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@ivancorrales
Last active Sep 2, 2021
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;Header and description
(define (domain restaurant)
;remove requirements that are not needed
(:requirements :typing :strips :fluents :durative-actions :timed-initial-literals :typing :conditional-effects :negative-preconditions :duration-inequalities :equality)
(:types waiter group table)
; un-comment following line if constants are needed
;(:constants )
(:predicates
; the group is waiting to be accompanied to the table
(waiting_for_a_table ?g - group)
; the poeple in the group ar lloking at the menu to decided
; what they want to eat
(looking_the_menu ?g - group)
; The people in the group already know what they want to order
(ready_to_order ?g - group)
; The group is waiting for the food
(waiting_for_the_food ?g - group)
; The people in the group are ready to eat
(ready_to_eat ?g - group)
; The group is asking the bill
(ask_for_the_bill ?g - group)
; The group has left the restaurant
(bye ?g -group)
; The waiter can attend the people or perform actions, otherwise
; the waiter will be busy doing other issues
(is_available ?w - waiter)
; The table is free, otherwise the table will be busied by
; a group
(is_free ?t - table)
; The table is assigned to the group
(assigned ?t - table ?g - group )
; The food is cooked for the group
(is_cooked_food ?g - group)
; The order is received in the kitchen
(order_received ?g - group)
)
(:functions
; It returns the number or people in a group
(group_size ?g - group)
; The total tips received by the waiter
(tips ?w - waiter)
; The number of chairs in the table
(capacity ?t - table)
)
; The waiter will assign a table to the group
(:durative-action ASSIGN-TABLE-TO-GROUP
; Elements involves in this action: The table, the waiter and
; the group
:parameters (?w - waiter ?t - table ?g - group)
; The spend time on this action is 1 minute
:duration (= ?duration 1)
; The waiter is available
; The table must be free
; The group must be waiting for a table
; The capacity of the table must be equal or greater than the
; number of perople in the group
:condition (and
(at start (is_available ?w))
(at start (is_free ?t))
(at start (waiting_for_a_table ?g))
(at start (>= (capacity ?t) (group_size ?g)))
)
;Effects when the action starts:
; The table is not free,it cannot be assigned to other group
; The table is assigned to the group
; The groups is not waiting for a table anymore
; The waiter is not available
; Effects when the action ends:
; The waiter is available again
; The group starts to look at the menu
:effect (and
(at start ( not (is_free ?t)))
(at start (assigned ?t ?g ))
(at start ( not (waiting_for_a_table ?g)))
(at start (not(is_available ?w)))
(at end (is_available ?w))
(at end (looking_the_menu ?g))
)
)
; The group decides what they want to eat
(:durative-action DECIDE-WHAT-TO-EAT
; Only a group is involved in this action
:parameters (?g - group)
; This action will take always 5 minutes
:duration (= ?duration 5)
; The action starts when the predicate looking_the_menu
; is true
:condition (and
(at start (looking_the_menu ?g))
)
;Effects when the action starts:
; The group need to change the value of this predicate
; to avoid execute this action more than once
; Effects when the action ends:
; The group is ready to order when the action ends
:effect (and
(at start ( not (looking_the_menu ?g)))
(at end (ready_to_order ?g))
)
)
; The group order the food to the waiter
(:durative-action ORDER-FOOD
:parameters (?g - group ?w - waiter )
; This action will take 30' per person in the group
:duration (= ?duration (* (group_size ?g) 0.5) )
; The waiter must be available
; The group must be ready to order
:condition (and
(at start (is_available ?w))
(at start (ready_to_order ?g))
)
;Effects when the action starts:
; The waiter is not available
; The groups is not ready to order anymore
; Effects when the action ends:
; The waiter is available again
; The groups is waiting for being served the food
; The order for the group is received
:effect (and
(at start (not(is_available ?w)))
(at start (not (ready_to_order ?g)))
(at end (is_available ?w))
(at end (waiting_for_the_food ?g))
(at end (order_received ?g))
)
)
; The food is cooked
(:durative-action COOKING-FOOD
:parameters (?g - group)
; Cooking the food will take 4 minutes per person in the group
:duration (= ?duration (* 4 (group_size ?g)))
:condition (and
(at start (waiting_for_the_food ?g))
(at start (order_received ?g))
)
;Effects when the action starts:
; The waiter is not available
; The groups is not ready to order anymore
; Effects when the action ends:
; The waiter is available again
; The groups is waiting for being served the food
:effect (and
(at start (order_received ?g))
(at end (is_cooked_food ?g))
)
)
; The food is served to the groups
(:durative-action SERVE-THE-FOOD
:parameters (?w - waiter ?g - group)
; The action will take 45' per person in the group
:duration (= ?duration (* 0.75 (group_size ?g)))
; The waiter is available
; The group is wating for the food
; The food is cooked
:condition (and
(at start (is_available ?w))
(at start (waiting_for_the_food ?g))
(at start (is_cooked_food ?g))
)
;Effects when the action starts:
; The waiter is not available
; The groups is not waiting for the food anumore
; The food is not cooked
; Effects when the action ends:
; The waiter is available again
; The people in the group are ready to eat
:effect (and
(at start (not(is_available ?w)))
(at start (not (waiting_for_the_food ?g)))
(at start (not(is_cooked_food ?g)))
(at end (is_available ?w))
(at end (ready_to_eat ?g))
)
)
; The people in the group start to eat
(:durative-action EAT
:parameters (?g - group)
; This will take 20 minutes always
:duration (= ?duration 20 )
; The group must must be ready to eat
:condition (and
(at start (ready_to_eat ?g))
)
;Effects when the action starts:
; The groups is not ready to eat
; Effects when the action ends:
; The group ask for the bill
:effect (and
(at start (not (ready_to_eat ?g)))
(at end (ask_for_the_bill ?g))
)
)
; The group pay the bill and leave the restaurant
(:durative-action PAY-BILL-AND-SAY-BYE
:parameters (?w - waiter ?g - group ?t - table)
; We assume that this action will always take 3 minutes
:duration (= ?duration 3 )
; The group asks for the bill
; The waiter is available
; The table is assigned to this group
:condition (and
(at start (ask_for_the_bill ?g))
(at start (is_available ?w))
(at start (assigned ?t ?g ))
)
;Effects when the action starts:
; The waiter is not available
; The groups is not asking for the bill anymore
; Effects when the action ends:
; The waiter is available again
; The group say "bye", leave the restaurant
; The table is free
; The waiter receives a tip (1,5€|$ per person)
:effect (and
(at start (not(is_available ?w)))
(at start (not(ask_for_the_bill ?g)))
(at end (is_available ?w))
(at end (bye ?g))
(at end (is_free ?t))
(at end (increase (tips ?w) (* 1.5 (group_size ?g))))
)
)
)
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