add_end(PICK_ball1_rooma_right,carry_ball1_right) = 1.000000
$t_del_begin(PICK_ball1_rooma_right,free_right) = 1.000000
$t_del_end(PICK_ball1_rooma_right,free_right) = 1.000000
$t_del_begin(PICK_ball1_rooma_right,at_ball1_rooma) = 1.000000
$t_del_end(PICK_ball1_rooma_right,at_ball1_rooma) = 1.000000
$Cond(MOVE_rooma_roomb) = [at_robby_rooma]
$Add(MOVE_rooma_roomb) = [at_robby_roomb]
$Del(MOVE_rooma_roomb) = [at_robby_rooma]
$minlevel(MOVE_rooma_roomb) = 1
$maxlevel(MOVE_rooma_roomb) = 2
$t_cond_begin(at_robby_rooma,MOVE_rooma_roomb) = 0.000000
$t_cond_end(at_robby_rooma,MOVE_rooma_roomb) = 1.000000
$t_add_begin(MOVE_rooma_roomb,at_robby_roomb) = 1.000000
$t_add_end(MOVE_rooma_roomb,at_robby_roomb) = 1.000000
$t_del_begin(MOVE_rooma_roomb,at_robby_rooma) = 1.000000
$t_del_end(MOVE_rooma_roomb,at_robby_rooma) = 1.000000
$Cond(MOVE_roomb_rooma) = [at_robby_roomb]
$Add(MOVE_roomb_rooma) = [at_robby_rooma]
$Del(MOVE_roomb_rooma) = [at_robby_roomb]
$minlevel(MOVE_roomb_rooma) = 2
$maxlevel(MOVE_roomb_rooma) = 1
$t_cond_begin(at_robby_roomb,MOVE_roomb_rooma) = 0.000000
$t_cond_end(at_robby_roomb,MOVE_roomb_rooma) = 1.000000
$t_add_begin(MOVE_roomb_rooma,at_robby_rooma) = 1.000000
$t_add_end(MOVE_roomb_rooma,at_robby_rooma) = 1.000000
$t_del_begin(MOVE_roomb_rooma,at_robby_roomb) = 1.000000
$t_del_end(MOVE_roomb_rooma,at_robby_roomb) = 1.000000